CN113670360B - Monitoring method, system, device, vehicle, medium and product - Google Patents
Monitoring method, system, device, vehicle, medium and product Download PDFInfo
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- CN113670360B CN113670360B CN202111011710.0A CN202111011710A CN113670360B CN 113670360 B CN113670360 B CN 113670360B CN 202111011710 A CN202111011710 A CN 202111011710A CN 113670360 B CN113670360 B CN 113670360B
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The embodiment of the invention provides a monitoring method, a system, a device, a vehicle, a medium and a product, wherein the method comprises the following steps: acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle; after determining that the initial self-checking information is abnormal, acquiring operation information sent by each sensor module and state information of the sensor module; monitoring processing information when the operation information is processed by a preset sensing strategy to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule; and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with a preset fault judgment rule, judging that the intelligent driving vehicle has faults. The intelligent driving vehicle control method and the intelligent driving vehicle control system are used for solving the defect that in the prior art, reliability and stability of an intelligent driving vehicle are low.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a monitoring method, a system, a device, a vehicle, a medium and a product.
Background
Along with the development of automatic driving technology, the requirements on the reliability of the system for assisting driving and automatic driving are higher and higher, so that each state of the sensor needs to be monitored to early warn in advance, and potential safety hazards are avoided.
However, the reliability and stability of the intelligent driving vehicle cannot be ensured by merely monitoring the state of the sensor.
Therefore, how to improve the reliability and stability of intelligent driving vehicles is a problem that needs to be solved in the industry.
Disclosure of Invention
The embodiment of the invention provides a monitoring method, a system, a device, a vehicle, a medium and a product, which are used for solving the defect of low reliability and stability of an intelligent driving vehicle in the prior art and effectively improving the reliability and stability of the intelligent driving vehicle.
The embodiment of the invention provides a monitoring method, which comprises the following steps:
acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle;
after determining that the initial self-checking information is abnormal, acquiring operation information sent by each sensor module and state information of the sensor module;
monitoring processing information when a preset sensing strategy processes the operation information to obtain monitoring information;
determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule;
and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule, judging that the intelligent driving vehicle has faults.
According to a monitoring method of an embodiment of the present invention, the operation information includes: a sensor identification;
before determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule, the method further comprises:
acquiring a communication state of the operation information in the process of being sent, wherein the communication state is used for indicating whether the operation information can be effectively communicated between the sensor modules;
the determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule includes:
when the first target sensor module corresponding to the sensor identification is determined to be abnormal through the state information and/or the monitoring information, determining an abnormal threshold value of the first target sensor module;
packaging the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet;
combining the sensor identifier of the first target sensor module, the target state data packet and the abnormal threshold value to obtain a combined result;
Determining whether the combined result accords with the preset fault judgment rule;
and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule, determining that the intelligent driving vehicle has a fault comprises the following steps:
and when the combined result is determined to be not in accordance with the preset fault judgment rule, judging that the intelligent driving vehicle has faults.
According to a monitoring method of an embodiment of the present invention, the processing information includes: the process state and the data processing result when the operation information is processed by the preset perception strategy;
the monitoring of the processing information when the operation information is processed by the preset sensing strategy to obtain monitoring information comprises the following steps:
when the process state is process failure, determining that the monitoring information is abnormal monitoring information;
and when the process state is that the process is finished, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, otherwise, determining that the monitoring information is abnormal monitoring information.
According to a monitoring method of an embodiment of the present invention, the initial self-checking information includes: a sensor identification;
After the initial self-checking information sent by the at least one sensor module of the intelligent driving vehicle is obtained, the method further comprises the following steps:
generating a target list corresponding to the initial self-checking information based on the sensor identifier;
comparing the target list with a preset sensor list;
when the target list is consistent with the preset sensor list, determining that the initial self-checking information is abnormal;
and when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
According to a monitoring method of an embodiment of the present invention, when the target list and the preset sensor list are inconsistent, determining that the initial self-checking information is abnormal includes:
when the target list is inconsistent with the preset sensor list, taking the inconsistent sensor identifications in the target list and the preset sensor list as abnormal sensor identifications;
determining that the second target sensor module corresponding to the abnormal sensor identifier is abnormal;
when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal, further includes:
Determining that the driving function corresponding to the second target sensor module is in a failure state, and sending a driving function failure instruction to the central control management module;
and executing the step of determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule or not on the remaining sensor modules after the at least one sensor module is removed from the second target sensor module.
According to the monitoring method of an embodiment of the present invention, before determining whether the operation information, the status information, and the monitoring information meet a preset fault determination rule, the method further includes:
acquiring a temporary fault judgment rule;
and configuring the abnormal threshold for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule.
According to one embodiment of the present invention, after the determining that the intelligent driving vehicle has a fault, the monitoring method further includes:
determining a fault level based on the magnitude of the anomaly threshold;
and controlling the first target sensor module to execute the operation corresponding to the fault level.
The embodiment of the invention also provides a monitoring system, which comprises: the intelligent driving system comprises at least one sensor module and a monitoring processing module, wherein the at least one sensor module and the monitoring processing module are arranged on the intelligent driving vehicle, and the at least one sensor module is respectively in communication connection with the monitoring processing module;
The at least one sensor module is used for sending initial self-checking information to the monitoring processing module;
the at least one sensor module is further configured to send operation information of each sensor module and status information of the sensor module to the monitoring processing module;
the monitoring processing module is used for acquiring the initial self-checking information; after determining that the initial self-checking information is abnormal, acquiring operation information and state information; monitoring processing information when a preset sensing strategy processes the operation information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule; and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with a preset fault judgment rule, judging that the intelligent driving vehicle has faults.
A monitoring system according to one embodiment of the invention, the system further comprising: the central control management module is in communication connection with the monitoring processing module;
the monitoring processing module is also used for sending a driving function failure instruction to the monitoring processing module;
And the central control management module is used for acquiring the driving function failure instruction and alarming.
The embodiment of the invention also provides a monitoring device, which comprises:
the first acquisition module is used for acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle;
the second acquisition module is used for acquiring the operation information sent by each sensor module and the state information of the sensor module after the initial self-checking information is determined to be abnormal;
the monitoring module is used for monitoring the processing information when the operation information is processed by the preset sensing strategy to obtain monitoring information;
the judging module is used for determining whether the operation information, the state information and the monitoring information accord with a preset fault judging rule or not;
and the judging module is used for judging that the intelligent driving vehicle has faults when any one of the running information, the state information and the monitoring information is determined to be not in accordance with the preset fault judging rule.
The embodiment of the invention also provides an intelligent driving vehicle, which comprises the monitoring system.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the monitoring method as described in any of the above.
The invention also provides a computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of any of the above-mentioned monitoring methods.
The monitoring method, the system, the device, the vehicle, the medium and the product provided by the embodiment of the invention are characterized in that initial self-checking information sent by at least one sensor module of the intelligent driving vehicle is obtained; after the initial self-checking information is determined to be abnormal, the running information and the state information of the sensor modules sent by each sensor module are obtained, and therefore the running information and the state information of the plurality of sensor modules are monitored in real time; furthermore, the processing information when the operation information is processed by the preset sensing strategy is monitored to obtain the monitoring information, and therefore, the operation condition of the preset sensing strategy is monitored in real time, and more effective and reliable safety guarantee is provided for the whole driving vehicle; finally, determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule; when any one of the running information, the state information and the monitoring information is determined, and the fault judging rule is not met, the intelligent driving vehicle is judged to have the fault, and therefore, the running condition of a sensing algorithm corresponding to the sensor module is monitored while the sensor module is monitored, whether the intelligent driving vehicle has the fault is judged through the sensor module and the sensing algorithm, and the reliability and the safety of the intelligent driving vehicle are truly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a monitoring method according to an embodiment of the present invention;
FIG. 2 is a second flow chart of a monitoring method according to the embodiment of the invention;
FIG. 3 is a third flow chart of a monitoring method according to an embodiment of the invention;
FIG. 4 is a flow chart of a monitoring method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a monitoring system according to an embodiment of the present invention;
FIG. 6 is a second schematic diagram of a monitoring system according to an embodiment of the present invention;
FIG. 7 is a third schematic diagram of a monitoring system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes a monitoring method according to an embodiment of the present invention with reference to fig. 1 to 4.
The monitoring method provided by the invention is applied to intelligent driving vehicles, and the specific implementation of the method is shown in fig. 1:
Specifically, the sensor module includes: camera, radar. Wherein, the camera includes: ordinary camera, infrared camera, degree of depth camera etc. ordinary camera includes: monocular cameras, binocular cameras, short-focus cameras, mid-focus cameras, long-focus cameras, fisheye cameras, etc.; the radar includes: laser radar, millimeter wave radar (24G, 77G), ultrasonic radar, and the like. It should be noted that the sensor module of the present invention is not limited to the combination of these sensors.
Wherein one sensor module comprises at least one sensor. When one sensor module comprises one sensor, the state information of the sensor module is the state information of the sensor; when one sensor module includes a plurality of sensors, the state information of the sensor module is a combination of the state information of the plurality of sensors. In the following, a sensor module including a sensor is described as an example, but it should be noted that this is only an example and is not intended to limit the scope of the present invention.
Specifically, when the intelligent driving vehicle is powered on, each sensor module performs initial self-checking operation and obtains initial self-checking information. The initial self-checking information comprises: sensor identification, and sensor status information corresponding to the sensor identification.
Wherein the status information includes: when the sensor performs self-checking operation, the state information is online and if the problem occurs, the state information is a combination of the offline state and a state code, wherein the state code can be a number of a reason for the offline state of the sensor.
Wherein, initial self-checking information still includes: and (3) a starting rule of the sensors, wherein the starting rule is a starting sequence of each sensor, and the sequence marking is carried out through the sensor identification.
And after the sensor finishes the initial self-checking operation, waiting for a report signal of the initial self-checking information, and after the report signal is obtained, sending the initial self-checking information.
In one embodiment, the initial self-checking information is determined as shown in fig. 2:
Specifically, a target list corresponding to the initial self-checking operation is generated according to the sensor identification in the initial self-checking information.
Specifically, the sensor identifications are functionally classified, for example, the sensors with sensor identifications of 1, 2 and 3 correspond to system fault alarms (bsd); the sensors identified as 1, 4, 5 correspond to automatic emergency braking (aeb).
Specifically, the preset sensor list may be a manually set sensor list, or may be a sensor list generated when factory setting is performed on the intelligent driving vehicle.
And 203, determining that the initial self-checking information is abnormal when the target list is consistent with the preset sensor list.
Specifically, after the self-checking information is determined to be abnormal, an abnormal-free message is sent to the central control management module.
And 204, when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
In a specific embodiment, when it is determined that the initial self-checking information is abnormal, a sensor identifier inconsistent with the target list and a preset sensor list is used as an abnormal sensor identifier, and it is determined that a second target sensor module corresponding to the abnormal sensor identifier is abnormal. And determining that the driving function corresponding to the second target sensor module is in a failure state, and sending a driving function failure instruction to the central control management module. And prompting or alarming the second target sensor module through the central control management module, and issuing a warning that the driving function corresponding to the second target sensor module is in a failure state. And executing the step of determining whether the operation information, the state information and the monitoring information are in accordance with the preset fault judgment rule or not on the sensor module after the second target sensor module is removed from the at least one sensor module.
At this time, a temporary fault judgment rule is created through the central control management module, for example, one sensor in the second target sensor module does not have great influence on the intelligent driving vehicle, so that a rule that abnormality of the sensor can be ignored is set, and thus when a problem exists in the sensor in the later stage, the driving function corresponding to the sensor ignores the problem in running. The temporary fault judgment rule is used for indicating the magnitude of the configuration abnormal threshold.
Specifically, after the initial self-checking information is determined to be abnormal, the intelligent driving vehicle is started, and at the moment, the intelligent driving vehicle is powered on, enters a normal use state, and acquires a temporary fault judgment rule for later use.
The operation information may include, in addition to the sensor identifier, sensor data, which is data acquired by the sensor during operation, for example, image data, radar data, and the like.
And step 103, monitoring processing information when the operation information is processed by a preset sensing strategy to obtain monitoring information.
In a specific embodiment, a process state and a data processing result when the operation information is processed by the preset sensing strategy are preset. When the process state is process failure, determining that the monitoring information is abnormal monitoring information; and when the process state is that the process is finished, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, and if not, determining that the monitoring information is abnormal monitoring information.
The preset sensing strategy is a preset sensing algorithm.
The invention monitors the sensor module information and the progress state and the data processing result of the sensing algorithm, and provides more effective and reliable safety guarantee for the intelligent driving vehicle, so that the intelligent driving vehicle is safer and more reliable.
In a specific embodiment, before determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule, a communication state of the operation information in a process of being sent is obtained, wherein the communication state is used for indicating whether the operation information can be effectively communicated between the sensor modules.
The specific implementation of judging whether the operation information, the state information and the monitoring information meet the preset fault judging rule is shown in fig. 3:
step 301, determining an abnormal threshold of the first target sensor module when it is determined that the first target sensor module corresponding to the sensor identifier is abnormal according to the status information and/or the monitoring information.
Wherein, the larger the abnormal threshold value is, the larger the corresponding fault level is.
In one embodiment, a temporary fault judgment rule is obtained; and configuring the abnormal threshold for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule. Specifically, the method and the device can effectively improve the user experience of the user on the intelligent driving vehicle by setting the abnormal threshold based on the temporary fault judgment rule and the preset fault judgment rule.
Specifically, the expression form of the preset fault judgment rule may be the sensor identifier, the target state data packet and the abnormal threshold.
And 105, judging that the intelligent driving vehicle has a fault when any one of the running information, the state information and the monitoring information is determined to be not in accordance with a preset fault judgment rule.
Specifically, when the combined result is determined not to accord with the preset fault judgment rule, the intelligent driving vehicle is judged to have faults.
In one embodiment, a fault level is determined based on the magnitude of the anomaly threshold; and controlling the first target sensor module to execute the operation corresponding to the fault level.
Specifically, the failure level includes: several levels of neglect, general, severe, extra severe, etc., each fault level corresponds to a respective operation. For example, the fault may be ignored, the class may be ignored, and no processing is required; the general level, control the first goal sensor module to carry out the self-repairing operation, or carry out the alarm operation; the severity level or the extra severity level controls the first target sensor module to execute the stopping operation, or the forced stopping operation is carried out by artificial remote control.
Of course, when determining that the running information, the state information and the monitoring information meet the preset fault judging rule, it is determined that the intelligent driving vehicle has no fault, the intelligent driving vehicle is driven according to the preset normal driving flow, and the operations from the step 102 to the step 104 are repeatedly executed during the driving process.
The following describes the monitoring method specifically with reference to fig. 4:
Step 401, the intelligent driving vehicle is powered on, and each sensor module performs initial self-checking operation and obtains initial self-checking information.
And step 405, sending the result of determining whether the initial self-checking information has an abnormality to the central control management module, and acquiring a temporary fault judgment rule.
In step 408, when there is an abnormality, a failure level is determined, and the sensor module is controlled to perform an operation corresponding to the failure level.
And 409, monitoring the operation information, the state information and the monitoring information of the sensors of each module in real time when no abnormality exists.
The monitoring method, the system, the device, the vehicle, the medium and the product provided by the embodiment of the invention are characterized in that initial self-checking information sent by at least one sensor module of the intelligent driving vehicle is obtained; after the initial self-checking information is determined to be abnormal, the running information and the state information of the sensor modules sent by each sensor module are obtained, and therefore the running information and the state information of the plurality of sensor modules are monitored in real time; furthermore, the processing information when the operation information is processed by the preset sensing strategy is monitored to obtain the monitoring information, and therefore, the operation condition of the preset sensing strategy is monitored in real time, and more effective and reliable safety guarantee is provided for the whole driving vehicle; finally, determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule; when any one of the running information, the state information and the monitoring information is determined, and the fault judging rule is not met, the intelligent driving vehicle is judged to have the fault, and therefore, the running condition of a sensing algorithm corresponding to the sensor module is monitored while the sensor module is monitored, whether the intelligent driving vehicle has the fault is judged through the sensor module and the sensing algorithm, and the reliability and the safety of the intelligent driving vehicle are truly improved.
The following describes the monitoring system provided by the present invention, and the monitoring system described below and the monitoring method described above may be referred to each other, and the repetition is not repeated, as shown in fig. 5 specifically:
the monitoring system of the present invention comprises: the at least one sensor module 501 and the monitoring processing module 502 are installed on the intelligent driving vehicle, and the at least one sensor module 501 is respectively in communication connection with the monitoring processing module 502;
the at least one sensor module 501 is configured to send initial self-checking information to the monitoring processing module 502 set;
the at least one sensor module 501 is further configured to send operation information of each sensor module 501 and status information of the sensor module 501 to the monitoring processing module 502;
the monitoring processing module 502 is configured to obtain the initial self-checking information; after determining that the initial self-checking information is abnormal, acquiring operation information and state information; monitoring processing information when a preset sensing strategy processes the operation information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule; and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with a preset fault judgment rule, judging that the intelligent driving vehicle has faults.
In one embodiment, as shown in FIG. 6: the monitoring system further comprises: the central control management module 601, wherein the central control management module 601 establishes communication connection with the monitoring processing module 502;
the monitoring processing module 502 is further configured to send a driving function failure instruction to the central control management module 601;
the central control management module 601 is configured to obtain the driving function failure instruction, and perform an alarm.
Specifically, as shown in fig. 7, the monitoring system further includes: the data preprocessing module 701 establishes a communication connection with the sensor module 501. The sensor module 501 is configured to send the acquired operation information and status information to the data preprocessing module 701. The data preprocessing module 701 is configured to receive the operation information and the status information, perform a structural processing operation and a data correction operation on the operation information and the status information, obtain target information in a preset format, record a label of each piece of information in the target information and a data state corresponding to each piece of information, and further send the target information to the monitoring processing module 502.
The operation information may include, in addition to the sensor identifier, sensor data, which is data acquired by the sensor during operation, for example, image data, radar data, and the like.
The monitor processing module 502 includes: a monitoring processing unit 702 and a sensing algorithm unit 703, wherein the monitoring processing unit 702 and the sensing algorithm unit 703 establish a communication connection. The sensing algorithm unit 703 receives the target information sent by the data preprocessing module 701, processes the target information by using a preset sensing policy to obtain a process state and a data processing result, sends the process state and the data processing result to the monitoring processing unit 702, and determines whether the process state and the data processing result are abnormal or not through the monitoring processing unit 702.
The monitoring system further comprises: the vehicle information module 704, the vehicle information module 704 is used for obtaining the running information and the position information of the intelligent driving vehicle, and can provide effective data support for controlling and planning the intelligent driving vehicle. The vehicle information module 704 establishes a communication connection with the monitoring processing unit 702 and transmits the travel information and the position information to the monitoring processing unit 702.
Specifically, the central control management module 601 includes: the intelligent central control screen 705 and the remote service center 706, the intelligent central control screen 705 establishes communication connection with the monitoring processing unit 702, and is used for obtaining the judgment result obtained by the monitoring processing unit 702, and managing voice broadcasting and information display of the judgment result. For example, initial self-checking signals of the sensor modules and driving function failure item information corresponding to the sensor modules are received, and early warning and prompting, temporary fault judgment rule setting and information management are performed. The remote service center 706, for pre-warning and operation by the remote end, functions like a central control screen, but favors higher levels or is completely unmanned.
Specifically, the system further comprises: the planning module 707, the planning module 707 and the monitoring processing unit 702 establish a communication connection for using the monitoring information to perform verification and test of the autopilot function.
According to the monitoring system provided by the invention, the operation condition of the sensing algorithm corresponding to the sensor module is monitored while the sensor module is monitored, and whether the intelligent driving vehicle has faults or not is judged through the sensor module and the sensing algorithm, so that the reliability and the safety of the intelligent driving vehicle are truly improved.
The following describes the monitoring device provided by the embodiment of the present invention, and the monitoring device described below and the monitoring method described above may be referred to correspondingly, and the repetition is not repeated, as shown in fig. 8 specifically:
a first obtaining module 801, configured to obtain initial self-checking information sent by at least one sensor module of an intelligent driving vehicle;
the second obtaining module 802 is configured to obtain, after determining that the initial self-checking information is not abnormal, operation information sent by each sensor module and status information of the sensor module;
the monitoring module 803 is configured to monitor processing information when the operation information is processed by a preset sensing policy, so as to obtain monitoring information;
A judging module 804, configured to determine whether the operation information, the status information, and the monitoring information meet a preset fault judging rule;
and a determining module 805, configured to determine that the intelligent driving vehicle has a fault when any one of the operation information, the status information, and the monitoring information is determined not to meet the preset fault determination rule.
In one embodiment, the operation information includes: a sensor identification; the judging module 804 is further configured to obtain a communication state of the operation information in the process of being sent, where the communication state is used to indicate whether the operation information can perform effective communication between the sensor modules; the judging module 804 is specifically configured to determine an abnormal threshold of the first target sensor module when it is determined that the first target sensor module corresponding to the sensor identifier is abnormal through the status information and/or the monitoring information; packaging the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet; combining the sensor identifier, the target state data packet and the abnormal threshold value of the first target sensor module to obtain a combined result; determining whether the combined result accords with a preset fault judgment rule; and when the combined result is determined to be not in accordance with the preset fault judgment rule, judging that the intelligent driving vehicle has faults.
In one embodiment, processing the information includes: presetting a process state and a data processing result when the operation information is processed by a perception strategy; the monitoring module 803 is specifically configured to determine that the monitoring information is abnormal monitoring information when the process state is a process failure; and when the process state is that the process is finished, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, and if not, determining that the monitoring information is abnormal monitoring information.
In one embodiment, the initial self-test information includes: a sensor identification; the first obtaining module 801 is further configured to generate a target list corresponding to the initial self-checking information based on the sensor identifier; comparing the target list with a preset sensor list; when the target list is consistent with the preset sensor list, determining that the initial self-checking information is abnormal; and when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
In a specific embodiment, the first obtaining module 801 is specifically configured to, when the target list is inconsistent with the preset sensor list, use a sensor identifier inconsistent with the target list and the preset sensor list as an abnormal sensor identifier; determining that the second target sensor module corresponding to the abnormal sensor identifier is abnormal; the first obtaining module 801 is further configured to determine that a driving function corresponding to the second target sensor module is in a failure state, and send a driving function failure instruction to the central control management module; and executing the step of determining whether the operation information, the state information and the monitoring information meet the preset fault judgment rules or not on the rest sensor modules after the second target sensor module is removed from the at least one sensor module.
In a specific embodiment, the judging module 804 is further configured to obtain a temporary fault judging rule; and configuring an abnormal threshold value for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule.
In a specific embodiment, the judging module is further configured to determine a fault level based on the magnitude of the abnormal threshold; and controlling the first target sensor module to execute the operation corresponding to the fault level.
In a first aspect, the present invention provides an intelligent driving vehicle comprising the monitoring system described above.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the monitoring method provided by the methods described above, the method comprising: acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle; after determining that the initial self-checking information is abnormal, acquiring operation information sent by each sensor module and state information of the sensor module; monitoring processing information when the operation information is processed by a preset sensing strategy to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule; and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with a preset fault judgment rule, judging that the intelligent driving vehicle has faults.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above provided monitoring methods, the method comprising: acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle; after determining that the initial self-checking information is abnormal, acquiring operation information sent by each sensor module and state information of the sensor module; monitoring processing information when the operation information is processed by a preset sensing strategy to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule; and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with a preset fault judgment rule, judging that the intelligent driving vehicle has faults.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A method of monitoring, comprising:
acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle;
after determining that the initial self-checking information is abnormal, acquiring operation information sent by each sensor module and state information of the sensor module;
monitoring processing information when a preset sensing strategy processes the operation information to obtain monitoring information;
determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule;
when any one of the running information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule, judging that the intelligent driving vehicle has a fault;
wherein the operation information includes: a sensor identification;
before determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule, the method further comprises:
acquiring a communication state of the operation information in the process of being sent, wherein the communication state is used for indicating whether the operation information can be effectively communicated between the sensor modules;
The determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule includes:
when the first target sensor module corresponding to the sensor identifier is determined to be abnormal through any one of the operation information, the state information and the monitoring information, determining an abnormal threshold of the first target sensor module;
packaging the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet;
combining the sensor identifier of the first target sensor module, the target state data packet and the abnormal threshold value to obtain a combined result;
determining whether the combined result accords with the preset fault judgment rule;
and when any one of the running information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule, determining that the intelligent driving vehicle has a fault comprises the following steps:
and when the combined result is determined to be not in accordance with the preset fault judgment rule, judging that the intelligent driving vehicle has faults.
2. The method of monitoring according to claim 1, wherein the processing information comprises: the process state and the data processing result when the operation information is processed by the preset perception strategy;
the monitoring of the processing information when the operation information is processed by the preset sensing strategy to obtain monitoring information comprises the following steps:
when the process state is process failure, determining that the monitoring information is abnormal monitoring information;
and when the process state is that the process is finished, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, otherwise, determining that the monitoring information is abnormal monitoring information.
3. The method of any one of claims 1-2, wherein the initial self-test information comprises: a sensor identification;
after the initial self-checking information sent by the at least one sensor module of the intelligent driving vehicle is obtained, the method further comprises the following steps:
generating a target list corresponding to the initial self-checking information based on the sensor identifier;
comparing the target list with a preset sensor list;
when the target list is consistent with the preset sensor list, determining that the initial self-checking information is abnormal;
And when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
4. The method of monitoring of claim 3, wherein the determining that the initial self-test information is abnormal when the target list and the preset sensor list are not identical comprises:
when the target list is inconsistent with the preset sensor list, taking the inconsistent sensor identifications in the target list and the preset sensor list as abnormal sensor identifications;
determining that the second target sensor module corresponding to the abnormal sensor identifier is abnormal;
when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal, further includes:
determining that the driving function corresponding to the second target sensor module is in a failure state, and sending a driving function failure instruction to the central control management module;
and executing the step of determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule or not on the remaining sensor modules after the at least one sensor module is removed from the second target sensor module.
5. The method according to claim 1, wherein before determining whether the operation information, the status information, and the monitoring information meet a preset failure determination rule, further comprises:
acquiring a temporary fault judgment rule;
and configuring the abnormal threshold for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule.
6. The monitoring method according to claim 1, wherein after the determination that the intelligent driving vehicle has a failure, further comprising:
determining a fault level based on the magnitude of the anomaly threshold;
and controlling the first target sensor module to execute the operation corresponding to the fault level.
7. A monitoring system, comprising: the intelligent driving system comprises at least one sensor module and a monitoring processing module, wherein the at least one sensor module and the monitoring processing module are arranged on the intelligent driving vehicle, and the at least one sensor module is respectively in communication connection with the monitoring processing module;
the at least one sensor module is used for sending initial self-checking information to the monitoring processing module;
the at least one sensor module is further configured to send operation information of each sensor module and status information of the sensor module to the monitoring processing module, where the operation information includes: a sensor identification;
The monitoring processing module is used for acquiring the initial self-checking information; after determining that the initial self-checking information is abnormal, acquiring operation information and state information; monitoring processing information when a preset sensing strategy processes the operation information to obtain monitoring information; acquiring a communication state of the operation information in the process of being sent, wherein the communication state is used for indicating whether the operation information can be effectively communicated between the sensor modules; when the first target sensor module corresponding to the sensor identifier is determined to be abnormal through any one of the operation information, the state information and the monitoring information, determining an abnormal threshold of the first target sensor module; packaging the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet; combining the sensor identifier of the first target sensor module, the target state data packet and the abnormal threshold value to obtain a combined result; determining whether the combined result accords with a preset fault judgment rule; and when the combined result is determined to be not in accordance with the preset fault judgment rule, judging that the intelligent driving vehicle has faults.
8. The monitoring system of claim 7, wherein the system further comprises: the central control management module is in communication connection with the monitoring processing module;
the monitoring processing module is also used for sending a driving function failure instruction to the central control management module;
and the central control management module is used for acquiring the driving function failure instruction and alarming.
9. A monitoring device, comprising:
the first acquisition module is used for acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle;
the second acquisition module is used for acquiring operation information sent by each sensor module and state information of the sensor module after the initial self-checking information is determined to be abnormal, wherein the operation information comprises a sensor identifier;
the monitoring module is used for monitoring the processing information when the operation information is processed by the preset sensing strategy to obtain monitoring information;
the judging module is used for acquiring the communication state of the operation information in the process of being sent, and the communication state is used for indicating whether the operation information can be effectively communicated between the sensor modules;
The judging module is specifically configured to determine an abnormal threshold of the first target sensor module when it is determined that the first target sensor module corresponding to the sensor identifier is abnormal according to any one of the operation information, the state information and the monitoring information; packaging the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet; combining the sensor identifier of the first target sensor module, the target state data packet and the abnormal threshold value to obtain a combined result; determining whether the combined result accords with a preset fault judgment rule;
and the judging module is used for judging that the intelligent driving vehicle has faults when the combined result is determined to be not in accordance with the preset fault judging rule.
10. An intelligent driving vehicle comprising the monitoring system of claim 7 or 8.
11. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the monitoring method according to any one of claims 1 to 6.
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| JPH0733983B2 (en) * | 1986-09-22 | 1995-04-12 | 日産自動車株式会社 | Vehicle failure diagnosis device |
| JP3765687B2 (en) * | 1998-06-03 | 2006-04-12 | 本田技研工業株式会社 | Vehicle travel safety device |
| CN101949955B (en) * | 2010-08-11 | 2012-05-16 | 北京交大资产经营有限公司 | State self-checking method of combined speed measuring and positioning system for train |
| US9972054B1 (en) * | 2014-05-20 | 2018-05-15 | State Farm Mutual Automobile Insurance Company | Accident fault determination for autonomous vehicles |
| CN106840242B (en) * | 2017-01-23 | 2020-02-04 | 驭势科技（北京）有限公司 | Sensor self-checking system and multi-sensor fusion system of intelligent driving automobile |
| CN109682407A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of intelligent automobile self-checking system |
| CN107808430B (en) * | 2017-10-31 | 2020-01-31 | 深圳市道通合创软件开发有限公司 | Computer readable storage medium, fault detection method and device |
| CN108257405A (en) * | 2018-02-02 | 2018-07-06 | 斑马网络技术有限公司 | Wagon flow managing and control system and its wagon flow management-control method |
| CN109187060B (en) * | 2018-07-31 | 2019-10-18 | 同济大学 | The detection of train speed sensor abnormal signal and axis locking method for diagnosing faults |
| WO2021035701A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Sensor detection method and vehicle-mounted control terminal |
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| CN112622862B (en) * | 2020-12-24 | 2021-11-30 | 北京理工大学前沿技术研究院 | Automatic driving automobile brake abnormity/attack on-line monitoring method and system |
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