CN113264057B

CN113264057B - Vehicle sensor state monitoring method and device and automobile

Info

Publication number: CN113264057B
Application number: CN202010092366.1A
Authority: CN
Inventors: 桂绍靖; 何志波
Original assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Priority date: 2020-02-14
Filing date: 2020-02-14
Publication date: 2022-10-11
Anticipated expiration: 2040-02-14
Also published as: CN113264057A

Abstract

The invention relates to the technical field of sensor monitoring, in particular to a vehicle sensor state monitoring method, a vehicle sensor state monitoring device and an automobile, wherein the method comprises the following steps: monitoring the data receiving condition of a target sensor in real time; when the data of the target sensor is received abnormally, starting a first timer to start timing; when the timing time of the first timer reaches a first time threshold value, determining that the target sensor is about to fail; controlling the vehicle to be switched from a standard driving mode to a safe driving mode; when the timing time of the first timer reaches a second time threshold value, judging that the target sensor is invalid; and controlling the vehicle to be switched from a safe driving mode to a failure driving mode. The vehicle sensor state monitoring method can control the vehicle to run in time when the sensor fails, is beneficial to improving the safety of the automatic driving process and improves the driving experience.

Description

Vehicle sensor state monitoring method and device and automobile

Technical Field

The invention relates to the technical field of sensor monitoring, in particular to a vehicle sensor state monitoring method and device and an automobile.

Background

With the development of autopilot, a large number of sensors (such as cameras, global satellite navigation systems, lidar and radar) are integrated into the vehicle, each of which has a vital role and can have catastrophic consequences for autopilot safety if there is an anomaly or failure of the sensor during autopilot.

In many automatic driving integration schemes, a common scheme is that each sensor is connected to an industrial personal computer through a switch, an automatic driving system mainly runs on the industrial personal computer, the sensor is in network communication with the automatic driving system through a driver, and most of the drivers output sensor data through a User Datagram Protocol (UDP). Since the UDP protocol is an unreliable transmission protocol, once a sensor is abnormal or fails, the autopilot system cannot receive status information from the sensor and respond to the abnormality of the sensor in time. In the automatic driving of the vehicle, the surrounding environment changes instantaneously, and if the abnormality or the failure of the sensor cannot be found in time, the automatic driving of the vehicle becomes very dangerous, so that how to actively monitor the state of the sensor becomes a problem that is not negligible in the automatic driving.

Aiming at the problem of active monitoring of the state of a sensor, the prior technical scheme is that a failure time threshold for receiving sensor data is set in an automatic driving system, and the data transmission of the sensor is periodic, so that the sensor is determined to be failed if the sensor data is not received in a plurality of continuous periods, thereby achieving the purpose of monitoring the state of the sensor. However, in the existing technical scheme, under a complex scene, the failure time threshold is difficult to accurately set, and is too small, so that the sensor failure misjudgment is easily caused, and the automatic driving experience is poor; the failure time threshold is set too large, which can cause the delay of the judgment of the automatic driving system on the surrounding environment and increase the safety risk of automatic driving.

Disclosure of Invention

In view of the above problems in the prior art, an object of the present invention is to provide a method and an apparatus for monitoring a vehicle sensor state, and an automobile, which can control the vehicle to run more timely when the sensor fails, so as to improve the safety of an automatic driving process.

In order to solve the above problems, the present invention provides a vehicle sensor state monitoring method, including:

monitoring the data receiving condition of a target sensor in real time;

when the data of the target sensor is received abnormally, starting a first timer to start timing;

when the timing time of the first timer reaches a first time threshold value, determining that the target sensor is about to fail;

controlling the vehicle to be switched from a standard driving mode to a safe driving mode;

when the timing time of the first timer reaches a second time threshold value, judging that the target sensor is invalid;

and controlling the vehicle to be switched from a safe driving mode to a failure driving mode.

Further, after the controlling the vehicle to switch from the safe driving mode to the disabled driving mode, the method further includes:

starting a second timer to start timing;

before the timing time of the second timer reaches a third time threshold, performing failure confirmation on the target sensor;

if the failure confirmation fails, controlling the vehicle to be switched from a failure driving mode to a standard driving mode;

and if the failure confirmation is successful, setting the state of the target sensor to be a failure state.

Specifically, the confirming the failure of the target sensor before the counted time of the second timer reaches a third time threshold includes:

before the timing time of the second timer reaches a third time threshold, if data sent by the target sensor are received, judging that the failure confirmation fails;

and before the timing time of the second timer reaches a third time threshold, if the data sent by the target sensor are not received, judging that the failure confirmation is successful.

Specifically, when the receiving of the data of the target sensor is abnormal, starting a first timer to count time comprises:

and if the data sent by the target sensor is not received within a preset time period, judging that the data received by the target sensor is abnormal, and starting a first timer to start timing.

Further, when the receiving of the data of the target sensor is abnormal, after starting the first timer to count time, the method further includes:

if the data sent by the target sensor are received, the first timer stops timing;

acquiring the current timing time of the first timer;

and if the current timing time is greater than or equal to a first time threshold value, controlling the vehicle to be switched from a safe driving mode to a standard driving mode.

Further, the method further comprises:

acquiring monitoring logs of a plurality of sensors;

analyzing the monitoring logs of the sensors to obtain an analysis result;

and determining the first time threshold, the second time threshold and the third time threshold according to the analysis result.

Further, the method further comprises:

when the timing time of the first timer reaches a second time threshold, generating failure warning information of the target sensor;

and displaying the failure warning information through a human-computer interface.

Further, the method further comprises:

when the failure confirmation is successful, generating failure confirmation warning information of the target sensor;

and displaying the failure confirmation warning information through a human-computer interface.

Another aspect of the present invention provides a vehicle sensor state monitoring apparatus, including:

the monitoring module is used for monitoring the receiving condition of the data of the target sensor in real time;

the first timing module is used for starting a first timer to start timing when the data of the target sensor is abnormally received;

the first judging module is used for judging that the target sensor is about to fail when the timing time of the first timer reaches a first time threshold;

the first control module is used for controlling the vehicle to be switched from a standard driving mode to a safe driving mode;

the second judging module is used for judging that the target sensor is invalid when the timing time of the first timer reaches a second time threshold;

and the second control module is used for controlling the vehicle to be switched from a safe driving mode to a failure driving mode.

Another aspect of the present invention protects an automobile comprising a vehicle sensor state monitoring device as described above.

Due to the technical scheme, the invention has the following beneficial effects:

(1) According to the vehicle sensor state monitoring method and device and the automobile, the failure preprocessing process is set before the failure processing of the sensor, active safety measures are added in advance, the response time to the failure of the sensor is shortened, the emergency situation can be better responded, and the driving safety of automatic driving is improved.

(2) According to the vehicle sensor state monitoring method and device and the automobile, driving comfort is guaranteed preferentially in the sensor failure preprocessing process, so that even if the sensor fails, vehicle control is more stable, and comfort is higher.

(3) The vehicle sensor state monitoring method, the vehicle sensor state monitoring device and the vehicle are automatically finished no matter on the setting of the time threshold or the failure recovery of the sensor, so that much manual intervention is not needed, and the driving experience can be further improved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the embodiment or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can also be derived from them without inventive effort.

FIG. 1 is a flow chart of a vehicle sensor condition monitoring method provided by one embodiment of the present invention;

FIG. 2 is a flow chart of a vehicle sensor condition monitoring method provided by another embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vehicle sensor state monitoring device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to the specification, fig. 1 shows a flow chart of a vehicle sensor state monitoring method according to an embodiment of the invention. The vehicle sensor state monitoring method can be applied to automatic driving vehicles, in particular to L3 and L4 automatic driving vehicles which have high integration level and certain requirements on the calculation capacity of a processor. As shown in fig. 1, the method may include:

s110: and monitoring the data receiving condition of the target sensor in real time.

In the embodiment of the invention, the target sensor may include a camera, a laser radar and other vehicle-mounted sensors in communication connection with the automatic driving system, and the target sensor may implement data transmission with the automatic driving system through a UDP protocol. When the target sensor is abnormal or fails, the automatic driving system cannot acquire the data sent by the target sensor.

S120: and starting a first timer to start timing when the data of the target sensor is abnormally received.

In the embodiment of the invention, because the target sensor periodically sends data to the automatic driving system, when the situation that the automatic driving system abnormally receives the data of the target sensor is monitored, the target sensor can be judged to be abnormal.

In one possible embodiment, the starting of the first timer when the receiving of the data of the target sensor is abnormal may include:

and if the data sent by the target sensor are not received within a preset time period, judging that the data of the target sensor are abnormally received, and starting a first timer to start timing.

S130: and when the timing time of the first timer reaches a first time threshold value, determining that the target sensor is about to fail.

In the embodiment of the invention, when it is monitored that the data of the target sensor is abnormally received and a preprocessing time condition (that is, the timing time reaches the first time threshold) is triggered, it can be determined that the target sensor is about to fail, and sensor failure preprocessing is performed.

S140: and controlling the vehicle to be switched from the standard driving mode to the safe driving mode.

In the embodiment of the invention, the safe driving mode can include increasing the active safety of the vehicle on the basis of ensuring the driving experience preferentially, such as taking measures of decelerating driving, changing lanes, increasing the safety distance (including increasing the following distance and increasing the transverse distance of the vehicle) and the like, so as to ensure that the vehicle can be controlled to run more timely when the target sensor fails, reduce the reaction time of an automatic driving system and avoid unnecessary traffic accidents.

S150: and when the timing time of the first timer reaches a second time threshold value, judging that the target sensor is invalid.

In the embodiment of the present invention, when it is monitored that the data of the target sensor is abnormally received and a sensor failure processing time condition (that is, the timing time reaches the second time threshold) is triggered, it may be determined that the target sensor is failed, and sensor failure processing is performed.

S160: and controlling the vehicle to be switched from a safe driving mode to a failure driving mode.

In the embodiment of the invention, the failure driving mode can include vehicle control according to a processing mode under a sensor failure state, and certain driving comfort is sacrificed to ensure safety, such as taking measures of decelerating, parking at the side, taking over by manpower and the like.

In one possible embodiment, the method may further include:

Specifically, when it is determined that the target sensor is out of service, failure warning information may be generated and periodically displayed through a human-machine interface for reminding a driver that the target sensor is out of service.

In one possible embodiment, as shown in fig. 2, after controlling the vehicle to switch from the safe driving mode to the disabled driving mode, the method may further include:

s170: and starting a second timer to start timing.

S180: and performing failure confirmation on the target sensor before the timing time of the second timer reaches a third time threshold.

In the embodiment of the invention, after the target vehicle enters the failure driving mode, the receiving condition of the data of the target sensor can be continuously monitored, the failure confirmation is carried out on the target sensor before the timing time reaches the third time threshold, and the processing is carried out according to the result of the failure confirmation.

In one possible embodiment, the performing the failure confirmation on the target sensor before the counted time of the second timer reaches the third time threshold may include:

before the timing time of the second timer reaches a third time threshold, if data sent by the target sensor are received, failure confirmation is judged to be failed;

S190: if the failure confirmation fails, controlling the vehicle to be switched from a failure driving mode to a standard driving mode; and if the failure confirmation is successful, setting the state of the target sensor to be a failure state.

In the embodiment of the invention, when failure confirmation fails, the sensor failure treatment which is performed before can be recovered, and the sensor failure treatment can comprise driving state recovery, path planning, vehicle planning and the like, so that the target vehicle can continuously keep an automatic driving state under the condition of no human intervention; when the failure confirmation is successful, the sensor state may be updated.

In one possible embodiment, the method may further comprise:

In one possible embodiment, when the failure confirmation fails, a prompt message of failure confirmation failure of the target sensor may also be generated to prompt the driver to recover the target sensor.

In a possible embodiment, after starting the first timer to count when the receiving of the data of the target sensor is abnormal, the method may further include:

acquiring the current timing time of the first timer;

Specifically, before the timing time of the first timer reaches a second time threshold, if the data sent by the target sensor is received, the sensor failure processing process is ended, the first timer stops timing, and the sensor failure preprocessing which is performed before is recovered, so that the target vehicle can continue to maintain a standard automatic driving state.

In one possible embodiment, the method may further include:

acquiring monitoring logs of a plurality of sensors;

analyzing the monitoring logs of the plurality of sensors to obtain an analysis result;

determining the first time threshold, the second time threshold and the third time threshold according to the analysis result.

In the embodiment of the invention, a fixed failure time threshold value does not need to be set, a failure time reference value can be set firstly, then a more appropriate failure time threshold value is obtained by intelligently analyzing the monitoring logs of the plurality of sensors on the basis of the failure time reference value, and the corresponding first time threshold value, second time threshold value and third time threshold value are automatically adjusted.

In summary, the vehicle sensor state monitoring method of the invention has the following beneficial effects:

(1) According to the vehicle sensor state monitoring method, the failure preprocessing process is set before the sensor failure processing, active safety measures are added in advance, the response time to the sensor failure is reduced, the emergency can be better responded, and the automatic driving safety is improved.

(2) According to the vehicle sensor state monitoring method, driving comfort is preferentially guaranteed in the sensor failure preprocessing process, so that even if the sensor fails, vehicle control is more stable, and comfort is higher.

(3) The vehicle sensor state monitoring method is automatically completed no matter on the setting of the time threshold value or on the failure recovery of the sensor, does not need too much manual intervention, and can further improve the driving experience.

Referring to fig. 3 illustrating the structure of a vehicle sensor state monitoring apparatus 300 according to an embodiment of the present invention, as shown in fig. 3, the apparatus 300 may include:

the monitoring module 310 is configured to monitor a receiving condition of data of the target sensor in real time;

a first timing module 320, configured to start a first timer to start timing when receiving of data of the target sensor is abnormal;

the first judging module 330 is configured to determine that the target sensor is about to fail when the counted time of the first timer reaches a first time threshold;

the first control module 340 is used for controlling the vehicle to be switched from the standard driving mode to the safe driving mode;

a second determining module 350, configured to determine that the target sensor is failed when the counted time of the first timer reaches a second time threshold;

and the second control module 360 is used for controlling the vehicle to be switched from the safe driving mode to the failure driving mode.

In one possible embodiment, the apparatus 300 may further include:

the second timing module is used for starting a second timer to start timing;

the failure confirmation module is used for confirming the failure of the target sensor before the timing time of the second timer reaches a third time threshold;

a third control module for controlling the vehicle to switch from a failure driving mode to a standard driving mode when the failure confirmation fails;

and the setting module is used for setting the state of the target sensor to be a failure state when the failure confirmation is successful.

The embodiment of the invention also provides an automobile which comprises the vehicle sensor state monitoring device.

The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art will be able to make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.

Claims

1. A vehicle sensor state monitoring method, comprising:

monitoring the data receiving condition of a target sensor in real time;

2. The method of claim 1, wherein after controlling the vehicle to switch from the safe driving mode to the disabled driving mode, further comprising:

starting a second timer to start timing;

3. The method of claim 2, wherein the confirming the failure of the target sensor before the timed time of the second timer reaches a third time threshold comprises:

4. The method of claim 1, wherein initiating a first timer to begin timing when an anomaly occurs in the receipt of data from the target sensor comprises:

5. The method of claim 1, wherein after controlling the vehicle to switch from the standard driving mode to the safe driving mode, the method further comprises:

before the timing time of the first timer reaches the second time threshold, if data sent by the target sensor are received, the first timer stops timing;

acquiring the current timing time of the first timer;

and if the current timing time is greater than or equal to a first time threshold value, controlling the vehicle to be switched from the safe driving mode to the standard driving mode.

6. A method according to claim 2 or 3, characterized in that the method further comprises:

acquiring monitoring logs of a plurality of sensors;

7. The method of claim 1, further comprising:

8. A method according to claim 2 or 3, characterized in that the method further comprises:

9. A vehicle sensor state monitoring device, comprising:

the first judgment module is used for judging that the target sensor is about to fail when the timing time of the first timer reaches a first time threshold;

10. An automobile characterized by comprising the vehicle sensor state monitoring device according to claim 9.