CN112346447A - Safety detection method, safety detection module, safety system and automatic driving system - Google Patents
Safety detection method, safety detection module, safety system and automatic driving system Download PDFInfo
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The utility model discloses at least one embodiment provides a safety detection method, belongs to the technical field of automatic driving, and this safety detection method includes: recording a current time as a first callback time in response to a first callback function of at least one callback function for detecting the safety of the automatic driving system being recalled; calculating the time difference between the first callback time and a second callback time corresponding to the last time when the first callback function is recalled, and taking the time difference as a callback interval; judging whether the callback interval is larger than a first preset interval threshold value or not; and if the callback interval is judged to be larger than the first preset interval threshold, determining that the communication of the automatic driving system is in an abnormal state. At least one embodiment of the present disclosure also provides a safety detection module, a safety system and an automatic driving system and a computer readable medium.
Description
Technical Field
The disclosed embodiments relate to the field of automatic driving technologies, and in particular, to a safety detection method, a safety detection module, a safety system, an automatic driving system, and a computer-readable medium.
Background
An autopilot system typically includes a plurality of work modules and an autopilot communication framework for communication between the work modules. The running state of the automatic driving communication framework plays an important role in the stability and safety of the whole automatic driving system.
Disclosure of Invention
The invention aims to at least solve the technical problem that the running state of an automatic driving communication frame cannot be detected in time in the prior art, and provides a safety detection method, a safety detection module, a safety system and an automatic driving system.
In a first aspect, the disclosed embodiments provide a safety detection method for an automatic driving system, the method including:
recording a current time as a first callback time in response to a first callback function of at least one callback function for detecting the safety of the automatic driving system being recalled;
calculating the time difference between the first callback time and a second callback time corresponding to the last time when the first callback function is recalled, and taking the time difference as a callback interval;
judging whether the callback interval is larger than a first preset interval threshold value or not;
and if the callback interval is judged to be larger than the first preset interval threshold, determining that an automatic driving communication frame in the automatic driving system is in an abnormal state.
In some embodiments, the security detection method further comprises: the following steps are executed every predetermined period:
acquiring current system time and third callback time when the first callback function which is closest to the current system time in time is called back;
calculating the time difference between the current system time and the third callback time, and taking the time difference as a monitoring interval;
judging whether the monitoring interval is larger than a second preset interval threshold value or not;
and if the monitoring interval is judged to be larger than the second preset interval threshold value, determining that the automatic driving communication frame is in an abnormal state.
In some embodiments, the second predetermined interval threshold is greater than the first predetermined interval threshold.
In some embodiments, the security detection method further comprises:
receiving first heartbeat information sent by a target working module in the automatic driving system;
and determining whether the target working module is in an abnormal state or not based on the first heartbeat information.
In some embodiments, the security detection method further comprises:
and sending second heartbeat information to the target working module.
In a second aspect, embodiments of the present disclosure also provide a safety detection module for an automatic driving system, including:
the time recording sub-module is used for recording the current moment as a first callback time in response to a first callback function in at least one callback function for detecting the safety of the automatic driving system being recalled;
the first calculation submodule is used for calculating the time difference between the first callback time and a second callback time corresponding to the last time when the first callback function is recalled, and taking the time difference as a callback interval;
the first judgment submodule is used for judging whether the callback interval is larger than a first preset interval threshold value or not;
the first determining submodule is used for determining that the automatic driving communication frame is in an abnormal state when the first judging submodule judges that the callback interval is larger than a first preset interval threshold.
In some embodiments, the security detection module further comprises:
the obtaining submodule is used for obtaining the current system time and a third callback time when the first callback function which is closest to the current system time in time is called back;
the second calculation submodule is used for calculating the difference between the current system time and the third callback time as a monitoring interval;
the second judgment submodule is used for judging whether the monitoring interval is larger than a second preset interval threshold value or not;
a second determining submodule, configured to determine that the automatic driving communication frame is in an abnormal state when the second determining submodule determines that the monitoring interval is greater than the second predetermined interval threshold.
In some embodiments, the second predetermined interval threshold is greater than the first predetermined interval threshold.
In some embodiments, the security detection module further comprises:
the receiving submodule is used for receiving first heartbeat information sent by a target working module in the automatic driving system;
and the detection submodule is used for determining whether the target working module is in an abnormal state or not based on the first heartbeat information.
In some embodiments, the security detection module further comprises:
and the sending submodule is used for sending the second heartbeat information to the target working module.
In a third aspect, an embodiment of the present disclosure further provides a security system, which includes at least one security detection module, where the security detection module provided in the foregoing embodiment is adopted as the security detection module.
In a fourth aspect, the embodiment of the present disclosure further provides an automatic driving system, which includes a safety system, where the safety system adopts the safety system provided in the foregoing embodiment.
In a fifth aspect, the disclosed embodiment further provides a computer readable medium, on which a computer program is stored, where the program, when executed by a processor, implements the security detection method provided in the above embodiment.
The technical scheme disclosed by the invention can timely and effectively detect whether the automatic driving communication frame is in a normal state or an abnormal state, and is favorable for maintaining the stability and the safety of the automatic driving system.
Drawings
Fig. 1 is a block diagram showing a structure of an automatic driving system according to the related art;
fig. 2 is a flowchart of a security detection method provided in an embodiment of the present disclosure;
fig. 3 is a flow chart of another security detection method provided by the embodiments of the present disclosure;
fig. 4 is a flowchart of another security detection method provided in the embodiments of the present disclosure;
fig. 5 is a block diagram of a security detection module according to an embodiment of the present disclosure;
fig. 6 is a block diagram of another security detection module according to an embodiment of the present disclosure;
fig. 7 is a block diagram of a structure of another security detection module according to an embodiment of the present disclosure.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, a safety detection method, a safety detection module, a safety system, an automatic driving system, and a computer readable medium provided by the present invention are described in detail below with reference to the accompanying drawings.
Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but which may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms, which are used to distinguish one object from another.
Unless otherwise defined, all terms (including technical and scientific terms) used herein
Have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
In order to facilitate better understanding of the technical aspects of the present disclosure by those skilled in the art, a description will now be made of related art.
Fig. 1 is a block diagram of an automatic driving system related to related technologies, and as shown in fig. 1, the automatic driving system includes a plurality of work modules and an automatic driving communication framework, where the automatic driving communication framework is formed based on certain hardware and software, the automatic driving communication framework is used to provide interfaces for the work modules, and each work module calls a corresponding interface when receiving and sending a message. The working module is used for implementing a corresponding function, for example, the working module may specifically be a sensing module, a preprocessing module, a policy module, a control module, and the like, the sensing module is used for sensing a surrounding environment and generating corresponding sensing data, the preprocessing module is used for preprocessing (for example, denoising) the sensing data, the policy module (also called a decision planning module) is used for generating decision information according to the sensing data or other data, and the control module is used for generating and sending a control instruction according to the decision information to control the vehicle operating system to execute a corresponding operation.
Taking the message transmission process of two working modules based on an automatic driving communication framework as an example; one of the two working modules is used as a message writing module, the other one is used as a message reading module, and the message reading module subscribes to the message writing module. When end-to-end data communication is carried out, the message writing module writes data information into the automatic driving communication framework at a certain frequency, the automatic driving communication framework broadcasts the written data, and under the condition that the automatic driving communication framework is in a normal state, the message reading module subscribed to the message writing module reads the data information from the automatic driving communication framework at the same frequency.
In the related art, in order to improve the safety of the automatic driving system, a certain technical means is adopted to verify the validity of the data information written into the automatic driving communication framework by the working module. Specifically, a safety system is additionally arranged in the automatic driving system, a plurality of safety detection modules (checker) are arranged in the safety system, and each safety detection module corresponds to one working module.
The safety detection module is stored with a callback function, when the safety detection module is initialized, a function pointer of the callback function stored by the safety detection module is registered to the automatic driving communication framework, and the triggering condition of the automatic driving communication framework for executing callback of the callback function in the safety detection module is defined as follows: the working module corresponding to the safety detection module writes preset type data into the automatic driving communication framework; the data type is determined by the working module, and the automatic driving communication framework can determine the data type through a topic (topic) of the data; in principle, the data types of data written to the autonomous communication framework by different work modules differ. When the callback function in the safety detection module is called back by the automatic driving communication frame, the processing of verifying the legality of the preset type of data written into the automatic driving communication frame by the corresponding working module (corresponding legality verification rules are defined in the callback function in advance) is executed, and when the preset type of data is verified to be illegal data, data abnormal information is fed back to the strategy module; the strategy module works out corresponding decision information according to the abnormal information and sends the decision information to the control module; and the control module generates and sends a control instruction according to the decision information so as to control a vehicle operating system (such as a steering wheel, a brake, an accelerator and the like) to execute corresponding operation, thereby correcting the driving path of the automatic driving.
The existing safety system can check the legality of data written in by a working module, but cannot detect the working state of an automatic driving communication frame. At this time, if the working module writes the abnormal data and the automatic driving communication framework is just in an abnormal state (for example, the automatic driving communication framework has data blockage or the automatic driving communication framework cannot call back a callback function in the safety detection module), the safety detection module corresponding to the working module cannot detect that the abnormal data is not illegal data in time, so that the automatic driving is in an extremely dangerous state.
In order to realize the detection that the automatic driving communication framework is in a normal state or an abnormal state, the present disclosure provides a corresponding technical solution, and the following exemplary description is made with reference to specific embodiments.
The safety detection method is based on a safety detection module, at least one predefined callback function is stored in the safety detection module, at least one first callback function is included in the at least one callback function, and the first callback function is called back by the automatic driving communication framework when the automatic driving communication framework is written with data of a preset type (written by a corresponding working module). Specifically, a function pointer corresponding to a first callback function is stored in the automatic driving communication framework, and when the preset type of data is written into the automatic driving communication framework, the function pointer triggering the callback function is called.
It should be noted that, in some embodiments, the at least one callback function may further include a callback function (designed as needed) for implementing other functions, and the disclosure is not limited to the callback functions of other functions. In the disclosure, it is only required to ensure that the security detection module stores at least the first callback function.
Fig. 2 is a flowchart of a security detection method according to an embodiment of the present disclosure, and as shown in fig. 2, the security detection method includes:
and step S1, responding to a first callback function in at least one callback function for detecting the safety of the automatic driving system being recalled, and recording the current time as a first callback time.
In some embodiments, the first callback function is configured to perform a process of verifying the legitimacy of the predetermined type of data when being recalled by the autonomous driving communication framework through the function pointer, and to feed back data exception information to the policy module when the predetermined type of data is verified to be illegal data. The specific process of calling back the callback function belongs to the conventional technology in the field and is not described in detail here.
And when the callback function is recalled, the security detection module acquires the current time of the system to serve as the first callback time and stores the first callback time.
And step S2, calculating the time difference between the first time and the second callback time corresponding to the last time when the first callback function is called, and taking the time difference as the callback interval.
Firstly, with the first callback time as a reference, the security detection module queries the callback time corresponding to the last time the first callback function is recalled from the database of the security detection module, and the callback time is used as a second callback time; and then, the security detection module calculates the time difference between the first callback time and the second callback time to obtain a callback interval.
And step S3, judging whether the callback interval is larger than a first preset interval threshold value.
When the data blocking abnormity exists in the automatic driving communication framework, although the first callback function in the safety detection module can be called back by the automatic driving communication framework, the callback interval of two adjacent callbacks is larger than the time interval of two continuous times of writing the preset type of data into the automatic driving communication framework by the working module. Based on this principle, in the present disclosure, a first predetermined interval threshold may be set according to a frequency at which a working module corresponding to the safety detection module writes predetermined types of data into the automated driving communication framework; wherein the first predetermined interval threshold may be set assuming that the frequency of writing the predetermined type of data to the autonomous communication frame by the work module is f
Wherein alpha is more than or equal to 1; preferably, 1. ltoreq. alpha. ltoreq.2.
If the step S3 determines that the callback interval is greater than the first predetermined interval threshold, then step S4 is performed; if the step S3 determines that the callback interval is less than or equal to the first predetermined interval threshold, then step S5 is performed.
And step S4, determining that the automatic driving communication frame is in an abnormal state.
In step S4, it may be determined that the automated driving communication framework is in an abnormal state, and it may be determined that the abnormality is specifically a data blocking abnormality, and the first callback function cannot be recalled in time.
And step S5, determining that the automatic driving communication framework is in a normal state.
In step S5, it may be detected that the autonomous driving communication framework is in a normal state.
Based on the steps S1 to S5, the technical scheme of the present disclosure can detect whether the autonomous driving communication frame is in a normal state or an abnormal state, which is beneficial to improving the safety and stability of the autonomous driving system.
Fig. 3 is a flowchart of another security inspection method provided in the embodiment of the disclosure, and as shown in fig. 3, the security inspection method shown in fig. 3 not only includes the above steps S1 to S5, but also includes the following steps S6 to S10; among them, the following steps S6 to S10 are performed once every predetermined period, and only the steps S6 to S10 will be described in detail.
Step S6, obtaining the current system time and a third callback time at which the first callback function closest in time to the current system time is recalled.
The security detection module executes step S6 once every predetermined period to obtain the current system time, and obtains, from its own database, the callback time corresponding to the time when the first callback function was most recently recalled before the current system time, as a third callback time, taking the current system time as a reference.
And step S7, calculating the time of the current system time and the third callback time as a monitoring interval.
Step S8, determining whether the monitoring interval is greater than a second predetermined interval threshold.
Considering that the automatic driving communication framework may have data failure transmission abnormality (the automatic driving communication framework completely fails), the first callback function in the safety detection module cannot be recalled at this time, so that the automatic driving communication framework abnormality cannot be detected in time.
Therefore, in the disclosure, a time difference between the current system time and the third callback time that the first callback function is recalled last time is detected and calculated every other predetermined period to serve as a monitoring interval, and whether the monitoring interval is greater than a second predetermined interval threshold is determined.
The second preset interval threshold value can be set according to actual needs; assuming that the frequency of writing the predetermined type of data to the autonomous communication framework by the work module is f, the first predetermined interval threshold may be set to
Wherein beta is more than or equal to 1. Preferably, β > α, i.e. the second predetermined interval threshold is greater than the first predetermined interval threshold.
If the time interval is judged to be larger than the second preset interval threshold, the first callback function in the safety detection module is not called within a long period of time, and the automatic driving communication framework is in an abnormal state, and then the step S9 is executed; if the time interval is less than or equal to the second predetermined interval threshold, it indicates that the first callback function in the security detection module is called back in time, and then step S10 is executed.
And step S9, determining that the automatic driving communication frame is in an abnormal state.
In step S9, it may be determined that the automated driving communication framework is in an abnormal state, and it may be determined that the abnormality is specifically a data failure transmission abnormality and the first callback function cannot be recalled.
And step S10, determining that the automatic driving communication framework is in a normal state.
In step S10, it may be determined that the autonomous driving communication framework is in a normal state.
It should be noted that the present disclosure does not limit the execution sequence of steps S1 to S5 and steps S6 to S10, and the drawings only exemplify the case where steps S6 to S10 are executed after step S5.
Based on the steps S1 to S10, the technical scheme of the present disclosure can detect whether the autonomous driving communication frame is in a normal state or an abnormal state, which is beneficial to improving the safety and stability of the autonomous driving system.
Fig. 4 is a flowchart of another security detection method provided in an embodiment of the present disclosure, and as shown in fig. 4, the security detection method shown in fig. 4 includes not only the above step S1 to step S5, but also the following step S11 to step S13, and only the step S6 to step S10 are described in detail below.
And step S11, receiving the first heartbeat information sent by the target work module.
And step S12, detecting whether the target working module is in a normal state or an abnormal state according to the first heartbeat information.
The Heartbeat Message is a Message that the sender sends to the recipient and allows the recipient to determine if and when the sender has failed or terminated. Typically, heartbeat messages are sent from the time the sender starts, until the sender shuts down, during which time the sender may send periodic or repeated messages without interruption. When the recipient does not receive a message within a certain message reception period, the recipient may consider the sender to have been turned off, to have failed, or to be currently unavailable.
In the present disclosure, the target work module may be a work module corresponding to the security detection module, or may be another work module. The target working module can be detected to be in a normal state or an abnormal state by receiving the first heartbeat information sent by the target working module and based on the first heartbeat information.
It should be noted that, a specific process for detecting whether the monitored object is in a normal state or an abnormal state according to the heartbeat information of the monitored object belongs to the conventional technology in the art, and is not described in detail herein.
And step S13, sending second heartbeat information to the target work module.
In step S13, the safety detection module sends the second heartbeat information to the target operation module, so that the target operation module detects that the safety detection module is in a normal state or an abnormal state according to the second heartbeat information.
At this time, a heartbeat detection mechanism is established between the safety detection module and the target working module, and the other side is mutually detected to be in a normal state or an abnormal state (survivability detection), so that the safety and the stability of the automatic driving system can be further improved.
In some embodiments, the target work module is a policy module, which is a core module in a non-thermal vehicle system, and thus monitoring the viability of the policy module is of great significance to maintaining the safety of the autonomous driving system. In addition, the strategy module has strong data processing capacity, and the survivability of the safety detection module is monitored by utilizing the strategy module, so that the system pressure is not caused.
It should be noted that the present disclosure does not limit the execution sequence of steps S1 to S5 and steps S11 to S13, and the drawings only exemplify the case where steps S11 to S13 are executed after step S5.
In addition, in some embodiments, the new technical solution obtained by combining the steps S1 to S5, the steps S6 to S10, and the steps S11 to S13 can achieve comprehensive monitoring of the entire non-thermal vehicle system, and the new technical solution also belongs to the protection scope of the present disclosure.
Fig. 5 is a block diagram of a security detection module according to an embodiment of the present disclosure, and as shown in fig. 5, the security detection module may be used to implement the security detection method according to the foregoing embodiment, and the security detection module includes: the time recording submodule 1, the first calculating submodule 2, the first judging submodule 3 and the first detecting submodule 4.
Wherein, the time recording submodule 1 is responsive to a first callback function of the at least one callback function for detecting the safety of the automatic driving system being recalled for recording the current time as a first callback time.
The first calculation submodule 2 is configured to calculate a time difference between the first callback time and a second callback time corresponding to the last time the first callback function was recalled, as a callback interval.
The first judgment submodule 3 is used for judging whether the callback interval is larger than a preset interval threshold.
The first determining submodule 4 is used for determining that the automatic driving communication frame is in an abnormal state when the first judging submodule 3 judges that the callback interval is larger than the preset interval threshold; and when the first judgment submodule 3 judges that the callback interval is less than or equal to the predetermined interval threshold, determining that the automatic driving communication frame is in a normal state.
In some embodiments, the first callback function is configured to perform a process of verifying the legitimacy of the predetermined type of data when being recalled by the automated driving communication framework, and to feed back data exception information to the policy module when verifying that the predetermined type of data is illegal data.
In some embodiments, the security detection module further comprises a function storage submodule 5, and the function storage submodule 5 stores a predefined first callback function.
Fig. 6 is a block diagram of another safety detection module according to an embodiment of the present disclosure, and as shown in fig. 6, in some embodiments, the safety detection module includes not only the time recording submodule 1, the first calculating submodule 2, the first determining submodule 3, the first determining submodule 4, and the function storing submodule 5, but also the obtaining submodule 6, the second calculating submodule 7, the second determining submodule 8, and the second determining submodule 9.
The obtaining submodule 6 is configured to obtain, every predetermined period, a current system time and a third callback time at which a first callback function closest in time to the current system time is recalled.
The second calculating submodule 7 is configured to calculate a time difference between the current system time and the third callback time as a monitoring interval.
The second determination submodule 8 is configured to determine whether the monitoring interval is greater than a second predetermined interval threshold.
The second determination submodule 9 is configured to determine that the automated driving communication framework is in an abnormal state when the second determination submodule 8 determines that the callback interval is greater than the second predetermined interval threshold. And when the second judgment submodule 8 judges that the callback interval is less than or equal to the second predetermined interval threshold, determining that the automatic driving communication framework is in a normal state.
In some embodiments, the second predetermined interval threshold is greater than the first predetermined interval threshold.
Fig. 7 is a block diagram of a structure of another safety detection module provided in an embodiment of the present disclosure, as shown in fig. 7, in some embodiments, the safety detection module includes not only the time recording submodule 1, the first calculating submodule 2, the first judging submodule 3, the first detecting submodule 4, and the function storage submodule 5, but also: a receiving sub-module 10 and a detection sub-module 11.
The receiving submodule 10 is configured to receive first heartbeat information sent by a target work module in the automatic driving system.
The detection submodule 11 is configured to determine whether the target operating module is in an abnormal state based on the first heartbeat information.
With continued reference to fig. 7, in some embodiments the security detection module further comprises: and the sending submodule 12, where the sending submodule 12 is configured to send the second heartbeat information of the security detection module to the target working module, so that the target working module detects that the security detection module is in a normal state or an abnormal state according to the second heartbeat information.
Further optionally, the target work module is a policy module.
For specific descriptions of each module and sub-module in this embodiment, refer to the description of the corresponding step in the foregoing embodiment, and are not described herein again.
It should be noted that, in the embodiment of the present disclosure, the security detection module may further include the above-mentioned obtaining sub-module 6, the second calculating sub-module 7, the second determining sub-module 8, and the second determining sub-module 9 in fig. 6, and the receiving sub-module 10, the detecting sub-module 11, and the sending sub-module 12 in fig. 7, which also belong to the protection scope of the present disclosure.
The embodiment of the present disclosure further provides a security system, which includes at least one security detection module, where the security detection module adopts the security detection module provided in the above embodiment.
The embodiment of the disclosure also provides an automatic driving system, which comprises a safety system, wherein the safety system adopts the safety system provided by the embodiment.
The embodiment of the present disclosure also provides a computer readable medium, on which a computer program is stored, wherein when being executed by a processor, the program implements the security detection method provided by the foregoing embodiment.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, functional blocks in the devices disclosed above may be implemented as software, firmware, hardware, or suitable combinations thereof. In a hardware implementation, the division between functional modules referred to in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted in a generic and descriptive sense only and not for purposes of limitation. In some instances, features, characteristics and/or elements described in connection with a particular embodiment may be used alone or in combination with features, characteristics and/or elements described in connection with other embodiments, unless expressly stated otherwise, as would be apparent to one skilled in the art. Accordingly, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the disclosure as set forth in the appended claims.
Claims (13)
1. A safety detection method for an autonomous driving system, wherein the safety detection method comprises:
recording a current time as a first callback time in response to a first callback function of at least one callback function for detecting the safety of the automatic driving system being recalled;
calculating the time difference between the first callback time and a second callback time corresponding to the last time when the first callback function is recalled, and taking the time difference as a callback interval;
judging whether the callback interval is larger than a first preset interval threshold value or not;
and if the callback interval is judged to be larger than the first preset interval threshold, determining that an automatic driving communication frame in the automatic driving system is in an abnormal state.
2. The security detection method of claim 1, wherein the security detection method further comprises: the following steps are executed every predetermined period:
acquiring current system time and third callback time when the first callback function which is closest to the current system time in terms of time is recalled;
calculating the time difference between the current system time and the third callback time, and taking the time difference as a monitoring interval;
judging whether the monitoring interval is larger than a second preset interval threshold value or not;
and if the monitoring interval is judged to be larger than the second preset interval threshold value, determining that the automatic driving communication frame is in an abnormal state.
3. The security detection method of claim 2, wherein the second predetermined interval threshold is greater than the first predetermined interval threshold.
4. The security detection method of claim 1, wherein the security detection method further comprises:
receiving first heartbeat information sent by a target working module in the automatic driving system;
and determining whether the target working module is in an abnormal state or not based on the first heartbeat information.
5. The security detection method of claim 4, wherein the security detection method further comprises:
and sending second heartbeat information to the target working module.
6. A safety detection module for an autonomous driving system, comprising:
a time recording sub-module, responsive to a first callback function of at least one callback function for detecting the safety of the automatic driving system being recalled, for recording a current time as a first callback time;
the first calculation submodule is used for calculating the time difference between the first callback time and a second callback time corresponding to the last time when the first callback function is recalled, and taking the time difference as a callback interval;
the first judgment submodule is used for judging whether the callback interval is larger than a first preset interval threshold value or not;
the first determination submodule is used for determining that an automatic driving communication frame in the automatic driving system is in an abnormal state when the first judgment submodule judges that the callback interval is larger than a first preset interval threshold value.
7. The security detection module of claim 6, wherein the security detection module further comprises:
the obtaining submodule is used for obtaining the current system time and a third callback time when the first callback function which is closest to the current system time in terms of time is called back;
the second calculation submodule is used for calculating the difference between the current system time and the third callback time as a monitoring interval;
the second judgment submodule is used for judging whether the monitoring interval is larger than a second preset interval threshold value or not;
a second determining submodule, configured to determine that the automatic driving communication frame is in an abnormal state when the second determining submodule determines that the monitoring interval is greater than the second predetermined interval threshold.
8. The security detection module of claim 7, wherein the second predetermined interval threshold is greater than the first predetermined interval threshold.
9. The security detection module of claim 6, wherein the security detection module further comprises:
the receiving submodule is used for receiving first heartbeat information sent by a target working module in the automatic driving system;
and the detection submodule is used for determining whether the target working module is in an abnormal state or not based on the first heartbeat information.
10. The security detection module of claim 9, wherein the security detection module further comprises:
and the sending submodule is used for sending the second heartbeat information to the target working module.
11. A security system comprising at least one security detection module, wherein the security detection module employs the security detection module of any one of claims 6-10.
12. An autopilot system comprising a safety system, wherein the safety system employs the safety system of claim 11.
13. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-5.
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