CN112346447B - 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
- Publication number
- CN112346447B CN112346447B CN201910730613.3A CN201910730613A CN112346447B CN 112346447 B CN112346447 B CN 112346447B CN 201910730613 A CN201910730613 A CN 201910730613A CN 112346447 B CN112346447 B CN 112346447B
- Authority
- CN
- China
- Prior art keywords
- callback
- module
- automatic driving
- time
- security detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 113
- 238000004891 communication Methods 0.000 claims abstract description 72
- 230000002159 abnormal effect Effects 0.000 claims abstract description 36
- 230000004044 response Effects 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 description 59
- 238000010586 diagram Methods 0.000 description 8
- 230000005856 abnormality Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000007781 pre-processing Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Alarm Systems (AREA)
Abstract
At least one embodiment of the present disclosure provides a safety detection method, which belongs to the technical field of automatic driving, and the safety detection method includes: in response to a first callback function of at least one callback function for detecting the safety of the automatic driving system being called back, recording the current moment as a first callback moment; calculating the time difference between the first callback time and the second callback time corresponding to the last callback time of the first callback function, 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 value, 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 autopilot system and computer readable medium.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of automatic driving, 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 frame plays a vital role in the stability and safety of the whole automatic driving system.
Disclosure of Invention
The invention aims at least solving 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, embodiments of the present disclosure provide a safety detection method for an autopilot system, the method comprising:
In response to a first callback function of at least one callback function for detecting the safety of the automatic driving system being called back, recording the current moment as a first callback moment;
Calculating the time difference between the first callback time and the second callback time corresponding to the last callback time of the first callback function, 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 value, 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 performed at predetermined intervals:
Acquiring the current system time and a third callback time which is closest to the current system time in time and is called back by the first callback function;
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 autopilot system, comprising:
A time recording sub-module, which is used for responding to that a first callback function in at least one callback function for detecting the safety of the automatic driving system is called back, and recording the current moment as a first callback moment;
The first calculation sub-module is used for calculating the time difference between the first callback time and the second callback time corresponding to the last callback time of the first callback function, and taking the time difference as a callback interval;
the first judging submodule is used for judging whether the callback interval is larger than a first preset interval threshold value or not;
and the first determination submodule is used for determining that the automatic driving communication frame is in an abnormal state when the first judgment submodule judges that the callback interval is larger than a first preset interval threshold value.
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 which is closest to the current system time in time and is called back by the first callback function;
the second calculation sub-module is used for calculating the difference between the current system time and the third callback time as a monitoring interval;
A second judging sub-module, configured to judge whether the monitoring interval is greater than a second predetermined interval threshold;
and the second determining submodule is used for determining that the automatic driving communication frame is in an abnormal state when the second judging submodule judges that the monitoring interval is larger than the second preset interval threshold value.
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 sub-module is used for receiving the first heartbeat information sent by the target working module in the automatic driving system;
And the detection sub-module 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 sub-module 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, including at least one security detection module, where the security detection module adopts the security detection module provided in the foregoing embodiment.
In a fourth aspect, an embodiment of the present disclosure further provides an autopilot system, including a safety system, where the safety system employs the safety system provided by the foregoing embodiment.
In a fifth aspect, the embodiments of the present disclosure further provide a computer readable medium having a computer program stored thereon, wherein the program when executed by a processor implements the security detection method as provided in the above embodiments.
According to the technical scheme, the automatic driving communication frame can be timely and effectively detected to be in a normal state or an abnormal state, and the stability and the safety of an automatic driving system are maintained.
Drawings
Fig. 1 is a block diagram of an autopilot system according to the related art;
FIG. 2 is a flow chart of a security detection method according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of another security detection method provided by an embodiment of the present disclosure;
FIG. 4 is a flow chart of yet another security detection method provided by an embodiment 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 provided in an embodiment of the present disclosure;
fig. 7 is a block diagram of a security detection module according to another embodiment of the present disclosure.
Detailed Description
In order to better understand the technical solutions of the present invention, the following describes in detail a safety detection method, a safety detection module, a safety system, an autopilot system and a computer readable medium provided by the present invention with reference to the accompanying drawings.
Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but may be embodied in various 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, these terms should be used merely 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.
To facilitate a better understanding of the technical solutions of the present disclosure by those skilled in the art, related techniques will now be described.
Fig. 1 is a block diagram of an autopilot system according to the related art, as shown in fig. 1, where the autopilot system includes a plurality of work modules and an autopilot communication framework, where the autopilot communication framework is configured based on certain hardware and software, and the autopilot communication framework is configured to provide interfaces for the work modules, and each work module invokes a corresponding interface when receiving and sending a message. The working module is used for realizing corresponding functions, for example, the working module can be a sensing module, a preprocessing module, a strategy module, a control module and the like, the sensing module is used for sensing the surrounding environment and generating corresponding sensing data, the preprocessing module is used for preprocessing the sensing data (such as noise reduction), the strategy module (also called as 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 control instructions according to the decision information so as to control the vehicle operating system to execute corresponding operations.
Taking two working modules as an example for carrying out a message transfer process based on an autopilot communication framework; one of the two working modules serves as a message writing module, and the other one serves as a message reading module, and the message reading module subscribes to the message writing module. When end-to-end data communication is performed, the message writing module writes data information into the automatic driving communication frame at a certain frequency, the automatic driving communication frame broadcasts the written data, and when the automatic driving communication frame is in a normal state, the message reading module subscribed to the message writing module can read the data information from the automatic driving communication frame at the same frequency.
In the related art, in order to improve the safety of an autopilot system, a certain technical means is adopted to verify the validity of data information written by a working module into an autopilot communication frame. 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 stores callback functions, when the safety detection module is initialized, function pointers of the callback functions stored in the safety detection module are registered to the automatic driving communication frame, and triggering conditions for the automatic driving communication frame to execute callback of the callback functions in the safety detection module are defined as follows: the working module corresponding to the safety detection module writes the preset type data into the automatic driving communication frame; the data type is determined by the work module, and the automatic driving communication framework can determine the data type through the topic (topic) of the data; in principle, the data types of the data written to the autopilot communication framework by the different work modules are different. When the callback function in the safety detection module is called back by the automatic driving communication framework, the processing of verifying the validity of the preset type of data written into the automatic driving communication framework by the corresponding working module (corresponding validity 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 abnormal information is fed back to the strategy module; the strategy module prepares corresponding decision information according to the abnormal information and sends the decision information to the control module; the control module generates and sends out 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.
Although the conventional safety system can detect the validity of the data written by the working module, the detection of the working state of the automatic driving communication frame cannot be realized. At this time, if the working module writes abnormal data, and the autopilot communication frame is just in an abnormal state (for example, the autopilot communication frame has data blocking or the autopilot communication frame cannot call back a callback function in the safety detection module), the safety detection module corresponding to the working module cannot timely detect that the abnormal data is not illegal, so that autopilot is in an extremely dangerous state.
In order to realize detection of the automatic driving communication frame being in a normal state or an abnormal state, the present disclosure provides a corresponding technical solution, and an exemplary description will be made below 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 used for being 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 the first callback function is stored in the automatic driving communication framework, and when the data of the preset type 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 according to need) for implementing other functions, where the disclosure is not limited to callback functions of other functions. In the present disclosure, it is only necessary to ensure that at least the first callback function is stored in the security detection module.
Fig. 2 is a flowchart of a security detection method according to an embodiment of the present disclosure, as shown in fig. 2, where the security detection method includes:
and step S1, responding to the fact that a first callback function in at least one callback function for detecting the safety of the automatic driving system is called back, and recording the current moment as a first callback moment.
In some embodiments, the first callback function is configured to perform a process of verifying validity of the predetermined type of data when being callback by the autopilot communication framework through the function pointer, and to feed back data exception information to the policy module when verifying that the predetermined type of data is illegal data. The specific process by which the callback function is called back belongs to the conventional technology in the art and will not be described in detail here.
When the callback function is called back, the security detection module obtains the current moment of the system to serve as a first callback moment and stores the first callback moment.
And S2, calculating the time difference between the first moment and the second callback moment corresponding to the last callback time of the first callback function, and taking the time difference as a callback interval.
Firstly, taking a first callback time as a reference, inquiring a callback time corresponding to the last callback time of a first callback function from a self database by a security detection module, and taking the callback time as a second callback time; and then, the safety detection module calculates the time difference between the first callback moment and the second callback moment to obtain a callback interval.
And S3, judging whether the callback interval is larger than a first preset interval threshold value.
When the automatic driving communication frame has data blocking abnormality, although the first callback function in the safety detection module can be called back by the automatic driving communication frame, the callback interval between two adjacent callbacks is larger than the time interval of the working module for writing the data of the preset type into the automatic driving communication frame twice continuously. Based on the principle, a first preset interval threshold value can be set according to the frequency of writing preset type data into the automatic driving communication frame by the working module corresponding to the safety detection module; wherein, assuming that the frequency of the work module writing the predetermined type of data to the autopilot communication framework is f, the first predetermined interval threshold may be set toWherein alpha is more than or equal to 1; preferably, 1.ltoreq.α.ltoreq.2.
If the step S3 judges that the callback interval is larger than the first preset interval threshold value, executing a step S4; if step S3 determines that the callback interval is less than or equal to the first predetermined interval threshold, then step S5 is performed.
And S4, determining that the automatic driving communication frame is in an abnormal state.
In step S4, it may be determined that the autopilot 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 called back in time.
And S5, determining that the automatic driving communication frame is in a normal state.
In step S5, it may be detected that the automatic driving communication frame is in a normal state.
Based on the steps S1 to S5, the technical scheme disclosed by the invention can realize detection of the automatic driving communication frame in a normal state or an abnormal state, and is beneficial to improving the safety and stability of an automatic driving system.
Fig. 3 is a flowchart of another security detection method according to an embodiment of the present disclosure, as shown in fig. 3, the security detection method shown in fig. 3 includes not only the above steps S1 to S5, but also the following steps S6 to S10; among them, the following steps S6 to S10 are executed once every predetermined period, and only the steps S6 to S10 will be described in detail below.
And S6, acquiring the current system time and the third callback time which is closest to the current system time in time and is called back by the first callback function.
And the safety detection module executes step S6 once every preset period, acquires the current system time, and acquires the callback time corresponding to the last callback time of the first callback function before the current system time from the database by taking the current system time as a reference, so as to serve as a third callback time.
And S7, calculating the time between the current system time and the third callback time as a monitoring interval.
And S8, judging whether the monitoring interval is larger than a second preset interval threshold value.
Considering that the automatic driving communication frame may have data transmission abnormality (the automatic driving communication frame is completely invalid), the first callback function in the safety detection module cannot be called back at this time, so that the automatic driving communication frame abnormality cannot be detected in time.
For this reason, in the present disclosure, a time difference between the current system time and the third callback time, which is recently called back by the first callback function, is detected and calculated every predetermined period, so as 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 can be set according to actual needs; assuming that the frequency at which the work module writes the predetermined type of data to the autopilot communications framework is f, the first predetermined interval threshold may be set toWherein 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 larger than the second preset interval threshold, the first callback function in the safety detection module is not called for a long time, the automatic driving communication frame is in an abnormal state, and then step S9 is executed; if the time interval is less than or equal to the second predetermined interval threshold, it is indicated that the first callback function in the security detection module is called back in time, and step S10 is executed thereafter.
And step S9, determining that the automatic driving communication frame is in an abnormal state.
In step S9, it may be determined that the autopilot communication framework is in an abnormal state, and it may be determined that the abnormality is specifically an abnormality in which data cannot be transmitted, and the first callback function cannot be called back.
Step S10, determining that the automatic driving communication frame is in a normal state.
In step S10, it may be determined that the automated driving communication framework is in a normal state.
The execution sequence of steps S1 to S5 and steps S6 to S10 is not limited by the technical solution of the present disclosure, and the case where steps S6 to S10 are executed after step S5 is only exemplified in the drawings.
Based on the steps S1 to S10, the technical scheme disclosed by the invention can realize detection of the automatic driving communication frame in a normal state or an abnormal state, and is beneficial to improving the safety and stability of an automatic driving system.
Fig. 4 is a flowchart of another security detection method according to 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 steps S1 to S5, but also the following steps S11 to S13, and only the following steps S6 to S10 will be described in detail.
Step S11, receiving first heartbeat information sent by a target working 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.
A heartbeat message Heartbeat Message is a message that a sender sends to a receiver that allows the receiver to determine if and when the sender has failed or terminated. Typically, the heartbeat message is sent from the time the sender is started until the sender is shut down, during which the sender may send periodic or repeated messages without interruption. When the recipient does not receive the message within a certain message reception period, the recipient may consider the sender to have been shut down, failed, or not currently available.
In the present disclosure, the target working module may be a working module corresponding to the security detection module, or may be another working module. And detecting whether the target working module is in a normal state or an abnormal state based on the first heartbeat information by receiving the first heartbeat information sent by the target working module.
It should be noted that, a specific process of detecting that the monitored object is in a normal state or an abnormal state according to the heartbeat information of the monitored object belongs to a conventional technology in the art, and will not be described in detail here.
And step S13, sending second heartbeat information to the target working module.
In step S13, the security detection module sends second heartbeat information 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.
At this time, a heartbeat detection mechanism is established between the safety detection module and the target working module, and the opposite side is mutually detected to be in a normal state or an abnormal state (viability detection), so that the safety and the stability of the automatic driving system can be further improved.
In some embodiments, the target working module is a policy module, which is a core module in the non-hot car system, so that monitoring the survivability of the policy module has great significance in maintaining the safety of the automatic driving system. In addition, the strategy module has stronger data processing capability, and the survivability of the safety detection module is monitored by the strategy module, so that the system pressure is not caused.
The execution sequence of steps S1 to S5 and steps S11 to S13 is not limited by the technical solution of the present disclosure, and the case where steps S11 to S13 are executed after step S5 is only exemplified in the drawings.
In addition, in some embodiments, the steps S1 to S5, S6 to S10, and S11 to S13 are combined to obtain a new technical solution, which can realize the overall monitoring of the entire non-heating vehicle system, and the new technical solution shall also belong 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 provided in the foregoing embodiment, where the security detection module includes: the system comprises a time recording sub-module 1, a first calculating sub-module 2, a first judging sub-module 3 and a first detecting sub-module 4.
Wherein, the time recording sub-module 1 is called back in response to a first callback function in at least one callback function for detecting the safety of the automatic driving system, and is used for recording the current moment as the first callback moment.
The first calculating sub-module 2 is configured to calculate a time difference between the first callback time and a second callback time corresponding to when the first callback function was called back last time, as a callback interval.
The first judging submodule 3 is used for judging whether the callback interval is larger than a preset interval threshold value or not.
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 value; and when the first judging sub-module 3 judges that the callback interval is smaller than or equal to the preset interval threshold value, 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 validity of the predetermined type of data when callback is performed by the autopilot 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 sub-module 5, the function storage sub-module 5 storing a predefined first callback function.
Fig. 6 is a block diagram of another security detection module according to an embodiment of the present disclosure, as shown in fig. 6, in some embodiments, the security detection module includes not only the above-mentioned time recording sub-module 1, the first calculation sub-module 2, the first determination sub-module 3, the first determination sub-module 4, and the function storage sub-module 5, but also the acquisition sub-module 6, the second calculation sub-module 7, the second determination sub-module 8, and the second determination sub-module 9.
The obtaining sub-module 6 is configured to obtain, at intervals of a predetermined period, a current system time and a third callback time when the first callback function that is closest in time to the current system time is called back.
The second calculation sub-module 7 is configured to calculate a time difference between the current system time and the third callback time, as a monitoring interval.
The second judging sub-module 8 is configured to judge whether the monitoring interval is greater than a second predetermined interval threshold.
The second determining sub-module 9 is configured to determine that the autopilot communication framework is in an abnormal state when the second determining sub-module 8 determines that the callback interval is greater than the second predetermined interval threshold. And when the second judging sub-module 8 judges that the callback interval is smaller than or equal to the second preset interval threshold value, determining that the automatic driving communication frame 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 another security detection module according to an embodiment of the present disclosure, as shown in fig. 7, in some embodiments, the security detection module includes not only the above-mentioned time recording sub-module 1, the first calculation sub-module 2, the first judgment sub-module 3, the first detection sub-module 4, and the function storage sub-module 5, but also includes: a receiving sub-module 10 and a detecting sub-module 11.
The receiving sub-module 10 is configured to receive first heartbeat information sent by a target working module in the autopilot system.
The detection sub-module 11 is configured to determine whether the target work 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: the sending sub-module 12, the sending sub-module 12 is configured to send 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 working module is a policy module.
For a specific description of each module and sub-module in this embodiment, reference may be made to the description of the corresponding steps in the foregoing embodiment, which is not repeated herein.
It should be noted that, in the embodiment of the present disclosure, the security detection module may further include the above-mentioned acquisition sub-module 6, the second calculation sub-module 7, the second determination sub-module 8, and the second determination sub-module 9 in fig. 6, and the receiving sub-module 10, the detection 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 disclosure also provides a security system, which comprises at least one security detection module, wherein the security detection module adopts the security detection module provided by the 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 disclosed embodiments also provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the security detection method as provided by the foregoing embodiments.
The disclosed embodiments also provide a computer program product comprising a computer program which, when executed by a processor, implements the method as provided by the preceding embodiments.
Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, functional modules in the apparatus disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules mentioned 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 cooperatively by several physical components. 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 both 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 known to those skilled 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 be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, 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.
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 purpose of limitation. In some instances, it will be apparent to one skilled in the art that features, characteristics, and/or elements described in connection with a particular embodiment may be used alone or in combination with other embodiments unless explicitly stated otherwise. 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 (14)
1. A safety detection method for an autopilot system, wherein the safety detection method comprises:
Recording the current moment as a first callback moment in response to a first callback function in at least one callback function for detecting the safety of the automatic driving system, wherein the first callback function is called back by an automatic driving communication frame of the automatic driving system and is used for verifying the validity of data when a working module of the automatic driving system writes the data into the automatic driving communication frame of the automatic driving system;
Calculating the time difference between the first callback time and the second callback time corresponding to the last callback time of the first callback function, 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 value, determining that an automatic driving communication frame in the automatic driving system is in an abnormal state.
2. The security detection method according to claim 1, wherein the security detection method further comprises: the following steps are performed at predetermined intervals:
Acquiring a current system time and a third callback time which is nearest in time to the current system time and is called back by the first callback function;
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 according to 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 autopilot system, comprising:
A time recording sub-module, responding to a first callback function in at least one callback function for detecting the safety of the automatic driving system, and recording the current moment as a first callback moment, wherein the first callback function is called back by an automatic driving communication frame of the automatic driving system and is used for verifying the validity of data when a working module of the automatic driving system writes the data into the automatic driving communication frame of the automatic driving system;
The first calculation sub-module is used for calculating the time difference between the first callback time and the second callback time corresponding to the last callback time of the first callback function, and taking the time difference as a callback interval;
the first judging submodule is used for judging whether the callback interval is larger than a first preset interval threshold value or not;
and the first determination submodule is used for determining that the automatic driving communication frame in the automatic driving system is in an abnormal state when the first determination submodule determines 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 is called back, which is nearest to the current system time in time;
the second calculation sub-module is used for calculating the difference between the current system time and the third callback time as a monitoring interval;
A second judging sub-module, configured to judge whether the monitoring interval is greater than a second predetermined interval threshold;
and the second determining submodule is used for determining that the automatic driving communication frame is in an abnormal state when the second judging submodule judges that the monitoring interval is larger than the second preset interval threshold value.
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 sub-module is used for receiving the first heartbeat information sent by the target working module in the automatic driving system;
and the detection sub-module 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 sub-module 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 of the preceding 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 having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-5.
14. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910730613.3A CN112346447B (en) | 2019-08-08 | 2019-08-08 | Safety detection method, safety detection module, safety system and automatic driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910730613.3A CN112346447B (en) | 2019-08-08 | 2019-08-08 | Safety detection method, safety detection module, safety system and automatic driving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112346447A CN112346447A (en) | 2021-02-09 |
| CN112346447B true CN112346447B (en) | 2024-06-25 |
Family
ID=74366795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910730613.3A Active CN112346447B (en) | 2019-08-08 | 2019-08-08 | Safety detection method, safety detection module, safety system and automatic driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112346447B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114545893A (en) * | 2021-11-30 | 2022-05-27 | 深圳元戎启行科技有限公司 | Drive-by-wire frame detection method, automatic driving platform and computer readable storage medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278674A (en) * | 2018-08-31 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | Pilotless automobile system safety detection method, device, equipment and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101001179A (en) * | 2006-01-11 | 2007-07-18 | 中兴通讯股份有限公司 | Detection method for carrier network |
| CN102710470B (en) * | 2012-05-07 | 2015-11-25 | 华为技术有限公司 | A kind of M2M communication means and treatment facility |
| CN105574624A (en) * | 2014-10-09 | 2016-05-11 | 阿里巴巴集团控股有限公司 | Abnormal data processing method and device and monitoring system |
| CN107439023B (en) * | 2017-04-28 | 2021-01-01 | 北京小米移动软件有限公司 | Method and device for requesting to acquire and send system information |
| CN107341062B (en) * | 2017-06-28 | 2021-01-08 | 百度在线网络技术（北京）有限公司 | Data pushing method, device, equipment and storage medium |
| CN110017994B (en) * | 2019-05-16 | 2021-03-19 | 北京百度网讯科技有限公司 | Method, apparatus, system, device and medium for detecting abnormality of autonomous vehicle |
-
2019
- 2019-08-08 CN CN201910730613.3A patent/CN112346447B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278674A (en) * | 2018-08-31 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | Pilotless automobile system safety detection method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112346447A (en) | 2021-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111147437B (en) | Attributing bus disconnect attacks based on erroneous frames | |
| CN107508831B (en) | Bus-based intrusion detection method | |
| CN102135925B (en) | Method and device for detecting error check and correcting memory | |
| CN107172122A (en) | A kind of abnormality eliminating method and device | |
| US20210226977A1 (en) | Monitoring apparatus | |
| CN113132160B (en) | Method and system for detecting network sub-health state of client node | |
| CN103678090A (en) | Method and device for monitoring data processing | |
| CN112346447B (en) | Safety detection method, safety detection module, safety system and automatic driving system | |
| CN108762118B (en) | Fault processing method and device between communication devices | |
| CN109684130B (en) | Method and device for backing up data of computer room | |
| CN114826962A (en) | Link fault detection method, device, equipment and machine readable storage medium | |
| CN111547031B (en) | Wheel locking fault judgment method and system | |
| CN114063593A (en) | System and method for identifying counterfeit electronic controllers using intentionally-induced errors | |
| CN109726080B (en) | Method and device for monitoring working state of heterogeneous computing system | |
| CN108279663B (en) | Control system and control method for vehicle error signal, and storage medium | |
| CN112333037B (en) | Communication link self-detection method and system and automatic driving vehicle | |
| US10515039B2 (en) | Vehicle USB hub system | |
| CN106570754A (en) | Business data transfer method and apparatus | |
| CN110808941B (en) | Vehicle running control method and device | |
| CN104486134A (en) | Method and device for monitoring file transmission backlog | |
| CN109101359B (en) | Equipment, method and module for transmitting information between equipment components and computer equipment | |
| CN114978737B (en) | Comprehensive management system for Doppler weather radar data | |
| CN117648232B (en) | Application program data monitoring method, device and storage medium | |
| CN110795263B (en) | Hard disk link protection method and related device | |
| CN117729128A (en) | Communication state detection device and method based on service-oriented architecture and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |