CN113734195B

CN113734195B - Unmanned vehicle control method and device, storage medium and unmanned vehicle

Info

Publication number: CN113734195B
Application number: CN202110955469.0A
Authority: CN
Inventors: 王亚维; 夏华夏; 赵惠鹏; 王乃峥
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2022-10-11
Anticipated expiration: 2041-08-19
Also published as: CN113734195A

Abstract

The disclosure relates to an unmanned vehicle control method, an unmanned vehicle control device, a storage medium and an unmanned vehicle. The method comprises the following steps: acquiring running state data of the unmanned vehicle; detecting and obtaining a fault type included by the operation fault according to the operation state data under the condition that the operation fault of the unmanned vehicle is determined according to the operation state data; determining a target fault type with the highest priority based on the priority relation among the fault types; and executing preset fault processing logic corresponding to the target fault type to control the unmanned vehicle to recover from the state of the operation fault. By adopting the method disclosed by the invention, the efficiency of recovering the unmanned vehicle from the fault can be improved.

Description

Unmanned vehicle control method and device, storage medium and unmanned vehicle

Technical Field

The disclosure relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle control method, device, storage medium and unmanned vehicle.

Background

The unmanned vehicle is an intelligent vehicle which senses road environment through a vehicle-mounted sensing system and automatically plans a driving route based on a sensing result so as to enable the vehicle to reach a destination. In the practical application process of the unmanned vehicle, the unmanned vehicle may have different fault problems, such as hardware fault, software fault, or middleware fault, of different degrees and different types.

In the related technology, in the case of a fault of an unmanned vehicle, a safety worker needs to be dispatched to the location of the unmanned vehicle for troubleshooting and repairing. However, this approach is not only inefficient but also labor-intensive.

Disclosure of Invention

An object of the present disclosure is to provide an unmanned vehicle control method, apparatus, storage medium, and unmanned vehicle to partially solve the above-mentioned problems in the related art.

In order to achieve the above object, a first part of the embodiments of the present disclosure provides an unmanned vehicle control method, the method including:

acquiring running state data of the unmanned vehicle;

detecting and obtaining a fault type included by the operation fault according to the operation state data under the condition that the operation fault of the unmanned vehicle is determined according to the operation state data;

determining a target fault type with the highest priority based on the priority relation among the fault types;

and executing preset fault processing logic corresponding to the target fault type to control the unmanned vehicle to recover from the state of the operation fault.

Optionally, the operating state data includes at least one of hardware operating state data, operating system operating state data, and automatic driving system operating state data of the unmanned vehicle, and accordingly, the operating fault includes at least one of a hardware fault type, an operating system fault type, and an automatic driving system fault type.

Optionally, when the target fault type represents the hardware fault type, the executing a preset fault processing logic corresponding to the target fault type includes:

judging whether historical hardware faults identical to fault codes under the hardware fault types are detected within a preset historical time length;

executing a first processing logic in preset fault processing logic corresponding to the hardware fault type under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is not detected within the preset historical duration so as to control the unmanned vehicle to recover from the running fault state;

and under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is detected within the preset historical time, executing a manual intervention processing flow in a preset fault processing logic corresponding to the hardware fault type so as to control the unmanned vehicle to recover from the state of the operation fault.

Optionally, when the target fault type represents the operating system fault type, the executing a preset fault processing logic corresponding to the target fault type includes:

judging whether a historical operating system fault which is the same as a fault code under the operating system fault type is detected within a preset historical time;

executing a second processing logic in the preset fault processing logic corresponding to the operating system fault type under the condition that the historical operating system fault which is the same as the fault code under the operating system fault type is not detected within the preset historical duration so as to control the unmanned vehicle to recover from the running fault state;

and under the condition that the historical operating system fault which is the same as the fault code under the operating system fault type is detected within the preset historical duration, executing a manual intervention processing flow in a preset fault processing logic corresponding to the operating system fault type to control the unmanned vehicle to recover from the running fault state.

Optionally, when the target fault type represents the fault type of the automatic driving system, the executing a preset fault handling logic corresponding to the target fault type includes:

a manual interventional procedure is performed.

Optionally, executing the first processing logic comprises:

determining target hardware corresponding to the fault code under the hardware fault type; and the number of the first and second electrodes,

and controlling the target hardware to execute at least one of correction, reset and restart.

Optionally, executing the second processing logic comprises:

closing a preset number of processes with low priority based on a priority relation among the processes currently running in the unmanned vehicle operating system to control the unmanned vehicle to recover from the running fault state by releasing CPU occupancy rate and/or network bandwidth occupancy rate; alternatively, the first and second liquid crystal display panels may be,

and restarting the unmanned vehicle operating system to control the unmanned vehicle to recover from the state of the operation fault when the unmanned vehicle is in a static state.

Optionally, the human intervention procedure is performed, comprising:

determining a first target manual intervention resource type corresponding to the fault code under the target fault type according to the fault code under the target fault type and a preset corresponding relation between the fault code and the manual intervention resource type;

according to the obtained use state information of the human intervention resources, under the condition that the first target human intervention resource type is determined to correspond to an idle first target operator, the idle first target operator is requested to process the operation fault.

Optionally, the executing the human intervention processing flow further includes:

under the condition that the first target manual intervention resource type is determined not to correspond to the idle first target operator, determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type and the preset corresponding relation between the fault code and the manual intervention resource type; and are combined

And requesting the idle second target operator to process the operation fault under the condition that the type of the second target manual intervention resource is determined to correspond to the idle second target operator according to the acquired use state information of the manual intervention resource.

under the condition that the first target human intervention resource type is determined not to correspond to the idle first target operator, continuously acquiring the use state information of the human intervention resource within a preset time length, and judging whether the first target human intervention resource type corresponds to the idle first target operator or not;

determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type and a preset corresponding relation between the fault code and the manual intervention resource type under the condition that the first idle target operator does not exist within the preset duration; and are

And requesting the idle second target operator to process the operation fault under the condition that the second target manual intervention resource type is determined to correspond to the idle second target operator according to the recently acquired use state information of the manual intervention resource.

Optionally, the use state information of the human intervention resource includes operator idle rates corresponding to the types of the human intervention resources, respectively; wherein the human intervention resource type comprises at least one of a human data intervention resource type, a human driving intervention resource type, and a near field security officer intervention resource type.

Optionally, the priority of the hardware fault type, the operating system fault type, and the autopilot system fault type decreases in sequence.

A second part of the disclosed embodiments provides an unmanned vehicle control apparatus, the apparatus including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is configured to be used for acquiring the running state data of the unmanned vehicle;

the detection module is configured to detect a fault type included by the operation fault according to the operation state data under the condition that the operation fault of the unmanned vehicle is determined according to the operation state data;

the determining module is configured for a user to determine a target fault type with the highest priority based on the priority relation among the fault types;

and the execution module is configured to execute preset fault processing logic corresponding to the target fault type so as to control the unmanned vehicle to recover from the state of the operation fault.

Optionally, the execution module includes:

the first judgment submodule is configured to judge whether a historical hardware fault which is the same as a fault code in the hardware fault type is detected in a preset historical duration or not under the condition that the target fault type represents the hardware fault type;

the first execution sub-module is configured to execute a first processing logic in preset fault processing logic corresponding to the hardware fault type to control the unmanned vehicle to recover from the operation fault state under the condition that the historical hardware fault which is the same as the fault code in the hardware fault type is not detected in the preset historical time;

and the second execution submodule is configured to execute a manual intervention processing flow in a preset fault processing logic corresponding to the hardware fault type to control the unmanned vehicle to recover from the state of the operation fault under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is detected within the preset historical time.

Optionally, the execution module includes:

the second judging submodule is configured to judge whether a historical operating system fault which is the same as a fault code of the operating system fault type is detected within a preset historical time period or not under the condition that the target fault type represents the operating system fault type;

the third execution submodule is configured to execute a second processing logic in preset fault processing logic corresponding to the operating system fault type to control the unmanned vehicle to recover from the running fault state under the condition that the historical operating system fault which is the same as the fault code in the operating system fault type is not detected in the preset historical time;

and the fourth execution submodule is configured to execute a manual intervention processing flow in a preset fault processing logic corresponding to the operating system fault type to control the unmanned vehicle to recover from the state of the operation fault under the condition that the historical operating system fault which is the same as the fault code under the operating system fault type is detected in the preset historical duration.

Optionally, the execution module includes:

a fifth execution submodule configured to execute a manual intervention process flow if the target fault type characterizes the autopilot system fault type.

Optionally, the first execution sub-module is further configured to determine target hardware corresponding to a fault code in the hardware fault type; and controlling the target hardware to execute at least one operation of correction, reset and restart.

Optionally, the third execution sub-module is further configured to:

closing a preset number of processes with low priority based on a priority relation among the processes currently running in the unmanned vehicle operating system to control the unmanned vehicle to recover from the running fault state by releasing CPU occupancy rate and/or network bandwidth occupancy rate; or restarting the unmanned vehicle operating system to control the unmanned vehicle to recover from the state of the operation fault when the unmanned vehicle is in a static state.

Optionally, the execution module further includes a sixth execution submodule configured to: determining a first target manual intervention resource type corresponding to the fault code under the target fault type according to the fault code under the target fault type and a preset corresponding relation between the fault code and the manual intervention resource type; according to the obtained use state information of the human intervention resource, under the condition that the first target human intervention resource type is determined to correspond to an idle first target operator, the idle first target operator is requested to process the operation fault.

Optionally, the sixth execution sub-module is further configured to: under the condition that the first target manual intervention resource type is determined not to correspond to the idle first target operator, determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type and the preset corresponding relation between the fault code and the manual intervention resource type; and requesting the idle second target operator to process the operation fault under the condition that the type of the second target manual intervention resource is determined to correspond to the idle second target operator according to the acquired use state information of the manual intervention resource.

Optionally, the sixth execution submodule is further configured to:

A third part of the embodiments of the present disclosure provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, performs the steps of the method of any one of the first part.

A fourth aspect of the embodiments of the present disclosure provides an unmanned vehicle including:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method of any of the first parts.

By adopting the technical scheme, the following beneficial technical effects can be at least achieved:

the operation state data of the unmanned vehicle is obtained, and whether the unmanned vehicle has an operation fault or not can be judged based on the obtained operation state data. And under the condition that the unmanned vehicle is determined to have the operation fault, detecting the fault type included by the operation fault according to the operation state data. Further, a target fault type with the highest priority is determined based on the priority relation among the fault types, and a preset fault processing logic corresponding to the target fault type is executed to control the unmanned vehicle to recover from the running fault state. By adopting the mode of the disclosure, when the unmanned vehicle has an operation fault, the unmanned vehicle can be controlled to recover from the state of the operation fault based on the preset fault processing logic corresponding to the target fault type with the highest priority. Due to the fact that the unmanned vehicle does not need to wait for dispatched security personnel to arrive at the location where the unmanned vehicle is located to conduct troubleshooting and repairing on the unmanned vehicle under the condition that the unmanned vehicle is determined to have the operation fault, the mode not only can improve the efficiency of recovering the unmanned vehicle from the fault, but also can avoid labor cost.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a flow chart illustrating an unmanned vehicle control method according to an exemplary embodiment of the present disclosure.

FIG. 2 is a flow chart illustrating another method of unmanned vehicle control according to an exemplary embodiment of the present disclosure.

Fig. 3 is a block diagram illustrating an unmanned vehicle control apparatus according to an exemplary embodiment of the present disclosure.

Fig. 4 is a block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the related art, in the case of a fault of an unmanned vehicle, a safety worker is usually dispatched to the location of the unmanned vehicle for manual troubleshooting and repair. However, this approach is not only inefficient but also labor-intensive.

In order to solve the problems in the related art, the inventor of the present disclosure proposes that, in the case of an operation failure of an unmanned vehicle, an attempt is made to repair the operation failure of the unmanned vehicle through a failure processing program preset on the unmanned vehicle. However, in the experimental process, it is found that when the degree and the type of the operation fault of the unmanned vehicle are different, the required fault repairing mode is different. Some unmanned vehicle operation faults can be repaired by themselves without manual intervention, and some unmanned vehicle operation faults need manual intervention for auxiliary repair. The problem of the operation fault of the unmanned vehicle which needs manual intervention for auxiliary repair also needs manual intervention control in different degrees according to different fault types.

In view of this, the present disclosure provides an unmanned vehicle control method, an apparatus, a storage medium, and an unmanned vehicle, so as to improve efficiency of recovering from a failure of the unmanned vehicle.

The unmanned vehicle control method is applied to the unmanned vehicle. And possibly, through the change of the adaptive data transceiving mode, the method disclosed by the invention can also be applied to a remote server of an unmanned vehicle.

Fig. 1 is a flowchart illustrating an unmanned vehicle control method according to an exemplary embodiment of the present disclosure, which may include the steps of, as shown in fig. 1:

and S11, acquiring running state data of the unmanned vehicle.

In one possible embodiment, the operating state data includes at least one of hardware operating state data, operating system operating state data, and autonomous driving system operating state data of the unmanned vehicle.

The hardware of the unmanned vehicle can comprise a laser radar, a GPS, a camera, an IMU, network communication equipment, a vehicle chassis, a temperature sensor, a shockproof device, a pressure sensor, an infrared sensor and the like. In this regard, the present disclosure is not particularly limited.

The specific implementation manner of acquiring the running state data of the unmanned vehicle may be to develop a running state monitoring system or module of the unmanned vehicle on the unmanned vehicle to realize real-time monitoring of the running state of the unmanned vehicle and acquire the running state data of the unmanned vehicle in real time.

And S12, detecting and obtaining the fault type included by the operation fault according to the operation state data under the condition that the operation fault of the unmanned vehicle is determined according to the operation state data.

In one possible embodiment, the operational fault includes at least one of a hardware fault type, an operating system fault type, and an automatic driving system fault type.

The operation status data may include a fault code fed back when the hardware device or the software module has a fault. And determining whether the unmanned vehicle has operation faults or not according to whether the fault codes exist in the operation state data or not. Under the condition that the unmanned vehicle is determined to have the operation fault according to the operation state data, all fault types corresponding to the fault codes can be determined according to all fault codes in the operation state data.

It will be readily appreciated that any one fault type may include a variety of specific fault codes. Each fault code may correspond to a particular fault problem. The fault code is a preset character string used for representing a specific fault, characters on different positions of the character string can represent different meanings, and different characters can represent different objects or fault problems. By way of example, assume that the fault code is C1492, where C may characterize the drone vehicle chassis and 1492 may characterize the drone vehicle rear right wheel pressure sensor fault. It is easily understood that the fault type corresponding to the fault code C1492 is a hardware fault type.

Due to the interdependence or supporting relationship among hardware, middleware and software of the unmanned vehicle, the unmanned vehicle can be detected to have a plurality of different types of operation faults at the same time under a possible condition. For example, the current hardware faults and operating system faults of the unmanned vehicle can be detected based on the current running state data of the unmanned vehicle.

And S13, determining a target fault type with the highest priority based on the priority relation among the fault types.

In one possible embodiment, the hardware fault type, the operating system fault type, and the autopilot system fault type are prioritized in order. That is, the priority of the hardware fault type is higher than the priority of the operating system fault type, which is higher than the priority of the autopilot system fault type.

And under the condition that the operation fault type detected according to the operation state data only comprises one fault type, the fault type is a target fault type. When the operation fault type detected according to the operation state data includes a plurality of fault types, a target fault type with the highest priority can be determined from the plurality of fault types based on the priority relationship among the fault types.

For example, it is assumed that the operation failure types detected from the operation state data include a hardware failure type and an operating system failure type. Then, based on the priority relationship that the priority of the hardware fault type, the operating system fault type, and the automatic driving system fault type decreases in sequence, the hardware fault type with the highest priority can be determined as the target fault type from the hardware fault type and the operating system fault type.

And S14, executing a preset fault processing logic corresponding to the target fault type to control the unmanned vehicle to recover from the state of the operation fault.

After the target fault type is determined in step S13, the preset fault processing logic corresponding to the target fault type may be executed to control the unmanned vehicle to recover from the state of the operation fault.

It is worth explaining here that the unmanned vehicle hardware failure may cause the operating system carried on the unmanned vehicle hardware basis to malfunction or be abnormal, i.e. the root cause of the unmanned vehicle's operating system failure may be the unmanned vehicle hardware failure. Similarly, a failure of the operation system of the unmanned vehicle may cause a failure or abnormality of the automatic driving system carried on the operation system of the unmanned vehicle, that is, the root cause of the failure of the automatic driving system of the unmanned vehicle may be the failure of the operation system of the unmanned vehicle. Based on this, after the unmanned vehicle hardware fault is repaired, the operating system fault caused by the unmanned vehicle hardware fault can be eliminated by itself. In view of this, the embodiments of the present disclosure provide to classify the operation failures of the unmanned vehicle, and set corresponding priorities for various operation failure types according to the dependency relationship between hardware and software of the unmanned vehicle. The method comprises the steps of determining a target fault type with the highest priority based on the priority relation among fault types under the condition that the unmanned vehicle has operation faults, and executing preset fault processing logic corresponding to the target fault type to try to control the unmanned vehicle to completely recover from the operation fault state. In this way, it is possible to achieve that, in the case where the failure repair processing is not performed for a low-priority failure whose priority of the failure type is lower than that of the target failure type, the low-priority failure is repaired or eliminated by itself with the failure repair of the target failure type, possibly after the failure of the target failure type is repaired. Therefore, by adopting the mode of determining the target fault type with the highest priority based on the priority relationship among the fault types and executing the preset fault processing logic corresponding to the target fault type, redundant and unnecessary repair processing processes of low-priority faults can be effectively avoided, and thus the unmanned vehicle can be quickly recovered from the operation fault state to be normal under the condition of reducing the fault processing flow of the unmanned vehicle.

In addition, this mode of this disclosure, through the operating condition data that obtains unmanned vehicle to whether there is the operating fault in unmanned vehicle can be judged based on the operating condition data who obtains. And under the condition that the unmanned vehicle is determined to have the operation fault, detecting the fault type included by the operation fault according to the operation state data. Further, a target fault type with the highest priority is determined based on the priority relation among the fault types, and a preset fault processing logic corresponding to the target fault type is executed to control the unmanned vehicle to recover from the running fault state. By adopting the mode of the disclosure, when the unmanned vehicle has an operation fault, the unmanned vehicle can be controlled to recover from the state of the operation fault based on the preset fault processing logic corresponding to the target fault type with the highest priority. Due to the fact that the unmanned vehicle does not need to wait for dispatched security personnel to arrive at the location where the unmanned vehicle is located to conduct troubleshooting and repairing on the unmanned vehicle under the condition that the unmanned vehicle is determined to have the operation fault, the mode not only can improve the efficiency of recovering the unmanned vehicle from the fault, but also can avoid labor cost.

In a possible implementation manner, when the target fault type represents the hardware fault type, the executing preset fault processing logic corresponding to the target fault type may include the following steps:

judging whether historical hardware faults identical to fault codes under the hardware fault types are detected within a preset historical time length; executing a first processing logic in preset fault processing logic corresponding to the hardware fault type under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is not detected within the preset historical duration so as to control the unmanned vehicle to recover from the running fault state; and under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is detected within the preset historical time, executing a manual intervention processing flow in a preset fault processing logic corresponding to the hardware fault type to control the unmanned vehicle to recover from the running fault state.

The preset historical time length may be a preset time length before the current time. For example, the preset history time period may be a time period of 5 minutes, a time period of 6 minutes, or the like before the current time.

Specifically, by determining whether a historical hardware fault identical to the current hardware fault (i.e., a fault characterized by a fault code of the target fault type in the current operating state data) has been detected within a preset historical time, it can be determined whether fault repair processing has been performed on the current hardware fault within the preset historical time. If the historical hardware fault which is the same as the current hardware fault is not detected within the preset historical time, executing a first processing logic in the preset fault processing logic corresponding to the hardware fault type of the current hardware fault, and controlling the unmanned vehicle to recover from the running fault state. If the historical hardware fault which is the same as the current hardware fault is detected within the preset historical duration, the first processing logic in the preset fault processing logic corresponding to the hardware fault type of the current hardware fault is executed before the current moment to repair the current hardware fault, but the current hardware fault is not successfully repaired. In this case, the first processing logic in the preset fault processing logic corresponding to the hardware fault type of the current hardware fault does not need to be executed, but a manual intervention processing flow in the preset fault processing logic corresponding to the hardware fault type corresponding to the current hardware fault can be executed, and the current hardware fault is repaired by manual intervention to control the unmanned vehicle to recover from the state of the operation fault.

In a specific implementation, the executing the first processing logic may specifically include the following steps:

determining target hardware corresponding to the fault code under the hardware fault type; and controlling the target hardware to execute at least one operation of correction, reset and restart.

The target device that failed and the specific failure that occurred with the target device may be determined based on the failure code. The fault problem of the target hardware can be repaired after the target hardware is automatically corrected, or automatically reset, or automatically restarted.

It is worth noting that assuming the target hardware is a sensor, in case it is detected that the sensor is not working, or that the sensor data sensed by the sensor is unreasonable (i.e. out of normal range), it can be determined that the sensor is abnormal. The sensor may then feed back a fault code indicative of the anomaly.

The above-mentioned of this disclosure carries out first processing logic in order to try to restore the current trouble automatically to unmanned vehicle current (hardware) trouble earlier, under the unable circumstances of restoring the current trouble automatically, requests the mode of artifical intervention restoration current trouble again, can avoid all requesting the manual work to handle and the problem of high cost of labor and low treatment effeciency that leads to arbitrary unmanned vehicle trouble. And under the condition that the fault which is the same as the current fault is automatically repaired by adopting the first processing logic within the preset historical time, the mode of manually repairing the current fault is directly requested, and the fault can be timely requested to be repaired by manual intervention under the condition that the automatic repair is determined to be invalid, so that the effect of ensuring that the unmanned vehicle is recovered from the state of the operation fault as soon as possible is realized.

In addition, the mode that the first processing logic is executed aiming at the current fault of the unmanned vehicle firstly to try to automatically repair the current fault and then to request manual intervention to repair the fault under the condition that the current fault cannot be automatically repaired can reduce the requirement of the unmanned vehicle on manual work, and is beneficial to large-scale use of scene layout of the unmanned vehicle. For example, the mode is beneficial to deploying and propelling the unmanned vehicle distribution industry, and the overall efficiency of unmanned distribution is improved.

It should be noted that the first/second processing logic in the present disclosure may be any fault recovery tool executed by the electronic device, such as an instruction set, a script program, and a function program.

In another possible embodiment, when the target fault type represents the fault type of the operating system, the executing preset fault processing logic corresponding to the target fault type includes:

judging whether a historical operating system fault which is the same as a fault code under the operating system fault type is detected within a preset historical time; executing a second processing logic in the preset fault processing logic corresponding to the operating system fault type under the condition that the historical operating system fault which is the same as the fault code under the operating system fault type is not detected within the preset historical duration so as to control the unmanned vehicle to recover from the running fault state; and under the condition that a historical operating system fault which is the same as the fault code under the operating system fault type is detected within the preset historical time, executing a manual intervention processing flow in a preset fault processing logic corresponding to the operating system fault type so as to control the unmanned vehicle to recover from the state of the operating fault.

The specific implementation of executing the preset fault handling logic corresponding to the operating system fault type when the target fault type is the operating system fault type is similar to the specific implementation of executing the preset fault handling logic corresponding to the hardware fault type when the target fault type is the hardware fault type, and is not described herein again.

It should be noted that, the step of executing the second processing logic may specifically include the following sub-steps:

Exemplarily, based on a priority relationship between currently running processes in the unmanned vehicle operating system, a preset number of processes with low priority may be closed; or according to the condition of the unmanned vehicle using process, closing the process which is not used temporarily in the current period, or closing the unimportant (i.e. low priority) process such as entertainment process, etc., thus realizing the purpose of solving the operation fault caused by too large scheduling delay of the unmanned vehicle operating system, too high CPU temperature, overtime of network forwarding, etc. by releasing the CPU occupancy rate and/or the network bandwidth occupancy rate of the unmanned vehicle, thereby controlling the unmanned vehicle to recover from the state of the operation fault.

In another example, when the unmanned vehicle is in a static state, the unmanned vehicle operating system may be directly restarted to solve the operation failure of the unmanned vehicle caused by the relevant function or setting of the current unmanned vehicle operating system by resetting the relevant function or setting of the unmanned vehicle operating system, so as to achieve the purpose of controlling the unmanned vehicle to recover from the state of the operation failure.

In another possible embodiment, when the target fault type represents the fault type of the automatic driving system, the executing the preset fault handling logic corresponding to the target fault type includes: a manual interventional procedure is performed.

The faults of the automatic driving system all belong to the automatic driving system fault types. An autopilot system fault may indicate that a certain scene module in the autopilot system is not functioning properly. For example, when the unmanned vehicle is in an obstacle scene, the obstacle scene module does not perform obstacle detection, and in this case, an operation failure of the automatic driving system is triggered. The automatic driving system may further include a road type detection scene module, a traffic identification detection and identification scene module, a path planning scene module, and the like.

Because each algorithm module in the automatic driving system is used on the computer after being subjected to strict development and test, and in addition, the algorithm logic of the automatic driving system is complex, and the BUG positioning identification cannot be performed through tools such as a simple instruction set, a script program, a function program and the like, the manual intervention processing flow needs to be directly executed to test and repair the automatic driving system under the condition that the target fault type is the automatic driving system fault type.

In a possible implementation, in the case that the detected operation fault according to the operation state data includes a hardware fault type, an operating system fault type, and an automatic driving system fault type, the fault of the automatic driving system may be eliminated by itself after the first processing logic or the second processing logic is executed. And after the first processing logic or the second processing logic is executed, the fault of the automatic driving system is not eliminated, and then a manual intervention processing flow is executed to request manual processing of the fault of the automatic driving system.

Embodiments of performing a human intervention procedure may include the steps of:

determining a first target manual intervention resource type corresponding to the fault code under the target fault type according to the fault code under the target fault type and a preset corresponding relation between the fault code and the manual intervention resource type; according to the obtained use state information of the human intervention resources, under the condition that the first target human intervention resource type is determined to correspond to an idle first target operator, the idle first target operator is requested to process the operation fault.

The preset correspondence between fault codes and human intervention resource types may be preset based on human experience. And with the record of the history data by the unmanned vehicle or the unmanned vehicle server, the preset corresponding relation between the fault code and the type of the manually-intervened resource can be continuously updated.

The use state information of the manual intervention resources comprises operator idle rates corresponding to the types of the manual intervention resources respectively; the human intervention resource type includes at least one of a human data intervention resource type, a human driving intervention resource type, and a near field security officer intervention resource type.

The manual data intervention resource type means that the authority of an operator in the type is only to send data resources to the unmanned vehicle. For example, when the operation fault of the unmanned vehicle is caused by map loss, the map data is sent to the unmanned vehicle by an operator under the type of manual data intervention resource, and the current operation fault can be repaired after the unmanned vehicle receives the map data.

The type of the resource for manual driving intervention refers to that an operator in the type has the authority to take over the unmanned vehicle globally, for example, the unmanned vehicle can be controlled to run, the system configuration of the unmanned vehicle can be changed, data can be acquired or sent from the unmanned vehicle, and the like.

The type of the near-field security personnel intervening in the resource means that the operators in the type have the authority to reach the location of the unmanned vehicle to overhaul the unmanned vehicle. Under the condition that the operation fault of the unmanned vehicle cannot be repaired through remote control, namely under the condition that the operation fault of the unmanned vehicle cannot be repaired through an operator with manual data intervention resource type and an operator with manual driving intervention resource type, the operator with the near-field security personnel intervention resource type goes to the site of the unmanned vehicle for troubleshooting.

Because the authority of the operator under the type of the manually driven intervention resource is greater than the authority of the operator under the type of the manually data intervention resource, the operator under the type of the manually driven intervention resource can perform all operations which are the same as the operations of the operator under the type of the manually data intervention resource. In view of this, the performing the human intervention procedure in the present disclosure may further include:

under the condition that the first target manual intervention resource type is determined not to correspond to the idle first target operator, determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type and the preset corresponding relation between the fault code and the manual intervention resource type; and requesting the idle second target operator to process the operation fault under the condition that the type of the second target manual intervention resource is determined to correspond to the idle second target operator according to the acquired use state information of the manual intervention resource.

Wherein the operator authority of the second target human intervention resource type is greater than the operator authority of the first target human intervention resource type.

In this way, operators of different levels can be allocated to solve the fault according to different fault degrees of unmanned vehicle operation. The unmanned vehicle running fault corresponding to the corresponding expertise can be distributed based on the expertise of the operator, so that the unmanned vehicle fault can be repaired most accurately and quickly, and the effects of low labor input and high return (namely, the maximum benefit is obtained at the lowest labor cost) are achieved.

In yet another possible embodiment, the executing the human intervention process flow further includes:

under the condition that the first target human intervention resource type is determined not to correspond to the idle first target operator, continuously acquiring the use state information of the human intervention resource within a preset time length, and judging whether the first target human intervention resource type corresponds to the idle first target operator or not; determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type and a preset corresponding relation between the fault code and the manual intervention resource type under the condition that the first idle target operator does not exist within the preset duration; and (3) and (2). And requesting the idle second target operator to process the operation fault under the condition that the second target manual intervention resource type is determined to correspond to the idle second target operator according to the recently acquired use state information of the manual intervention resource.

Specifically, under the condition that it is determined that the first target human intervention resource type does not correspond to the idle first target operator, the usage state information of the human intervention resource may be continuously obtained within a preset time period, and it is continuously determined whether the first target human intervention resource type corresponds to the idle first target operator, so that it may be realized that the first target operator is waited within the preset time period after it is determined that the first target human intervention resource type does not correspond to the idle first target operator.

If the idle first target operator still does not exist after the preset time length, in order to avoid risks caused by long-time waiting of the unmanned vehicle, a second target manual intervention resource type corresponding to the fault code under the target fault type can be determined again according to the fault code under the target fault type and the preset corresponding relation between the fault code and the manual intervention resource type. And requesting the idle second target operator to process the operation fault under the condition that the type of the second target manual intervention resource is determined to correspond to the idle second target operator according to the recently acquired use state information of the manual intervention resource.

Similarly, under the condition that it is determined that the second target human intervention resource type does not correspond to an idle second target operator, it may also be determined that a third target human intervention resource type, a fourth target human intervention resource type, and the like are available until an idle operator performs fault processing on the unmanned vehicle.

Fig. 2 is a flow chart illustrating another unmanned vehicle control method according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the method comprises the steps of:

s21, acquiring running state data of the unmanned vehicle, wherein the running state data comprises at least one of hardware running state data, operating system running state data and automatic driving system running state data of the unmanned vehicle;

s22, detecting and obtaining a fault type included by the operation fault according to the operation state data under the condition that the operation fault of the unmanned vehicle is determined according to the operation state data, wherein the operation fault comprises at least one of a hardware fault type, an operating system fault type and an automatic driving system fault type;

s23, determining a target fault type with the highest priority based on the priority relation among the fault types;

s241, under the condition that the target fault type represents the hardware fault type, judging whether a historical hardware fault which is the same as a fault code in the hardware fault type is detected in a preset historical time;

s242, under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is not detected within the preset historical time, executing a first processing logic in preset fault processing logics corresponding to the hardware fault type to control the unmanned vehicle to recover from the operation fault state;

and S243, under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is detected within the preset historical time, executing a manual intervention processing flow in a preset fault processing logic corresponding to the hardware fault type to control the unmanned vehicle to recover from the running fault state.

S251, under the condition that the target fault type represents the fault type of the operating system, judging whether a historical operating system fault which is the same as a fault code under the fault type of the operating system is detected within a preset historical time length;

s252, under the condition that the historical operating system fault which is the same as the fault code under the operating system fault type is not detected within the preset historical duration, executing a second processing logic in the preset fault processing logic corresponding to the operating system fault type to control the unmanned vehicle to recover from the running fault state;

and S253, under the condition that the historical operating system fault which is the same as the fault code under the operating system fault type is detected within the preset historical duration, executing a manual intervention processing flow in a preset fault processing logic corresponding to the operating system fault type to control the unmanned vehicle to recover from the running fault state.

S261, judging whether a first processing logic or a second processing logic is executed within a preset historical time period or not under the condition that the target fault type represents the fault type of the automatic driving system;

and S262, under the condition that the first processing logic or the second processing logic is not executed within the preset historical time, executing the first processing logic or the second processing logic to control the unmanned vehicle to recover from the state of the operation fault.

And S263, executing a manual intervention processing flow to control the unmanned vehicle to recover from the operation failure state under the condition that the first processing logic or the second processing logic is executed within a preset historical time.

Based on the same inventive concept, the disclosed embodiment further provides an unmanned vehicle control device, as shown in fig. 3, the unmanned vehicle control device 300 includes:

an obtaining module 310 configured to obtain operating status data of the unmanned vehicle;

the detection module 320 is configured to detect a fault type included in the operation fault according to the operation state data under the condition that the operation fault of the unmanned vehicle is determined according to the operation state data;

a determining module 330 configured to determine a target fault type with the highest priority by a user based on a priority relationship between the fault types;

and the execution module 340 is configured to execute preset fault processing logic corresponding to the target fault type to control the unmanned vehicle to recover from the state of the operation fault.

By adopting the device, the operation state data of the unmanned vehicle is obtained, and whether the unmanned vehicle has operation faults or not can be judged based on the obtained operation state data. And under the condition that the unmanned vehicle is determined to have the operation fault, detecting the fault type included by the operation fault according to the operation state data. Further, a target fault type with the highest priority is determined based on the priority relation among the fault types, and a preset fault processing logic corresponding to the target fault type is executed to control the unmanned vehicle to recover from the running fault state. By adopting the mode of the disclosure, when the unmanned vehicle has an operation fault, the unmanned vehicle can be controlled to recover from the state of the operation fault based on the preset fault processing logic corresponding to the target fault type with the highest priority. Due to the fact that the unmanned vehicle does not need to wait for dispatched security personnel to arrive at the location where the unmanned vehicle is located to conduct troubleshooting and repairing on the unmanned vehicle under the condition that the unmanned vehicle is determined to have the operation fault, the mode not only can improve the efficiency of recovering the unmanned vehicle from the fault, but also can avoid labor cost.

Optionally, the executing module 340 includes:

the second judging submodule is configured to judge whether a historical operating system fault which is the same as a fault code in the operating system fault type is detected in a preset historical time period or not under the condition that the target fault type represents the operating system fault type;

Optionally, the executing module 340 includes:

Optionally, the third execution sub-module is further configured to:

Optionally, the execution module 340 further includes a sixth execution submodule configured to: determining a first target manual intervention resource type corresponding to the fault code under the target fault type according to the fault code under the target fault type and a preset corresponding relation between the fault code and the manual intervention resource type; according to the obtained use state information of the human intervention resources, under the condition that the first target human intervention resource type is determined to correspond to an idle first target operator, the idle first target operator is requested to process the operation fault.

Optionally, the sixth execution sub-module is further configured to: under the condition that the first target manual intervention resource type is determined not to correspond to the idle first target operator, determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type, the preset corresponding relation between the fault code and the manual intervention resource type; and requesting the idle second target operator to process the operation fault under the condition that the type of the second target manual intervention resource is determined to correspond to the idle second target operator according to the acquired use state information of the manual intervention resource.

Optionally, the sixth execution sub-module is further configured to:

under the condition that the first target human intervention resource type does not correspond to the idle first target operator, continuously acquiring the use state information of the human intervention resource within a preset time length, and judging whether the first target human intervention resource type corresponds to the idle first target operator or not;

And requesting the idle second target operator to process the operation fault under the condition that the type of the second target manual intervention resource is determined to correspond to the idle second target operator according to the recently acquired use state information of the manual intervention resource.

Optionally, the usage state information of the human intervention resource includes operator idle rates corresponding to respective types of the human intervention resource; wherein the human intervention resource type comprises at least one of a human data intervention resource type, a human driving intervention resource type, and a near field security officer intervention resource type.

Optionally, the priority of the hardware fault type, the operating system fault type, and the automatic driving system fault type is sequentially reduced.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Fig. 4 is a block diagram illustrating an electronic device 700, embodied as an unmanned vehicle or an electronic device within an unmanned vehicle, in accordance with an example embodiment. As shown in fig. 4, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.

The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the above-mentioned unmanned vehicle control method. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination thereof, but not limited thereto. The corresponding communication component 705 may thus include: wi-Fi modules, bluetooth modules, NFC modules, and the like.

In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described unmanned vehicle control method.

In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described unmanned vehicle control method is also provided. For example, the computer readable storage medium may be the memory 702 described above including program instructions executable by the processor 701 of the electronic device 700 to perform the above-described unmanned vehicle control method.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described unmanned vehicle control method when executed by the programmable apparatus.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. To avoid unnecessary repetition, the disclosure does not separately describe various possible combinations.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.

Claims

1. An unmanned vehicle control method, comprising:

acquiring running state data of the unmanned vehicle;

under the condition that the unmanned vehicle is determined to have an operation fault according to the operation state data, detecting and obtaining a fault type included by the operation fault according to the operation state data, wherein the operation state data includes hardware operation state data of the unmanned vehicle, and correspondingly, the operation fault includes a hardware fault type;

executing preset fault processing logic corresponding to the target fault type to control the unmanned vehicle to recover from the state of the operation fault;

when the target failure type represents the hardware failure type, the executing a preset failure processing logic corresponding to the target failure type includes:

judging whether historical hardware faults identical to fault codes under the hardware fault types are detected within a preset historical time;

executing a first processing logic in preset fault processing logic corresponding to the hardware fault type under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is not detected within the preset historical duration so as to control the unmanned vehicle to recover from the state of the operation fault;

and under the condition that the historical hardware fault which is the same as the fault code under the hardware fault type is detected within the preset historical time, executing a manual intervention processing flow in a preset fault processing logic corresponding to the hardware fault type to control the unmanned vehicle to recover from the running fault state.

2. The method of claim 1, wherein the operational status data comprises at least one of operating system operational status data, an autonomous driving system operational status data of the unmanned vehicle, and accordingly, the operational fault comprises at least one of an operating system fault type, an autonomous driving system fault type.

3. The method according to claim 2, wherein, in a case that the target fault type represents the operating system fault type, the executing a preset fault handling logic corresponding to the target fault type includes:

4. The method of claim 2, wherein, in a case where the target fault type characterizes the autopilot system fault type, the executing the preset fault handling logic corresponding to the target fault type comprises:

a manual interventional procedure is performed.

5. The method of claim 1, wherein executing the first processing logic comprises:

6. The method of claim 3, wherein executing the second processing logic comprises:

closing a preset number of processes with low priority based on a priority relation among the processes currently running in the unmanned vehicle operating system to control the unmanned vehicle to recover from the running fault state by releasing CPU occupancy rate and/or network bandwidth occupancy rate; alternatively, the first and second electrodes may be,

7. The method of claim 1, wherein performing the human intervention procedure comprises:

8. The method of claim 7, wherein the performing the human intervention procedure further comprises:

under the condition that the first target manual intervention resource type is determined not to correspond to the idle first target operator, determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type and the preset corresponding relation between the fault code and the manual intervention resource type; and are

And requesting the idle second target operator to process the operation fault under the condition that the type of the second target manual intervention resource corresponds to the idle second target operator according to the acquired use state information of the manual intervention resource.

9. The method of claim 7, wherein said performing the human intervention procedure further comprises:

determining a second target manual intervention resource type corresponding to the fault code under the target fault type again according to the fault code under the target fault type and a preset corresponding relation between the fault code and the manual intervention resource type under the condition that the first idle target operator does not exist within the preset duration; and are combined

10. The method of claim 7, wherein the usage status information of the human intervention resources comprises operator idle rates corresponding to respective human intervention resource types; wherein the human intervention resource type comprises at least one of a human data intervention resource type, a human driving intervention resource type, and a near field security officer intervention resource type.

11. The method of claim 2, wherein the hardware fault type, the operating system fault type, and the autopilot system fault type are sequentially prioritized down.

12. An unmanned vehicle control apparatus, characterized in that the apparatus comprises:

the detection module is configured to detect a fault type included by the operation fault according to the operation state data under the condition that the operation fault of the unmanned vehicle is determined according to the operation state data, wherein the operation state data includes hardware operation state data of the unmanned vehicle, and correspondingly, the operation fault includes a hardware fault type;

the determining module is configured to determine a target fault type with the highest priority based on the priority relation among the fault types by a user;

the execution module is configured to execute preset fault processing logic corresponding to the target fault type so as to control the unmanned vehicle to recover from the operation fault state;

the execution module comprises:

13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 11.

14. An unmanned vehicle, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 11.