CN112118991A - Sensor detection method and vehicle-mounted control terminal - Google Patents
Sensor detection method and vehicle-mounted control terminal Download PDFInfo
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- CN112118991A CN112118991A CN201980030310.9A CN201980030310A CN112118991A CN 112118991 A CN112118991 A CN 112118991A CN 201980030310 A CN201980030310 A CN 201980030310A CN 112118991 A CN112118991 A CN 112118991A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
Abstract
A sensor detection method and a vehicle-mounted control terminal are provided, wherein the method comprises the following steps: acquiring the registration information of the sensor, receiving the data sent by the sensor, determining the current state of the sensor according to the registration information and the data sent by the sensor, and sending a corresponding control instruction for controlling the vehicle according to the current state of the sensor. By implementing the method, the state of the sensor can be monitored in real time, and when the sensor is found to be abnormal, the automatic driving system can process the abnormal state in time, so that the traffic accident probability of automatic driving can be reduced to a certain extent, and the overall reliability and robustness of the automatic driving system are improved.
Description
Technical Field
The invention relates to the technical field of automatic driving control, in particular to a sensor detection method and a vehicle-mounted control terminal.
Background
An autonomous vehicle is an intelligent vehicle that relies on a computer system to replace the driver in order to achieve unmanned driving. The core of the automatic driving vehicle is an automatic driving system, the automatic driving system highly depends on sensor technology, the automatic driving system mainly depends on various sensors (including a camera, a laser radar, an inertial navigation system, a global positioning system and the like) to provide information of the position of a vehicle body and the surrounding environment, and then how to perform the next action is obtained through calculation of a computer system. Stable and reliable sensor data transmission is a precondition for ensuring the safety of automatic driving, and if the automatic driving system does not detect the abnormality when the sensor is abnormal, the automatic driving system may generate wrong actions, which may cause traffic accidents.
At present, an automatic driving system cannot realize real-time monitoring of a sensor link and a state, and when the sensor is abnormal, the automatic driving system cannot timely identify the abnormality, which may cause traffic accidents of different levels, so that the automatic driving system is not reliable and robust enough.
Disclosure of Invention
The embodiment of the invention provides a sensor detection method and a vehicle-mounted control terminal, which can monitor the state of a sensor in real time, and when the sensor is abnormal, an automatic driving system can process the abnormal state in time, so that the probability of traffic accidents of automatic driving can be reduced to a certain extent, and the overall reliability and robustness of the automatic driving system are improved.
The first aspect of the embodiments of the present invention provides a sensor detection method, which is applied to safe driving of a vehicle, and the method includes:
acquiring registration information of the sensor;
receiving data sent by the sensor;
determining the current state of the sensor according to the registration information and the data sent by the sensor;
and sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
A second aspect of the embodiments of the present invention provides a vehicle-mounted control terminal, a sensor and a memory, where the processor and the memory are connected to each other, where:
the memory for storing a computer program, the computer program comprising program instructions;
the processor, when invoking the program instructions, is configured to perform:
acquiring registration information of the sensor;
receiving data sent by the sensor;
determining the current state of the sensor according to the registration information and the data sent by the sensor;
and sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
A third aspect of the embodiments of the present invention provides a sensor detection apparatus for safe driving of a vehicle, including:
the acquisition module is used for acquiring the registration information of the sensor;
the receiving module is used for receiving the data sent by the sensor;
the determining module is used for determining the current state of the sensor according to the registration information and the data sent by the sensor;
and the control module is used for sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
A fourth aspect of the present invention discloses a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the sensor detection method according to the first aspect.
The embodiment of the invention can acquire the registration information of the sensor, receive the data sent by the sensor, determine the current state of the sensor according to the registration information and the data sent by the sensor, and send out a corresponding control instruction for controlling the vehicle according to the current state of the sensor, thereby monitoring the state of the sensor in real time.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic flow chart of a sensor detection method according to an embodiment of the present invention;
FIG. 2a is a schematic structural diagram of an automatic driving system according to an embodiment of the present invention;
FIG. 2b is a schematic diagram of a link exception and status exception monitoring relationship according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a sensor detection device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle-mounted control terminal disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The sensor detection method provided by the embodiment of the invention can be applied to scenes such as automatic driving and the like, is used for reducing the probability of traffic accidents of automatic driving, and improves the capabilities of timely alarming and emergency treatment of an automatic driving system, so that the automatic driving system is more reliable and more robust.
Fig. 1 is a schematic flow chart of a sensor detection method according to an embodiment of the present invention. The sensor detection method described in this embodiment is applied to a vehicle-mounted control terminal, and may include the following steps:
101. and acquiring the registration information of the sensor.
Wherein the sensor may include, but is not limited to, at least one of: cameras, laser radars, inertial navigation systems, global positioning systems.
The registration information includes one or more of the type of the sensor, an address list, a data generation frequency range, a maximum frame interval duration, a corresponding relation between a fault code and a fault description, a data value range and a processing mechanism when the sensor is abnormal.
Specifically, the registration information of each sensor mounted on the vehicle may be submitted to a vehicle-mounted control terminal of the automatic driving system, and the vehicle-mounted control terminal acquires the registration information of each sensor.
102. And receiving the data sent by the sensor.
Specifically, after the vehicle is started, each sensor starts to be powered on to work, the data of the sensor per se is sent to the vehicle-mounted control terminal, and the vehicle-mounted control terminal receives the data of each sensor.
103. And determining the current state of the sensor according to the registration information and the data sent by the sensor.
Specifically, the vehicle-mounted control terminal may use the registration information as reference data, compare the data of the sensor with the registration information after receiving the data of the sensor, and determine the current state of the sensor according to a comparison result.
104. And sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
Specifically, the vehicle-mounted control terminal may acquire a target processing mechanism corresponding to the sensor having the abnormality when the current state of the sensor indicates that the sensor has the abnormality, and generate a corresponding control instruction to control the vehicle. Wherein, the corresponding control instruction comprises one or more of the following control instructions: throttle control, steering control and light control.
In the embodiment of the invention, the vehicle-mounted control terminal acquires the registration information of the sensor, receives the data sent by the sensor, determines the current state of the sensor according to the registration information and the data sent by the sensor, and sends out the corresponding control instruction for controlling the vehicle according to the current state of the sensor, so that the processing capacity of the automatic driving system for the abnormal state of the sensor can be improved by monitoring the state of the sensor in real time, the probability of traffic accidents is reduced, and the automatic driving system is more reliable and robust.
In one implementation, when the current state of the sensor is abnormal, at least one of the following may be specifically included: status exception, link exception. The state abnormality may specifically include at least one of the following: the sensor is not started, the sensor detects a fault by self, the sensor data is abnormal, and the link abnormality specifically includes at least one of the following: the sensor link is disconnected and the sensor data frequency is abnormal.
Therefore, the problem of the sensor can be accurately positioned through the current state of the sensor, so that a driver can execute corresponding protection actions according to specific conditions, and maintenance personnel can conveniently and rapidly position the fault point of the automatic driving system, so that the overall reliability and robustness of the automatic driving system are improved.
In one implementation, the data sent by the sensor may include an address of a sensor that is successfully started, the registration information may include an address list of at least one sensor, and after the autopilot system is powered on and works and a self address sent by the sensor is successfully received, the vehicle-mounted control terminal may compare the address list in the registration information with the received address of the sensor, and when the received address is found to be less than the registered address, determine the sensor that is failed to be started, and at this time, determine that the current state of the sensor that is failed to be started belongs to the sensor that is in the abnormal state.
In one implementation manner, for a first sensor of a sensor that is started successfully, the vehicle-mounted control terminal may obtain a characteristic parameter when the first sensor sends data, where the characteristic parameter includes a target time of last frame data sent by the first sensor, the first sensor is any one of the sensors that are started successfully, the registration information may include a maximum frame interval duration, and when a duration of the target time from a current time reaches the maximum frame interval duration, it is determined that a link of the first sensor is abnormal, which is specifically described as that the sensor is disconnected in a link abnormality.
For example, assuming that the target time of the last frame data sent by the first sensor is 14 hours, 25 minutes and 30 seconds, assuming that the maximum frame interval duration is 1 second, if the next frame data is not received at 14 hours, 25 minutes and 31 seconds, the sensor link is determined to be disconnected.
In one implementation manner, for a first sensor of sensors after successful start, an on-board control terminal acquires a characteristic parameter when the first sensor transmits data, where the characteristic parameter includes a frequency at which the first sensor transmits data, the first sensor is any one of the sensors that have succeeded in start, registration information includes a data generation frequency range, and if the frequency at which the first sensor transmits data is not within the data generation frequency range, it is determined that a link abnormality of the first sensor is specifically described that the sensor abnormality is a sensor data frequency abnormality in the link abnormality.
For example, assuming that the data generation frequency range of the registration information is 10 to 20Hz, if the frequency of data transmission by the first sensor is 15 times per second, the sensor is considered to be normal, and if the frequency of data transmission by the first sensor is 9 times or 25 times per second, the sensor is considered to be abnormal, that is, the sensor data frequency is abnormal.
In one implementation manner, the registration information includes a data value range, and for a second sensor of the sensors that are successfully started and have no link abnormality, the vehicle-mounted control terminal obtains the number or the proportion of data that are not in the data value range in the received data sent by the second sensor, where the second sensor is any one of the sensors that are successfully started and have no link abnormality. If the number or the ratio reaches a preset value, determining the second sensor as a sensor with abnormality, specifically describing that the sensor abnormality is sensor data abnormality in state abnormality.
For example, assuming that the number of data which is not within the data value range in the received data sent by the second sensor is 6 or the occupancy is 5.5%, the vehicle-mounted control terminal is mainly responsible for recording the data, and assuming that the preset number is 5 and the preset occupancy is 5%, it can be obviously seen that 6 is greater than 5 and 5.5% is also greater than 5%, so that it can be determined that the second sensor has an abnormal state, specifically, abnormal sensor data.
In one implementation manner, the registration information includes a corresponding relationship between a fault code and a fault description, the vehicle-mounted control terminal obtains the fault code sent by the first sensor which is started successfully, determines a target fault description corresponding to the fault code sent by the first sensor by using the corresponding relationship between the fault code and the fault description, and determines the first sensor as a sensor with an abnormality if the target fault description indicates that the first sensor has a fault, specifically, the sensor abnormality is a sensor number in a state abnormality which is self-detected to be a fault.
Therefore, the current state of the sensor is determined through the registration information and the data sent by the sensor, and the problem of the sensor can be conveniently and better detected by the automatic driving system, so that alarm information can be provided for a driver in time, an upper-layer algorithm is assisted to execute corresponding protection actions aiming at abnormal conditions, and the overall reliability and robustness of the automatic driving system are improved.
In one implementation mode, the registration information includes a processing mechanism when the sensor is abnormal, the vehicle-mounted control terminal outputs a warning message for the sensor with the abnormality and acquires the abnormal type and/or the sensor type of the sensor with the abnormality, determines a target processing mechanism corresponding to the abnormal type and/or the sensor type from the processing mechanism when the sensor is abnormal, and controls the vehicle according to the target processing mechanism. The processing mechanism when the sensor is abnormal comprises one or more of starting a standby sensor, refusing to drive after starting, adjusting an automatic driving level, decelerating, stopping and starting a danger alarm flash lamp.
Therefore, the vehicle can be controlled more conveniently and accurately by combining the current state of the sensor with a specific control instruction, so that the problem of the automatic driving system can be solved more timely, more efficient control is realized, and the overall reliability and robustness of the automatic driving system are improved.
Please refer to fig. 2a, which is a schematic structural diagram of an autopilot system framework according to an embodiment of the present invention. The autopilot system framework comprises an execution unit 201, a calculation unit 202, a sensor unit 203, wherein:
the execution unit 201 may specifically include a throttle control, a steering control, a light control, and the like.
Specifically, the execution unit 201 is configured to issue a corresponding control instruction for controlling the vehicle according to the current state of the sensor, such as activating a standby sensor, refusing to start driving, adjusting an automatic driving level, decelerating, stopping, and turning on a hazard warning flash.
The computing unit 202 comprises a system public middleware, a human-computer interaction interface, a planning algorithm layer, a perception algorithm layer and a hardware abstraction layer. Wherein, the planning algorithm layer is a control unit acting on the execution unit 201, and the hardware abstraction layer is a sensor acting on the sensor unit 203; the man-machine interaction interface is used for alarming, and the alarming form can be a voice form or an interface pop-up display form.
The sensor unit 203 may include a camera, a laser radar, an inertial navigation system, a global positioning system, and the like. Specifically, any sensor of the sensor unit 203 is mounted on the vehicle body.
It can be seen that the above-mentioned sensor detection method can be specifically operated in the hardware abstraction layer of the autopilot system shown in fig. 2, and specifically is used for detecting various sensors (such as a camera, a laser radar, an inertial navigation system, and a global positioning system) at the bottom layer in real time, and all units of the autopilot system work in cooperation with each other, so that the autopilot system can find the problems of the sensors in time, and the real-time monitoring of the states of the sensors can improve the timely alarming and emergency handling capabilities of the autopilot system, reduce the probability of traffic accidents, and make the autopilot system more reliable and more robust.
Please refer to fig. 2b, which is a schematic diagram of a link exception and status exception monitoring relationship according to an embodiment of the present invention, wherein:
firstly, the vehicle-mounted control terminal judges whether the sensor is started or not, if the sensor is started successfully, the vehicle-mounted control terminal judges whether a link is abnormal or not, and if the sensor is not started successfully, the vehicle-mounted control terminal directly starts the sensor and does not monitor.
Further, the vehicle-mounted control terminal judges the link of the sensor, wherein whether the link of the sensor is normal or not is judged according to the maximum frame interval duration of the sensor data and the normal frequency range of the sensor data.
The automatic driving system acquires characteristic parameters when the first sensor transmits data aiming at the first sensor in the sensors after the starting is successful, wherein the characteristic parameters comprise target time of last frame data transmitted by the first sensor, the registration information is maximum frame interval time, and when the time length of the target time and the current time reaches the maximum frame interval time, the sensor is monitored for link disconnection.
Or, the characteristic parameter may also include a frequency of data transmission by the first sensor, the registration information includes a data generation frequency range, and if the frequency of data transmission by the first sensor is not within the data generation frequency range, the sensor is monitored for frequency abnormality, where both monitoring schemes are cases of sensor link disconnection.
Furthermore, when the sensor is normally started and the link is not disconnected, the data and the fault code of the sensor are monitored.
Specifically, the registration information includes a data value range, and for a second sensor in the sensors which are successfully started and have no abnormal link, the number or the proportion of data which is not in the data value range in the received data sent by the second sensor is acquired, and if the number or the proportion reaches a preset value, the sensor data abnormality monitoring is performed on the second sensor.
Or the registration information comprises a corresponding relation between the fault code and the fault description, the vehicle-mounted control terminal obtains the fault code sent by the first sensor which is started successfully, the corresponding relation between the fault code and the fault description is used for determining a target fault description corresponding to the fault code sent by the first sensor, and if the target fault description indicates that the first sensor has a fault, the first sensor is monitored for the fault code of the sensor.
In the embodiment of the invention, whether the sensor is started successfully or not, whether the sensor link is disconnected or not and whether the data state of the sensor is abnormal or not can be monitored, so that the reliability and the robustness of the automatic driving system can be improved to a greater extent, and the probability of traffic accidents is reduced.
Fig. 3 is a schematic structural diagram of a sensor detection device according to an embodiment of the present invention. The sensor detection device 30 comprises an acquisition module 301, a receiving module 302, a determination module 303 and a control module 304:
an obtaining module 301, configured to obtain registration information of the sensor;
a receiving module 302, configured to receive data sent by the sensor;
a determining module 303, configured to determine a current state of the sensor according to the registration information and the data sent by the sensor;
and the control module 304 is used for sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
Optionally, the registration information includes one or more of a type of the sensor, an address list, a data generation frequency range, a maximum frame interval duration, a correspondence between the fault code and the fault description, a data value range, and a processing mechanism when the sensor is abnormal.
Optionally, the current state of the sensor includes at least one of: status exception, link exception. The status anomaly comprises at least one of: the sensor is not started, the sensor detects a fault by self, and the data of the sensor is abnormal; the link anomaly comprises at least one of: the sensor link is disconnected and the sensor data frequency is abnormal.
Optionally, the sensor comprises at least one of: cameras, laser radars, inertial navigation systems, global positioning systems.
Optionally, the corresponding control instruction includes one or more of the following control instructions: throttle control, steering control and light control.
Optionally, the determining module 303 is specifically configured to:
and determining abnormal sensors from at least one sensor according to the registration information and the data sent by each sensor.
Optionally, the control module 304 is further configured to:
and controlling the vehicle according to the target processing mechanism corresponding to the sensor with the abnormality.
Optionally, the determining module 303 is specifically configured to:
determining a sensor which fails to be started from at least one sensor according to the address list and the address of the sensor which succeeds in starting;
and determining the sensor with failed starting as the sensor with abnormality.
Optionally, for a first sensor in the sensors that are successfully started, the obtaining module 301 is further configured to obtain a characteristic parameter when the first sensor sends data, where the first sensor is any one of the sensors that are successfully started, and the characteristic parameter includes a target time of last frame data sent by the first sensor or a frequency at which the first sensor sends data;
the determining module 303 is further configured to determine whether the first sensor is a link abnormal sensor according to the characteristic parameter;
if yes, the determining module 303 determines the first sensor as an abnormal sensor.
Optionally, the determining module 303 is specifically configured to:
the characteristic parameters comprise the target time of the last frame data sent by the first sensor, the registration information further comprises the maximum frame interval duration, whether the first sensor is a link abnormal sensor or not is determined according to the characteristic parameters, and if the duration of the target time from the current time reaches the maximum frame interval duration, the link abnormality of the first sensor is determined.
Optionally, the determining module 303 is specifically configured to:
the characteristic parameters comprise the frequency of data sent by the first sensor, the registration information further comprises a data generation frequency range, whether the first sensor is a sensor with abnormal link or not is determined according to the characteristic parameters, and if the frequency of data sent by the first sensor is not in the data generation frequency range, the link of the first sensor is determined to be abnormal.
Optionally, the registration information further includes a data value range, and for a second sensor of the sensors that are successfully started and have no link abnormality, the obtaining module 301 is further configured to obtain a quantity or a proportion of data that is not in the data value range in the received data sent by the second sensor, where the second sensor is any one of the sensors that are successfully started and have no link abnormality;
if the number or the percentage reaches a preset value, the determining module 303 is further configured to determine the second sensor as a sensor with an abnormality.
Optionally, the registration information further includes a corresponding relationship between a fault code and a fault description, and the obtaining module 301 is further configured to obtain the fault code sent by the first sensor;
the determining module 303 is further configured to determine, by using the correspondence between the fault code and the fault description, a target fault description corresponding to the fault code sent by the first sensor;
the determining module 303 is further configured to determine the first sensor as an abnormal sensor if the target fault description indicates that the first sensor has a fault.
Optionally, the registration information further includes a processing mechanism when a sensor is abnormal, and the control module 304 is configured to send an alarm message for the sensor with the abnormality;
the acquiring module 301 is configured to acquire an abnormality type and/or a sensor type of the sensor having an abnormality;
the determining module 303 is configured to determine the type of the abnormality and/or a target processing mechanism corresponding to the type of the sensor from processing mechanisms when the sensor is abnormal;
the control module 304 is configured to control the vehicle according to the target handling mechanism.
Optionally, the processing mechanism when the sensor is abnormal includes one or more of activating a standby sensor, refusing to drive after activation, adjusting an automatic driving level, decelerating, stopping, and turning on a hazard warning flash.
In the embodiment of the invention, the acquisition module 301 acquires the registration information of the sensor, the receiving module 302 receives the data sent by the sensor, the determination module 303 determines the current state of the sensor according to the registration information and the data sent by the sensor, and the control module 304 sends out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
Fig. 4 is a schematic structural diagram of a vehicle-mounted control terminal according to an embodiment of the present invention. The in-vehicle control terminal described in this embodiment includes: a processor 401 and a memory 402. The processor 401 and the memory 402 are connected by a bus.
The Processor 401 may be a Central Processing Unit (CPU), and may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 402 may include both read-only memory and random access memory, and provides program instructions and data to the processor 401. A portion of the memory 402 may also include non-volatile random access memory. Wherein the processor 401, when calling the program instruction, is configured to perform:
acquiring registration information of the sensor;
receiving data sent by the sensor;
determining the current state of the sensor according to the registration information and the data sent by the sensor;
and sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
Optionally, the processor 401 is specifically configured to:
and determining abnormal sensors from at least one sensor according to the registration information and the data sent by the sensors.
Optionally, the processor 401 is specifically configured to:
and controlling the vehicle according to the target processing mechanism corresponding to the sensor with the abnormality.
Optionally, the processor 401 is specifically configured to:
determining a sensor which fails to be started from at least one sensor according to the address list and the address of the sensor which succeeds in starting;
and determining the sensor with failed starting as the sensor with abnormality.
Optionally, the processor 401 is specifically configured to:
determining whether the first sensor is a sensor with abnormal link according to the characteristic parameters;
and if so, determining the first sensor as the abnormal sensor.
Optionally, the processor 401 is specifically configured to:
and if the time length between the target time and the current time reaches the maximum frame interval time length, determining that the link of the first sensor is abnormal.
Optionally, the processor 401 is specifically configured to:
and if the frequency of the data sent by the first sensor is not in the data generation frequency range, determining that the link of the first sensor is abnormal.
Optionally, the processor 401 is specifically configured to:
acquiring the quantity or the proportion of data which is not in the data value range in the received data sent by the second sensor;
and if the number or the ratio reaches a preset value, determining the second sensor as a sensor with abnormality.
Optionally, the processor 401 is specifically configured to:
acquiring a fault code sent by the first sensor;
determining a target fault description corresponding to the fault code sent by the first sensor by using the corresponding relation between the fault code and the fault description;
and if the target fault description indicates that the first sensor has a fault, determining the first sensor as an abnormal sensor.
In a specific implementation, the processor 401 and the memory 402 described in this embodiment of the present invention may execute the implementation manner described in the sensor detection method provided in fig. 1 in the embodiment of the present invention, and may also execute the implementation manner of the sensor detection apparatus described in fig. 3 in the embodiment of the present invention, which is not described herein again.
In the embodiment of the invention, the processor 401 can acquire the registration information of the sensor, receive the data sent by the sensor, determine the current state of the sensor according to the registration information and the data sent by the sensor, send out the corresponding control instruction for controlling the vehicle according to the current state of the sensor, improve the timely alarm and emergency handling capacity of the automatic driving system by monitoring the state of the sensor in real time, reduce the probability of traffic accidents, and ensure that the automatic driving system is more reliable and robust.
The embodiment of the invention also provides a vehicle, which comprises a vehicle body, at least one sensor and a vehicle-mounted control terminal, wherein the at least one sensor and the vehicle-mounted control terminal are installed on the vehicle body, and the vehicle-mounted control terminal can adopt the structures of the above embodiments.
An embodiment of the present invention further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, some or all of the steps of the sensor detection method in the embodiment shown in fig. 1 may be included.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The sensor detection method, the sensor detection device, the vehicle-mounted control terminal and the vehicle provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (31)
1. A sensor detection method applied to safe driving of a vehicle equipped with at least one sensor, characterized in that the method comprises:
acquiring registration information of the sensor;
receiving data sent by the sensor;
determining the current state of the sensor according to the registration information and the data sent by the sensor;
and sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
2. The method of claim 1, wherein the registration information includes one or more of a type of the sensor, an address list, a data generation frequency range, a maximum frame interval duration, a correspondence between a fault code and a fault description, a data value range, and a processing mechanism when the sensor is abnormal.
3. The method of claim 1, wherein the current state of the sensor comprises at least one of: state exception, link exception;
the status anomaly comprises at least one of: the sensor is not started, the sensor detects a fault by self, and the data of the sensor is abnormal;
the link anomaly comprises at least one of: the sensor link is disconnected and the sensor data frequency is abnormal.
4. The method of claim 1, wherein the sensor comprises at least one of: cameras, laser radars, inertial navigation systems, global positioning systems.
5. The method of claim 1, wherein the corresponding control instruction comprises one or more of the following: throttle control, steering control and light control.
6. The method according to any one of claims 1 to 5, wherein the determining the current state of the sensor according to the registration information and the data sent by the sensor comprises:
and determining abnormal sensors from at least one sensor according to the registration information and the data sent by the sensors.
7. The method of claim 6, further comprising:
and controlling the vehicle according to the target processing mechanism corresponding to the sensor with the abnormality.
8. The method of claim 6, wherein the data sent by the sensors includes addresses of sensors that successfully activated, the registration information includes a list of addresses, and the determining the abnormal sensor from the at least one sensor based on the registration information and the data sent by the sensors comprises:
determining a sensor which fails to be started from at least one sensor according to the address list and the address of the sensor which succeeds in starting;
and determining the sensor with failed starting as the sensor with abnormality.
9. The method of claim 8, further comprising:
for a first sensor in the sensors which are successfully started, acquiring a characteristic parameter when the first sensor sends data, wherein the first sensor is any one of the sensors which are successfully started, and the characteristic parameter comprises the target time of the last frame of data sent by the first sensor or the frequency of the data sent by the first sensor;
determining whether the first sensor is a sensor with abnormal link according to the characteristic parameters;
and if so, determining the first sensor as the abnormal sensor.
10. The method of claim 9, wherein the characteristic parameter comprises a target time of a last frame of data sent by the first sensor, wherein the registration information further comprises a maximum frame interval duration, and wherein determining whether the first sensor is a link-abnormal sensor according to the characteristic parameter comprises:
and if the time length between the target time and the current time reaches the maximum frame interval time length, determining that the link of the first sensor is abnormal.
11. The method of claim 9, wherein the characteristic parameter comprises a frequency at which the first sensor transmits data, wherein the registration information further comprises a data generation frequency range, and wherein determining whether the first sensor is a link-abnormal sensor based on the characteristic parameter comprises:
and if the frequency of the data sent by the first sensor is not in the data generation frequency range, determining that the link of the first sensor is abnormal.
12. The method according to any one of claims 9 to 11, wherein the registration information further includes a data value range, the method further comprising:
aiming at a second sensor in the sensors which are successfully started and have no abnormity in a link, acquiring the quantity or the proportion of data which are not in the data value range in the received data sent by the second sensor, wherein the second sensor is any one of the sensors which are successfully started and have no abnormity in the link;
and if the number or the ratio reaches a preset value, determining the second sensor as a sensor with abnormality.
13. The method of claim 9, wherein the registration information further includes a correspondence between a fault code and a fault description, and the method further comprises:
acquiring a fault code sent by the first sensor;
determining a target fault description corresponding to the fault code sent by the first sensor by using the corresponding relation between the fault code and the fault description;
and if the target fault description indicates that the first sensor has a fault, determining the first sensor as an abnormal sensor.
14. The method of claim 7, wherein the registration information includes a processing mechanism when a sensor is abnormal, and the controlling the vehicle according to the target processing mechanism corresponding to the sensor with the abnormality comprises:
sending out an alarm message aiming at the sensor with the abnormality;
acquiring the abnormal type and/or the sensor type of the sensor with the abnormality;
and determining the abnormal type and/or a target processing mechanism corresponding to the sensor type from the processing mechanisms when the sensor is abnormal, and controlling the vehicle according to the target processing mechanism.
15. The method of claim 14, wherein the processing mechanism when the sensor is abnormal comprises one or more of activating a backup sensor, rejecting driving after start, adjusting an automatic driving level, slowing down, stopping, and turning on a hazard warning flash.
16. A vehicle-mounted control terminal, characterized in that it comprises: a processor and a memory, the processor and memory interconnected, wherein:
the memory for storing a computer program, the computer program comprising program instructions;
the processor, when invoking the program instructions, is configured to perform:
acquiring registration information of the sensor;
receiving data sent by the sensor;
determining the current state of the sensor according to the registration information and the data sent by the sensor;
and sending out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.
17. The vehicle-mounted control terminal according to claim 16, wherein the registration information includes one or more of a type of the sensor, an address list, a data generation frequency range, a maximum frame interval duration, a correspondence between a fault code and a fault description, a data value range, and a processing mechanism when the sensor is abnormal.
18. The in-vehicle control terminal of claim 16, wherein the current status of the sensor comprises at least one of: state exception, link exception;
the status anomaly comprises at least one of: the sensor is not started, the sensor detects a fault by self, and the data of the sensor is abnormal;
the link anomaly comprises at least one of: the sensor link is disconnected and the sensor data frequency is abnormal.
19. The vehicle control terminal of claim 16, wherein the sensor comprises at least one of: cameras, laser radars, inertial navigation systems, global positioning systems.
20. The in-vehicle control terminal of claim 16, wherein the corresponding control instruction comprises one or more of the following: throttle control, steering control and light control.
21. The vehicle control terminal according to any one of claims 16 to 20, wherein the processor is specifically configured to:
and determining abnormal sensors from at least one sensor according to the registration information and the data sent by the sensors.
22. The in-vehicle control terminal of claim 21, wherein the processor is further configured to:
and controlling the vehicle according to the target processing mechanism corresponding to the sensor with the abnormality.
23. The in-vehicle control terminal of claim 21, wherein the processor is further configured to:
determining a sensor which fails to be started from at least one sensor according to the address list and the address of the sensor which succeeds in starting;
and determining the sensor with failed starting as the sensor with abnormality.
24. The in-vehicle control terminal of claim 23, wherein the processor is further configured to:
for a first sensor in the sensors which are successfully started, acquiring a characteristic parameter when the first sensor sends data, wherein the first sensor is any one of the sensors which are successfully started, and the characteristic parameter comprises the target time of the last frame of data sent by the first sensor or the frequency of the data sent by the first sensor;
determining whether the first sensor is a sensor with abnormal link according to the characteristic parameters;
and if so, determining the first sensor as the abnormal sensor.
25. The vehicle-mounted control terminal of claim 24, wherein the processor is specifically configured to:
and if the time length between the target time and the current time reaches the maximum frame interval time length, determining that the link of the first sensor is abnormal.
26. The vehicle-mounted control terminal of claim 24, wherein the processor is specifically configured to:
and if the frequency of the data sent by the first sensor is not in the data generation frequency range, determining that the link of the first sensor is abnormal.
27. The vehicle control terminal according to any one of claims 24 to 26, wherein the processor is further configured to:
aiming at a second sensor in the sensors which are successfully started and have no abnormity in a link, acquiring the quantity or the proportion of data which are not in the data value range in the received data sent by the second sensor, wherein the second sensor is any one of the sensors which are successfully started and have no abnormity in the link;
and if the number or the ratio reaches a preset value, determining the second sensor as a sensor with abnormality.
28. The in-vehicle control terminal of claim 24, wherein the processor is further configured to:
acquiring a fault code sent by the first sensor;
determining a target fault description corresponding to the fault code sent by the first sensor by using the corresponding relation between the fault code and the fault description;
and if the target fault description indicates that the first sensor has a fault, determining the first sensor as an abnormal sensor.
29. The vehicle-mounted control terminal of claim 22, wherein the processor is specifically configured to:
outputting a warning message for the sensor having the abnormality;
acquiring the abnormal type and/or the sensor type of the sensor with the abnormality;
and determining the abnormal type and/or a target processing mechanism corresponding to the sensor type from the processing mechanisms when the sensor is abnormal, and controlling the vehicle according to the target processing mechanism.
30. The vehicle control terminal of claim 29, wherein the processing mechanism when the sensor is abnormal comprises one or more of activating a backup sensor, rejecting driving after start, adjusting an automatic driving level, decelerating, stopping, and turning on a hazard warning flash.
31. A vehicle, characterized in that the vehicle comprises:
a vehicle body;
at least one sensor;
the on-board control terminal of any one of claims 16 to 30, the at least one sensor and the on-board control terminal being mounted on the vehicle body.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/103747 WO2021035701A1 (en) | 2019-08-30 | 2019-08-30 | Sensor detection method and vehicle-mounted control terminal |
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| CN112118991A true CN112118991A (en) | 2020-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201980030310.9A Pending CN112118991A (en) | 2019-08-30 | 2019-08-30 | Sensor detection method and vehicle-mounted control terminal |
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| CN (1) | CN112118991A (en) |
| WO (1) | WO2021035701A1 (en) |
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| WO2021035701A1 (en) | 2021-03-04 |
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