CN112884944B - Method and system for realizing rapid diagnosis of vehicle-mounted sensor based on Telemetry technology - Google Patents
Method and system for realizing rapid diagnosis of vehicle-mounted sensor based on Telemetry technology Download PDFInfo
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- CN112884944B CN112884944B CN202110464152.7A CN202110464152A CN112884944B CN 112884944 B CN112884944 B CN 112884944B CN 202110464152 A CN202110464152 A CN 202110464152A CN 112884944 B CN112884944 B CN 112884944B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
Abstract
The invention provides a rapid diagnosis method and a rapid diagnosis system for a vehicle-mounted sensor based on a Telemetry technology, wherein a sensor integrated with an MCU (microprogrammed control Unit) is initialized according to initialization information issued by a controller; the controller encapsulates the collected signals and the working state information to a Telemetry message and periodically reports the signals and the working state information to the controller through a transmission interface; the controller receives a collecting signal of the Telemetry message extraction sensor, analyzes the current working state information of the sensor and judges the mode of the sensor; and the controller packages the diagnosis result of the working state of the sensor into a telemetric message and sends the telemetric message to the T-BOX terminal through the transmission interface to dynamically refresh the real-time working state of the sensor. The MCU is arranged in the vehicle sensor to process the telemetric message, and the working state of the sensor is monitored in real time while normally acquiring and reporting data, so that the safety of automatic driving is ensured.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a rapid diagnosis method and system for a vehicle-mounted sensor based on a Telemetry technology.
Background
Telemetrology is a remote technique for collecting data from physical or virtual devices at high speed. The device periodically and actively sends information such as input/output interface statistics, timestamps, hardware state data and the like of the device to the collector through a Push Mode (Push Mode), and provides a more real-time and higher-speed data acquisition function compared with the one-question-one-answer interaction of the traditional Pull Mode (Push Mode).
For the sensor diagnosis technology related to the field of automatic driving, the traditional method is mostly to connect the vehicle-mounted ECU through a specific diagnosis tool in an off-line state through a UDS technology, and to execute diagnosis commands one by one. Although the conventional sensor diagnosis method can also diagnose whether the abnormality exists, the real-time performance is poor, the operation is complex, and a professional technician is required to analyze the diagnosis result.
Therefore, the method for realizing the rapid diagnosis of the automatic driving vehicle-mounted sensor by using the Telemetry technology is very suitable for solving the real-time diagnosis demand of the sensor. The method can meet the requirement of the vehicle-mounted sensor for reporting signals periodically actively, can diagnose the working state of the vehicle-mounted sensor conveniently and quickly, and provides an important technical means for the automatic driving automobile sensor diagnosis.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a rapid diagnosis method and a rapid diagnosis system for a vehicle-mounted sensor based on a Telemetry technology.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a rapid diagnosis method for a vehicle-mounted sensor based on a Telemetry technology comprises the following steps:
step 1, a controller issues initialization information to a sensor through a transmission interface;
step 2, the sensor integration MCU receives and analyzes initialization information and carries out initialization setting; the sensor package sends a timestamp, the interface is transmitted, signals and working state information are collected to a Telemetry message, and the controller is periodically reported through the transmission interface;
step 3, the controller receives a Telemetry message reported by the sensor, extracts an acquisition signal of the sensor, analyzes the current working state information of the sensor, and judges whether the sensor is in a normal working mode or a failure mode based on the current working state information;
step 4, the controller packages the information of the diagnosis result of the working state of the sensor into a telemetering message and sends the telemetering message to the T-BOX terminal through a transmission interface; the T-BOX terminal receives and analyzes the diagnosis result of the working state of the sensor, and simultaneously caches and dynamically refreshes the real-time working state of the sensor;
and 5, the user terminal acquires the working state of the sensor in real time by connecting the T-BOX terminal.
Further, the initialization information comprises reference time, transmission interface selection and a transmission period for signal reporting; the initialization setting includes synchronizing sensor reference time, setting transmission interface and transmission period.
Further, in step 3, when the controller identifies that the sensor is in the failure mode, a failure protection process is performed by the corresponding actuator, such as enabling a backup sensor or a degradation process.
Further, the transmission interface is a CANFD or Ethernet interface.
A rapid diagnosis system of a vehicle-mounted sensor based on Telemetry technology comprises a sensor, a controller, a T-BOX terminal and a user terminal;
the sensor is integrated with the MCU and used for receiving the initialization information sent by the controller and carrying out initialization setting; after the sensor is started, packaging and acquiring signals and working state information to a telemetrology message, and periodically reporting to the controller through a transmission interface;
the controller is used for sending initialization information to the sensor, receiving telemetrology messages periodically reported by the sensor, extracting an acquisition signal, analyzing the working state of the sensor and judging whether the sensor is in a normal working state or a failure state;
the T-BOX terminal, the controller encapsulates the diagnostic result information of the sensor working state into a telemetrology message, and sends the telemetrology message to the T-BOX terminal through a transmission interface; the T-BOX terminal receives, analyzes, caches and dynamically refreshes the real-time working state of the sensor;
and the user terminal acquires the working state of the sensor in real time by connecting the T-BOX terminal.
Further, the initialization information comprises reference time, transmission interface selection and a transmission period for signal reporting; the initialization setting includes synchronizing sensor reference time, setting transmission interface and transmission period.
Further, the transmission interface is a CANFD or Ethernet interface.
Further, the system also comprises an actuator, and when the controller identifies that a certain sensor is in a failure state, failure protection processing is performed through the corresponding actuator, such as starting a backup sensor or degradation processing.
The invention has the advantages that compared with the prior art,
according to the invention, the MCU is integrated with the sensor, the real-time high-speed acquisition technology based on Telemetry is adopted, the acquisition signals of the sensor are actively reported periodically, and meanwhile, diagnostic information such as a state code, a timestamp and the like is attached to an associated channel, so that the real-time performance of vehicle-mounted sensor diagnosis is greatly improved, and an automatic driving vehicle can realize real-time perception and prediction and quickly deal with the safety problems such as sensor failure and the like.
The method is suitable for real-time high-speed acquisition technology through Telemetry, ensures the real-time monitoring of the health degree of the vehicle-mounted sensor, and provides important decision input for quick decision of an automatic driving algorithm in a sensor failure scene.
Drawings
FIG. 1 is a block diagram of a telematics-based rapid sensor diagnostic system;
FIG. 2 is a flow chart of a method for rapid diagnosis of a vehicle-mounted sensor based on Telemetry technology;
FIG. 3 is a diagram of a sensor data transmission and diagnostic message architecture based on Telemetry technology;
FIG. 4 is a flow chart of the sensor internal process based on Telemetry technology;
fig. 5 is a flowchart of the internal process of the controller based on telemetrology technology.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in FIG. 1, the rapid diagnosis system for the vehicle-mounted sensor based on the Telemetry technology comprises a sensor, a controller, an actuator, a T-BOX terminal and a user terminal.
And the MCU is arranged on the sensor and is responsible for receiving the initialization information sent by the controller and initializing the sensor. The initialization setting includes synchronizing sensor reference time, setting transmission interface and transmission period. After the sensor is started, the MCU acquires a local signal acquisition physical channel number and acquires an acquisition signal; and then, information such as a sending timestamp, a transmission interface, a sensor working state, a collected signal and the like is packaged into a telemetrology message and periodically sent to a controller through a CANFD or Ethernet interface.
The controller issues initialization information to the sensor, wherein the initialization information comprises reference time, a transmission period of collected signal reporting, and transmission interface selection (CANFD or Ethernet, etc.). Then receiving Telemetry messages periodically reported by the sensor, extracting a collecting signal of the sensor, analyzing the working state of the sensor, and judging whether the sensor is in a normal working state or a failure state; if the controller identifies that a certain sensor is in a failure state, failure protection processing is carried out through a corresponding actuator, such as enabling a backup sensor or degradation processing.
Meanwhile, the controller serves as a Telemetry intermediate node, encapsulates the sensor working state diagnosis result information into a Telemetry message, and sends the Telemetry message to the T-BOX terminal through a transmission interface; and the T-BOX terminal receives, analyzes, caches and dynamically refreshes the real-time working state of the sensor.
And the user terminal acquires the working state of the sensor in real time by connecting the T-BOX terminal.
As shown in fig. 2, the rapid diagnosis method for the vehicle-mounted sensor based on the telemetrology technology includes the steps of:
step 1, a vehicle body controller issues initialization information to a vehicle-mounted sensor through a CANFD or Ethernet interface, wherein the initialization information comprises uniform reference time, a collection reporting time period, transmission interface selection (CANFD or Ethernet) and the like;
step 2, the sensor analyzes the initialization information to obtain reference time issued by the controller, and the reference time is set as MCU reference time; meanwhile, according to the acquisition reporting time period issued by the controller, the acquisition signal and the working state information of the sensor are encapsulated to a telemetric message, and the telemetric message is reported to the controller through a CANFD or Ethernet interface;
the sensor integrated MCU unit receives the initialization configuration information issued by the controller in the initial stage, performs initialization setting, synchronizes the reference time of the sensor, and sets a transmission interface and a sending period.
After the sensor is started, the MCU acquires a local signal acquisition physical channel number and acquires an acquisition signal; and then information such as a sending timestamp, a transmission interface, a sensor working state, a collected signal and the like is packaged into a telemeasurement message and periodically sent to the controller.
Step 3, the controller receives a telemetric message reported by the sensor and extracts an acquisition signal of the sensor; analyzing the current working state information of the sensor, and judging whether the sensor is in a normal working mode or a failure mode based on the state information;
the controller receives Telemetry messages periodically reported by the sensor, analyzes the working state of the sensor, and judges whether the sensor is in a normal working state or a failure state; if the controller identifies that a certain sensor fails, a failure protection process is carried out through a corresponding actuator, such as enabling a backup sensor or a degradation process.
The controller supports the processing of the failure state of the sensor, inputs the failure state to an automatic control algorithm in real time, and decides key actions, such as upgrading a backup sensor to be main or automatically driving to degrade and other safety measures.
The sensor and the controller are combined to form a self-diagnosis system, and meanwhile, important reference input is provided for processing the automatic driving failure mode.
Step 4, the controller packages the information of the diagnosis result of the working state of the sensor into a telemetrology message and sends the telemetrology message to the T-BOX terminal through the Ethernet interface;
the controller supports telemetric message processing and is responsible for diagnosing the failure state of the sensor and reporting to the T-BOX terminal.
The controller serves as a Telemetry intermediate node, encapsulates the refreshed working state result in a Telemetry message and sends the Telemetry message to the T-BOX terminal.
The T-BOX terminal receives and analyzes the diagnosis result of the working state of the sensor, and simultaneously caches and dynamically refreshes the real-time working state of each sensor. The user terminal can check the working state and the health degree of various sensors recorded by the T-BOX terminal in real time.
Step 5, the user terminal can be connected with the T-BOX terminal at any time to acquire the working state of the vehicle body sensor in real time; any abnormal alarm can be given back in time.
As shown in fig. 3, a diagram of a telematics-based data transmission and diagnostic message structure of a vehicle sensor is shown.
The sensor input end acquires original signals through a plurality of physical channels; after the MCU is started, the sensor receives the parameter configuration sent by the controller, such as system reference time, signal reporting period, and transmission interface selection (CANFD or Ethernet, etc.).
The sensor output end and the sensor serve as a head node of the Telemetry, acquire local information such as a signal acquisition physical channel number, a time stamp, a transmission interface, a working state code and an acquisition signal, and package the information into a Telemetry message.
For CANFD transmission, the information is filled in the payload section behind the candd field; for Ethernet transmission, the payload portion following the MAC address header and ethertype field is padded. Wherein, the CANFD load is limited to be within 64 bytes, and the Ethernet load is limited to be within 1500 bytes.
As shown in fig. 4, the flowchart of the processing inside the onboard sensor based on telemetrology technology includes the steps of:
(1) initializing a physical channel of the sensor and an MCU;
(2) the sensor receives the initialized configuration parameters sent by the controller and conducts validity check;
(3) analyzing the initialized configuration parameters sent by the controller, packing the working state codes and the collected signals according to the reference time, the sending period, the transmission interface and the like sent by the controller, encapsulating the working state codes and the collected signals into a telemetric message, and sending the telemetric message to the controller from the corresponding transmission interface.
As shown in fig. 5, the flowchart of the processing inside the onboard controller based on telemetric technology includes the following steps:
(1) initializing a controller MPU and a transmission channel;
(2) the controller receives Telemetry messages periodically reported by the sensors from the corresponding channels;
(3) analyzing the reported working state code from the telemetric message, checking the health degree of the sensor, and identifying whether the current sensor is in a normal working state or a failure state; if the controller identifies that a certain sensor fails, the sensor is input to an automatic driving algorithm in real time, and the sensor is output to a corresponding actuator in a decision-making manner to perform failure protection treatment, such as starting a backup sensor or degrading treatment; and meanwhile, encapsulating the sensor diagnosis result into a telemeasurement message and reporting the telemeasurement message to the T-BOX terminal.
The invention has the advantages that compared with the prior art,
according to the invention, the MCU is integrated with the sensor, the real-time high-speed acquisition technology based on Telemetry is adopted, the acquisition signals of the sensor are actively reported periodically, and meanwhile, diagnostic information such as a state code, a timestamp and the like is attached to an associated channel, so that the real-time performance of vehicle-mounted sensor diagnosis is greatly improved, and an automatic driving vehicle can realize real-time perception and prediction and quickly deal with the safety problems such as sensor failure and the like.
The method is suitable for real-time high-speed acquisition technology through Telemetry, ensures the real-time monitoring of the health degree of the vehicle-mounted sensor, and provides important decision input for quick decision of an automatic driving algorithm in a sensor failure scene.
The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.
Claims (8)
1. A rapid diagnosis method for a vehicle-mounted sensor based on a Telemetry technology is characterized by comprising the following steps:
(1) the controller sends initialization information to the sensor through the transmission interface;
(2) the sensor integrated MCU receives and analyzes the initialization information and carries out initialization setting; the sensor package sends a timestamp, the interface is transmitted, signals and working state information are collected to a Telemetry message, and the controller is periodically reported through the transmission interface;
(3) the controller receives a telemetric message reported by the sensor, extracts an acquisition signal of the sensor, analyzes current working state information of the sensor, and judges whether the sensor is in a normal working mode or a failure mode based on the current working state information;
(4) the controller packages the information of the working state diagnosis result of the sensor into a telemetric message and sends the telemetric message to the T-BOX terminal through a transmission interface; the T-BOX terminal receives and analyzes the diagnosis result of the working state of the sensor, and simultaneously caches and dynamically refreshes the real-time working state of the sensor;
(5) and the user terminal acquires the working state of the sensor in real time by connecting the T-BOX terminal.
2. The telemetric technology-based vehicle-mounted sensor rapid diagnosis method as claimed in claim 1, wherein the initialization information comprises a reference time, a transmission period for selecting and collecting signals by a transmission interface and reporting the signals; the initialization setting includes synchronizing sensor reference time, setting transmission interface and transmission period.
3. The telemetric technology-based vehicle-mounted sensor rapid diagnosis method as claimed in claim 1, wherein in the step 3, when the controller identifies that the sensor is in a failure mode, a corresponding actuator performs a fail-safe process, and the fail-safe process is to enable a backup sensor or a degradation process.
4. The telemetric technology-based vehicle-mounted sensor rapid diagnosis method as claimed in claim 1, wherein the transmission interface is a CANFD or Ethernet interface.
5. A telemetrology technology-based vehicle-mounted sensor rapid diagnosis system is characterized by comprising a sensor, a controller, a T-BOX terminal and a user terminal;
the sensor is integrated with the MCU and used for receiving the initialization information sent by the controller and carrying out initialization setting; after the sensor is started, packaging and acquiring signals and working state information to a telemetrology message, and periodically reporting to the controller through a transmission interface;
the controller is used for sending initialization information to the sensor, receiving telemetrology messages periodically reported by the sensor, extracting an acquisition signal, analyzing the working state of the sensor and judging whether the sensor is in a normal working state or a failure state;
the T-BOX terminal, the controller encapsulates the diagnostic result information of the sensor working state into a telemetrology message, and sends the telemetrology message to the T-BOX terminal through a transmission interface; the T-BOX terminal receives, analyzes, caches and dynamically refreshes the real-time working state of the sensor;
and the user terminal acquires the working state of the sensor in real time by connecting the T-BOX terminal.
6. The telemetric technology-based vehicle-mounted sensor rapid diagnosis system as claimed in claim 5, wherein the initialization information comprises a reference time, a transmission period for selecting and collecting signal reporting by the transmission interface; the initialization setting includes synchronizing sensor reference time, setting transmission interface and transmission period.
7. The telemetric technology-based vehicle-mounted sensor rapid diagnosis system as claimed in claim 5, wherein the transmission interface is a CANFD or Ethernet interface.
8. The telemetric technology-based vehicle-mounted sensor rapid diagnosis system of claim 5, further comprising an actuator, wherein when the controller identifies that a certain sensor is in a failure state, the corresponding actuator performs a fail-safe process, and the fail-safe process is to enable a backup sensor or a degradation process.
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| WO2003105093A1 (en) * | 2002-06-01 | 2003-12-18 | Robert Bosch Gmbh | Method and device for a vehicle-related telematics service |
| CN101807078A (en) * | 2009-02-17 | 2010-08-18 | 同济大学 | Complex sensor device for working condition of vehicle |
| JP6162696B2 (en) * | 2011-07-26 | 2017-07-12 | ゴゴロ インク | Apparatus, method and article for power storage device compartment |
| CN104021662A (en) * | 2014-05-19 | 2014-09-03 | 深圳市元征科技股份有限公司 | Apparatus, system and method for acquiring automobile running states based on automobile bus technology |
| CN106325231B (en) * | 2015-07-03 | 2019-02-19 | 广州汽车集团股份有限公司 | Vehicle carries out the method and system of remote failure detection on a kind of pair of production line |
| CN105513160B (en) * | 2015-10-30 | 2018-01-23 | 广东广信通信服务有限公司 | Vehicle intelligent terminal and on-vehicle information public service system based on OBD II |
| CN109474912B (en) * | 2018-04-10 | 2022-02-18 | 西南大学 | Vehicle-mounted gateway system and monitoring method and device of vehicle-mounted subsystem |
| CN109040021A (en) * | 2018-06-29 | 2018-12-18 | 中车大连电力牵引研发中心有限公司 | Gateway and light rail information monitoring device |
| CN110768882B (en) * | 2019-11-07 | 2022-07-12 | 青岛合启立智能科技有限公司 | Data monitoring method and system, monitoring equipment and vehicle |
| CN111031147B (en) * | 2020-01-22 | 2024-04-12 | 马瑞利汽车电子(广州)有限公司 | Remote vehicle-mounted control system and method based on MQTT framework |
| CN111818138B (en) * | 2020-06-28 | 2021-07-13 | 电子科技大学 | Vehicle cloud real time data communication method for intelligent vehicle |
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Address after: 210012 room 401-404, building 5, chuqiaocheng, No. 57, Andemen street, Yuhuatai District, Nanjing, Jiangsu Province Patentee after: AUTOCORE INTELLIGENT TECHNOLOGY (NANJING) Co.,Ltd. Address before: 211800 building 12-289, 29 buyue Road, Qiaolin street, Pukou District, Nanjing City, Jiangsu Province Patentee before: AUTOCORE INTELLIGENT TECHNOLOGY (NANJING) Co.,Ltd. |