CN113771870A

CN113771870A - Fault detection method and system for automatic driving vehicle

Info

Publication number: CN113771870A
Application number: CN202111155950.8A
Authority: CN
Inventors: 顾程超; 张昌杰; 刘凯
Original assignee: Jingzhou Zhida Electric Vehicle Co ltd
Current assignee: Jingzhou Zhida Electric Vehicle Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2021-12-10

Abstract

A fault detection method and system for an automatic driving vehicle relate to the field of automatic driving. According to the system, the functional safety controller is additionally arranged between the automatic driving upper-layer controller and the line control chassis vehicle, data are transmitted through the CAN bus, and the functional safety controller controls the line control chassis vehicle when the automatic driving upper-layer controller fails.

Description

Fault detection method and system for automatic driving vehicle

Technical Field

The invention relates to the field of automatic driving, in particular to a fault detection method and system for an automatic driving vehicle.

Background

With the rapid development of the automatic driving technology, more and more automatic driving applications are gradually landing on the ground, such as automatic driving buses, automatic driving container trucks, automatic driving mine cars and the like, so that the safety and reliability of the automatic driving vehicles are more and more emphasized by people.

Traditional autopilot hardware architecture adopts autopilot upper controller directly and drive-by-wire chassis car communication to carry out the transmission of control command, because other controllers such as industrial computer are generally chooseed for use to the upper controller that current autopilot vehicle of L4 level and above used, and few can reach car rule level standard, so reliability and stability are not enough, in case program or controller goes wrong, the vehicle has very big possibility out of control to cause the accident.

Disclosure of Invention

In view of the deficiencies of the prior art, it is an object of the present invention to provide a fault detection method and system for autonomous vehicles.

The technical scheme adopted by the invention is as follows: a fault detection method for an automatic driving vehicle is characterized in that a functional safety controller respectively receives and transmits messages from a line control chassis vehicle and an automatic driving upper layer controller by utilizing a CAN bus, monitors whether the CAN bus is delayed and whether the transmitted messages are correct according to the time period for receiving the messages and the message state, and controls the line control chassis vehicle to act by the automatic driving upper layer controller when the line control chassis vehicle has a fault if the delay is not generated and the messages are correct; when the automatic driving upper controller breaks down, the functional safety controller controls the action of the linear control chassis vehicle.

In the above scheme, when the drive-by-wire chassis vehicle fails, the functional safety controller classifies the received failure information, and when the failure classification is high, the functional safety controller sends an emergency braking instruction to the drive-by-wire chassis vehicle to emergently brake the vehicle and simultaneously send the failure information to the automatic driving upper controller.

In the above scheme, when the automatic driving upper controller fails, the functional safety controller can automatically judge whether to forward the control instruction from the automatic driving upper controller to the line control chassis vehicle according to the failure level, and if the failure level is high, the functional safety controller directly sends an emergency braking instruction to the line control chassis vehicle and does not forward the instruction of the automatic driving upper controller any more.

A fault detection system for an automatic driving vehicle comprises an automatic driving upper layer controller, a functional safety controller and a drive-by-wire chassis, wherein the automatic driving upper layer controller is connected with the drive-by-wire chassis through the functional safety controller.

The invention has the beneficial effects that: according to the fault detection method and system for the automatic driving vehicle, the functional safety controller is additionally arranged between the automatic driving upper layer controller and the line control chassis vehicle, data transmission is carried out through the CAN bus, and the line control chassis vehicle is controlled by the functional safety controller when the automatic driving upper layer controller fails.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a flow chart of a fault detection method for an autonomous vehicle in an embodiment of the invention;

FIG. 2 is a block diagram of a fault detection system for an autonomous vehicle in an embodiment of the invention;

the numbers in the figure illustrate the following: 1 functional safety controller, 2 first CAN bus, 3 second CAN bus, 4 drive-by-wire chassis, 5 automatic driving upper controller.

Detailed Description

The above objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention with reference to the accompanying

drawings

1 and 2.

The fault detection device for the automatic driving vehicle adopted by the embodiment comprises an automatic driving upper-layer controller 5, a functional safety controller 1 and a line control chassis 4, wherein the automatic driving upper-layer controller is connected with the automatic driving upper-layer controller 5 through a first CAN bus 2 led out from a CAN1 interface of the functional safety controller 1, and is connected with the line control chassis 4 through a second CAN bus 3 led out from a CAN2 interface. The functional safety controller is a controller based on a vehicle-specification-level single chip microcomputer, and the model is 'MC 9S12XEP100 MAL'.

The fault detection method for the autonomous vehicle adopted by the embodiment comprises the following steps:

step 1, a functional safety controller receives CAN data of an automatic driving upper controller and a line control chassis vehicle in real time;

step 2, the functional safety controller judges whether CAN data of the line control chassis vehicle is delayed or lost, if so, the step 7 is executed; otherwise, executing the step 3, wherein the method comprises the following steps:

if the CAN protocol stipulates that the interval time of two-frame data transmission is a, the functional safety controller detects that the actual interval time of two-frame data is b, if b exceeds 10 times and is greater than 1.5a in every 20 times of b, the CAN bus data is judged to be delayed; if b > 1.5a is detected 15 times in succession, it is determined that CAN bus data is lost.

Step 3, the functional safety controller continuously judges whether fault information of the line control chassis vehicle is received, if so, step 6 is executed, otherwise, step 4 is executed;

step 4, the functional safety controller judges whether CAN data of the automatic driving upper-layer controller is delayed or lost, if yes, step 6 is executed, and if not, step 5 is executed;

step 5, the functional safety controller forwards a control instruction of the automatic driving upper-layer controller to the line control chassis vehicle to realize the functions of steering gear control, acceleration control, deceleration control and light control of the vehicle, and the step 1 is returned after the execution is finished;

step 6, the functional safety controller judges whether the fault level is high, if so, step 7 is executed, otherwise, step 8 is executed;

the failure levels in this embodiment are low, medium, and high.

In the embodiment, fatal faults such as vehicle engine faults, gearbox faults and the like are set, and the fault level is set to be high when CAN data is lost; setting the fault level at the moment to be middle when the CAN data has delay; the failure level is set to be low when the vehicle has a general failure or a slight failure such as less than 20% of the cruising range and insufficient glass water.

And 7, directly sending an emergency braking instruction to the linear control chassis by the functional safety controller, wherein the functional safety controller does not forward the instruction sent by the upper-layer controller any more.

And 8, sending the fault information to an automatic driving upper layer controller, and determining whether the vehicle decelerates to stop or continues to run by the automatic driving controller.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A fault detection method for an automatic driving vehicle is characterized in that a functional safety controller respectively receives and transmits messages from a line control chassis vehicle and an automatic driving upper layer controller by utilizing a CAN bus, monitors whether the CAN bus is delayed and whether the transmitted messages are correct according to the time period and the message state of the received messages, and controls the line control chassis vehicle to act by the automatic driving upper layer controller when the line control chassis vehicle has a fault if the delay is not generated and the messages are correct; when the automatic driving upper controller breaks down, the functional safety controller controls the action of the linear control chassis vehicle.

2. The method as claimed in claim 1, wherein the functional safety controller classifies the received fault information when the drive-by-wire chassis is in fault, and transmits an emergency braking command to the drive-by-wire chassis to emergency brake the vehicle and simultaneously transmits the fault information to the upper controller of the automatic driving when the fault classification is high.

3. The method according to claim 1, wherein when the upper-level autonomous-driving controller fails, the functional safety controller automatically determines whether to forward the control command from the upper-level autonomous-driving controller to the chassis by wire according to a failure level, and if the failure level is high, the functional safety controller directly sends an emergency braking command to the chassis by wire without forwarding the command from the upper-level autonomous-driving controller.

4. A fault detection system for an automatic driving vehicle is characterized by comprising an automatic driving upper layer controller, a functional safety controller and a drive-by-wire chassis, wherein the automatic driving upper layer controller is connected with the drive-by-wire chassis through the functional safety controller.