CN114132342A - Monitoring method of automatic driving system - Google Patents
Monitoring method of automatic driving system Download PDFInfo
- Publication number
- CN114132342A CN114132342A CN202111408856.9A CN202111408856A CN114132342A CN 114132342 A CN114132342 A CN 114132342A CN 202111408856 A CN202111408856 A CN 202111408856A CN 114132342 A CN114132342 A CN 114132342A
- Authority
- CN
- China
- Prior art keywords
- program
- control chip
- monitoring result
- key node
- monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Debugging And Monitoring (AREA)
Abstract
The invention provides a monitoring method of an automatic driving system, which comprises the following steps: the automatic driving system includes: the method comprises the following steps that a first control chip and a second control chip are connected through a bus, the first control chip and the second control chip are connected through the bus, the first control chip comprises a key node program, a monitoring node program and a plurality of functional programs, the second control chip comprises a monitoring result response program, and the method comprises the following steps: the monitoring node program monitors the running state of each functional program based on a first information packet periodically sent by each functional program, and sends a monitoring result to the key node; the key node periodically outputs the received monitoring result to a monitoring result response program of a second control chip along with a second information packet of the key node; and the monitoring result response program of the second control chip monitors the running state of the first control chip on the basis of the monitoring result and the second information packet of the key node to obtain the monitoring result of the running state of the first control chip.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a monitoring method of an automatic driving system.
Background
At present, the automatic driving technology is rapidly developed, all host factories, the Internet and initial companies are in the field of automatic layout driving, the safety is an important part of automatic driving, and the importance of an automatic driving system is self-evident. The existing mature safety monitoring scheme comprises perfect sensor configuration, redundant software module verification, a redundant control system or the addition of a special monitoring chip. For example: CN111665849A patent uses redundancy of application software modules for checking and monitoring. The patent No. CN201810767453.5 discloses the following technology: and a special FPGA processor is used for responding to the test requests of the processors such as the MCU, the CPU and the like, and the MCU and the MPU judge the running state of the MCU and the MPU according to the feedback result of the FPGA so as to achieve the purpose of monitoring.
The automatic driving technology meets the requirements of cost and safety on landing, and safety performance is achieved by using as little hardware as possible on the premise of meeting functional requirements.
Disclosure of Invention
The invention provides a monitoring method for an automatic driving system, which can monitor the running condition of a first control chip SOC and a corresponding functional program thereof on the premise of not additionally increasing controller hardware so as to improve the safety performance of automatic driving control.
The technical scheme of the invention is as follows:
the invention provides a monitoring method of an automatic driving system, which comprises the following steps: the automatic driving system includes: the system comprises a first control chip and a second control chip which are connected through a bus, and the first control chip and the second control chip which are connected through the bus, wherein the first control chip comprises a key node program, a monitoring node program and a plurality of functional programs, and the second control chip comprises a monitoring result response program;
the method comprises the following steps:
the monitoring node program monitors the running state of each functional program based on a first information packet periodically sent by each functional program, and sends a monitoring result to the key node;
the key node periodically outputs the received monitoring result to a monitoring result response program of a second control chip along with a second information packet of the key node;
and a monitoring result response program of the second control chip monitors the running state of the first control chip based on the monitoring result and the second information packet of the key node to obtain a monitoring result of the running state of the first control chip.
Preferably, the first information packet sent in each functional program includes a current timestamp and a current thread state;
when monitoring the first information packet of each functional program, the monitoring node program firstly judges whether the deviation between the current timestamp in the first information packet and the timestamp of the automatic driving system is within a preset range or not; if the current thread state is within the preset range, judging whether the current thread state is normal; if the current thread state is normal, determining that the running state of the corresponding functional program is normal; otherwise, determining that the running state of the corresponding functional program is abnormal.
Preferably, the first information packet sent by the key node program contains a current timestamp and a current thread state;
when a monitoring result response program of the second control chip monitors a second information packet of the key node program, whether the deviation between the current timestamp in the second information packet and the timestamp of the automatic driving system is within a preset range or not is determined; if the current thread state is within the preset range, judging whether the current thread state is normal; if the current thread state is normal, determining that the running state of the corresponding key node program is normal; otherwise, determining that the running state of the corresponding key node program is abnormal;
and when the monitoring result response program of the second control chip is abnormal in the running state of the key node or the running state of the key node is normal and the monitoring result is abnormal, determining that the running state of the first control chip is abnormal, and controlling the vehicle to decelerate, stop and suspend the P gear, enter a limp mode, restart the first control chip or restart the abnormal function program in the first control chip according to a preset control strategy.
The invention has the beneficial effects that:
the running conditions of the first control chip SOC and the corresponding functional program can be monitored on the premise of not additionally increasing controller hardware, so that the safety performance of automatic driving control is improved.
Drawings
FIG. 1 is a schematic diagram of an internal architecture of an autopilot controller;
FIG. 2 is a schematic diagram of a monitoring strategy of a monitoring node program of the first control chip SOC;
fig. 3 is a schematic diagram of a strategy for responding to a monitoring result by the second control chip MCU.
Detailed Description
Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1, the automatic driving system includes 2 control chips, 1 information interaction bus and input/output interfaces. Specifically, the control chips are a first control chip SOC1 and a second control chip MCU2, respectively, and an information interaction bus (SPI, ethernet or CAN bus), and the input and output interfaces include CAN, sensor information (Radar, Lidar), image information (Camera), a video output interface (LVDS), and a data transmission interface (ETH). The mutual information is transmitted between the two chips through a bus (SPI, CAN or ETHERNET). The second control chip MCU is responsible for processing real-time tasks, and the first control chip SOC processes calculation tasks (such as image processing and point cloud processing) based on the operating system. The first control chip SOC comprises a key node program, a monitoring node program and a plurality of functional programs, and the second control chip MCU comprises a monitoring result response program.
With the above system, the following monitoring method is performed: after the automatic driving system operates, the key node program 3 of the first control chip SOC periodically sends a data packet containing the operating state of the key node program to the MCU, and the monitoring node program 5 judges the operating condition of each functional program according to the information packet periodically fed back by different functional programs and transmits the monitoring result to the second control chip MCU through the key node program 3. And the monitoring result response program of the second control chip MCU performs system response according to the running state of the key node and the monitoring result of the monitoring node program 5, such as deceleration, quitting of the parking P-gear pull brake, and control the restart of the first control chip SOC or the restart of an abnormal function program in the first control chip SOC.
Referring to fig. 1, the first packet output by the definition function program 4 includes the current timestamp and the current thread state of the function program, and the function program 4 periodically sends out packets to the monitor node program 5. The monitoring node program 5 judges the running state of each functional program 3 according to the received first information packet of the functional program 3, and outputs the monitoring result to the second control chip MCU through the key node program 3. The key node program 3 sends a second information packet of itself and the monitoring result output by the monitoring node program 5 to the second control chip MCU, the second control chip MCU determines based on the second information packet that if the running state of the key node program 3 is normal, the monitoring result is checked, and if the monitoring result shows that an abnormal functional program exists, a monitoring result response program strategy is entered. And if the running state of the key node program 3 is abnormal, entering a monitoring result response program strategy.
As shown in fig. 2, the functional program 4 sends its first packet to the monitoring node program 5 at regular time intervals according to a set period. The key node program 3 firstly judges whether the deviation between the current timestamp of the functional program 3 and the timestamp of the automatic driving system is within a certain preset range, if so, the running state judgment logic of the functional program 4 is entered, otherwise, the running state of the functional program 4 is abnormal. And under the condition that the timestamp judges to be normal, checking the thread state of the functional program 4, if the thread state of the functional program 4 is normal, the running state of the functional program 4 is normal, and otherwise, the running state of the functional program 4 is abnormal.
As shown in fig. 3, when the monitoring result response program of the second control chip monitors the second information packet of the key node program, it is determined whether the deviation between the current timestamp in the second information packet and the timestamp of the automatic driving system is within the preset range; if the current thread state is within the preset range, judging whether the current thread state is normal; if the current thread state is normal, determining that the running state of the corresponding key node program is normal; otherwise, determining that the running state of the corresponding key node program is abnormal. Further, when the monitoring result response program of the second control chip is abnormal in the operating state of the key node, or when the operating state of the key node is normal and the monitoring result is abnormal, it determines that the operating state of the first control chip is abnormal, and controls the vehicle to decelerate, park and suspend the P gear, enter a limp mode, restart the first control chip, or restart the abnormal function program in the first control chip according to a preset control strategy (here, a specific execution cooperation strategy may be preset, and a suitable processing mode is selected based on a specific abnormal problem).
By the method, the running conditions of the first control chip SOC and the corresponding functional program can be monitored on the premise of not additionally increasing controller hardware, so that the safety performance of automatic driving control is improved.
Claims (3)
1. A method of monitoring an autonomous driving system, comprising: the automatic driving system includes: the system comprises a first control chip and a second control chip which are connected through a bus, and the first control chip and the second control chip which are connected through the bus, wherein the first control chip comprises a key node program, a monitoring node program and a plurality of functional programs, and the second control chip comprises a monitoring result response program;
the method comprises the following steps:
the monitoring node program monitors the running state of each functional program based on a first information packet periodically sent by each functional program, and sends a monitoring result to the key node;
the key node periodically outputs the received monitoring result to a monitoring result response program of a second control chip along with a second information packet of the key node;
and a monitoring result response program of the second control chip monitors the running state of the first control chip based on the monitoring result and the second information packet of the key node to obtain a monitoring result of the running state of the first control chip.
2. The method according to claim 1, wherein the first packet sent in each functional program contains a current timestamp and a current thread state;
when monitoring the first information packet of each functional program, the monitoring node program firstly judges whether the deviation between the current timestamp in the first information packet and the timestamp of the automatic driving system is within a preset range or not; if the current thread state is within the preset range, judging whether the current thread state is normal; if the current thread state is normal, determining that the running state of the corresponding functional program is normal; otherwise, determining that the running state of the corresponding functional program is abnormal.
3. The method of claim 1,
the first information packet sent by the key node program contains a current timestamp and a current thread state;
when a monitoring result response program of the second control chip monitors a second information packet of the key node program, whether the deviation between the current timestamp in the second information packet and the timestamp of the automatic driving system is within a preset range or not is determined; if the current thread state is within the preset range, judging whether the current thread state is normal; if the current thread state is normal, determining that the running state of the corresponding key node program is normal; otherwise, determining that the running state of the corresponding key node program is abnormal;
and when the monitoring result response program of the second control chip is abnormal in the running state of the key node or the running state of the key node is normal and the monitoring result is abnormal, determining that the running state of the first control chip is abnormal, and controlling the vehicle to decelerate, stop and suspend the P gear, enter a limp mode, restart the first control chip or restart the abnormal function program in the first control chip according to a preset control strategy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111408856.9A CN114132342B (en) | 2021-11-24 | 2021-11-24 | Monitoring method of automatic driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111408856.9A CN114132342B (en) | 2021-11-24 | 2021-11-24 | Monitoring method of automatic driving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114132342A true CN114132342A (en) | 2022-03-04 |
| CN114132342B CN114132342B (en) | 2023-09-22 |
Family
ID=80391455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111408856.9A Active CN114132342B (en) | 2021-11-24 | 2021-11-24 | Monitoring method of automatic driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114132342B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115179964A (en) * | 2022-05-27 | 2022-10-14 | 重庆长安汽车股份有限公司 | Functional safety-based VCU redundancy control system and application thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109669797A (en) * | 2018-12-25 | 2019-04-23 | 苏州绿控传动科技股份有限公司 | A kind of hardware circuit of power supply chip monitoring singlechip state |
| CN109878533A (en) * | 2018-12-29 | 2019-06-14 | 百度在线网络技术（北京）有限公司 | Monitoring method, automatic Pilot control unit and the storage medium of processing unit |
| CN110785742A (en) * | 2017-06-19 | 2020-02-11 | Zf 腓德烈斯哈芬股份公司 | Device and method for actuating a vehicle module as a function of a status signal |
| CN113093754A (en) * | 2021-04-02 | 2021-07-09 | 苏州挚途科技有限公司 | Automatic driving device and automatic driving system |
| CN113093591A (en) * | 2021-03-12 | 2021-07-09 | 东风汽车集团股份有限公司 | High-integration-level auxiliary driving control method, multi-core microprocessor and system |
| US20210349977A1 (en) * | 2019-08-30 | 2021-11-11 | Panasonic Intellectual Property Corporation Of America | Vehicle surveillance device and vehicle surveillance method |
-
2021
- 2021-11-24 CN CN202111408856.9A patent/CN114132342B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110785742A (en) * | 2017-06-19 | 2020-02-11 | Zf 腓德烈斯哈芬股份公司 | Device and method for actuating a vehicle module as a function of a status signal |
| CN109669797A (en) * | 2018-12-25 | 2019-04-23 | 苏州绿控传动科技股份有限公司 | A kind of hardware circuit of power supply chip monitoring singlechip state |
| CN109878533A (en) * | 2018-12-29 | 2019-06-14 | 百度在线网络技术（北京）有限公司 | Monitoring method, automatic Pilot control unit and the storage medium of processing unit |
| US20210349977A1 (en) * | 2019-08-30 | 2021-11-11 | Panasonic Intellectual Property Corporation Of America | Vehicle surveillance device and vehicle surveillance method |
| CN113093591A (en) * | 2021-03-12 | 2021-07-09 | 东风汽车集团股份有限公司 | High-integration-level auxiliary driving control method, multi-core microprocessor and system |
| CN113093754A (en) * | 2021-04-02 | 2021-07-09 | 苏州挚途科技有限公司 | Automatic driving device and automatic driving system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115179964A (en) * | 2022-05-27 | 2022-10-14 | 重庆长安汽车股份有限公司 | Functional safety-based VCU redundancy control system and application thereof |
| CN115179964B (en) * | 2022-05-27 | 2024-05-03 | 重庆长安汽车股份有限公司 | VCU redundancy control system based on functional safety and application thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114132342B (en) | 2023-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11360864B2 (en) | Vehicle safety electronic control system | |
| US20180290642A1 (en) | Device for controlling a safety-relevant process, method for testing the functionality of the device, and motor vehicle with the device | |
| US7630800B2 (en) | Failure sensing device of vehicle control system | |
| KR101522477B1 (en) | Simulation method, system and program | |
| CN114348020B (en) | 5G remote and automatic driving safety redundancy system and control method | |
| WO2022022254A1 (en) | Brake redundancy method, system and self-driving vehicle | |
| CN109367500B (en) | Vehicle control processing method, device, equipment and storage medium | |
| CN111661062A (en) | Automatic driving control method, device and system | |
| WO2021208235A1 (en) | Unmanned means of transport, and safety checking method for brake system thereof | |
| US10839619B2 (en) | Electronic control unit and method for connection authentication | |
| CN112622931A (en) | Abnormity processing method in parallel driving, automatic driving vehicle and cloud driving cabin | |
| CN114132342B (en) | Monitoring method of automatic driving system | |
| WO2022053040A1 (en) | Control system of self-propelled robot platform and communication method therefor | |
| CN110481564A (en) | Control method, system, equipment and the storage medium of automatic Pilot | |
| CN113173178A (en) | Automatic driving control method and system for vehicle | |
| WO2020038446A1 (en) | Vehicle controller, vehicle control method, and vehicle | |
| CN105868060A (en) | Method for operating a data processing unit of a driver assistance system and data processing unit | |
| CN214504177U (en) | Automobile driving control device, equipment and automobile equipment | |
| CN114063599A (en) | Drive-by-wire test method, system, equipment and storage medium for simulated vehicle | |
| WO2022000679A1 (en) | Integrated control system and method for railway vehicle collision test | |
| CN116224761A (en) | Flight control method, unmanned aerial vehicle, terminal equipment and medium | |
| CN115248724A (en) | Real-time scheduling for heterogeneous multi-core systems | |
| WO2023207701A1 (en) | Autonomous driving method and system, and controllers, electronic device and computer storage medium | |
| US20230066444A1 (en) | System and method for executing functionally equivalent applications | |
| CN117622219A (en) | Vehicle chassis control system and control method based on automatic driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |