CN114194212B - Fault diagnosis method, automatic driving domain controller and vehicle - Google Patents
Fault diagnosis method, automatic driving domain controller and vehicle Download PDFInfo
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- CN114194212B CN114194212B CN202111544669.3A CN202111544669A CN114194212B CN 114194212 B CN114194212 B CN 114194212B CN 202111544669 A CN202111544669 A CN 202111544669A CN 114194212 B CN114194212 B CN 114194212B
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- 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
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- Automation & Control Theory (AREA)
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- Transportation (AREA)
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- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A fault diagnosis method, an automatic driving domain controller and a vehicle relate to the technical field of vehicle control and automatic driving. The method comprises the following steps: analyzing first information sent by a software module of the automatic driving domain controller, and determining that the software module fails when the first information does not meet preset rules of automatic driving, wherein the first information is used for indicating a vehicle to automatically drive; acquiring a time stamp of the first information, and determining a software module fault when the difference between the time in the time stamp and the current time exceeds a preset time threshold value; and acquiring each piece of control information in the first information, acquiring response information of a chassis controlled system corresponding to each piece of control information, and determining that the software module has a fault when the difference value between the control information and the corresponding response information exceeds a preset control range corresponding to the control information. By using the method, fault diagnosis of the domain controller is realized, and potential safety hazards during automatic driving of the vehicle are reduced.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a fault diagnosis method, an automatic driving domain controller and a vehicle.
Background
Automobile intellectualization is an important technical direction of automobile development, and vehicles supporting automatic driving are already partially produced and sold at present. However, as the automatic driving scene becomes more complex, the requirements for vehicle control become higher and higher, and the requirements for automatic driving safety become higher and higher, so that the vehicle needs to be able to realize accurate and comprehensive fault diagnosis.
The fault diagnosis of automatic driving is mainly focused on the whole vehicle and the drive-by-wire chassis. The fault diagnosis of the whole vehicle generally depends on the domain controller of the vehicle, but when the inside of the domain controller of the vehicle fails, the fault diagnosis cannot be realized, so that the fault diagnosis fails; with respect to the failure diagnosis of the drive-by-wire chassis, it is meant that the chassis executor of the vehicle performs the failure diagnosis for the drive-by-wire chassis, that is, does not perform the failure diagnosis for the domain controller of the vehicle, using the related information of the drive-by-wire chassis, such as steering information, braking information, power information, and the like.
In summary, the current fault diagnosis scheme cannot perform fault diagnosis on the domain controller, so that potential safety hazards exist when the vehicle is automatically driven.
Disclosure of Invention
In order to solve the problems, the application provides a fault diagnosis method, an automatic driving domain controller and a vehicle, so that fault diagnosis of the domain controller is realized, and potential safety hazards during automatic driving of the vehicle are reduced.
In a first aspect, the present application provides a fault diagnosis method, the method comprising the steps of:
analyzing first information sent by a software module of the automatic driving domain controller, and determining that the software module fails when the first information does not meet preset rules of automatic driving, wherein the first information is used for indicating a vehicle to automatically drive, namely judging the effectiveness and feasibility of the first information sent by the software module; acquiring a time stamp of the first information, and determining a software module fault when the difference between the time in the time stamp and the current time exceeds a preset time threshold value, namely judging whether the software module has an operation overtime fault or not; and acquiring each piece of control information in the first information, acquiring response information of a chassis controlled system corresponding to each piece of control information, and determining that a software module has a fault when the difference value between the existing control information and the corresponding response information exceeds a preset control range corresponding to the control information, wherein the fault is a control consistency fault, and represents inconsistency between a control target and a feedback control result.
By utilizing the fault diagnosis method provided by the application, the fault diagnosis of the domain controller is realized by judging the validity, feasibility, overtime operation or control consistency of the data sent by the software module of the automatic driving domain controller, the fault of the software module can be found in time, and the potential safety hazard of the automatic driving of the vehicle is reduced.
In one possible implementation, the first information includes control information and at least one of the following information:
perception information, positioning information, decision information or planning information.
In one possible implementation, the chassis controlled system includes at least one of:
steering, braking, power or electrical systems.
In one possible implementation, the method further includes:
collecting at least one of fault information of a chassis controlled system, fault information of an environment-aware sensor, or fault information of a software module;
marking fault codes and classifying fault grades for the collected fault information; different fault classes correspond to different fault handling measures.
In one possible implementation, the fault information of the context-aware sensor includes at least one of:
fault information of a laser radar, fault information of a millimeter wave radar, fault information of a visual camera, fault information of an ultrasonic radar or fault information of a satellite positioning system.
In one possible implementation, the chassis controlled system includes a braking system therein, the method further comprising:
and when the difference value between the control information of the braking system and the response information of the corresponding braking system is determined to exceed the preset control range corresponding to the control information of the braking system, controlling the vehicle to start redundant braking measures.
In one possible implementation, controlling the vehicle to initiate redundant braking actions includes:
an electronic stability control system for controlling the vehicle brakes the vehicle, and a motor for controlling the vehicle regeneratively brakes the vehicle;
and when the speed of the vehicle is less than or equal to the preset speed, controlling an electronic parking brake system of the vehicle to park the vehicle.
In a second aspect, the present application further provides an autopilot domain controller, the autopilot domain controller comprising a software module and a fault diagnosis module;
the software module is electrically connected with the fault diagnosis module;
the software module is used for externally sending first information for indicating the vehicle to automatically drive;
the fault diagnosis module is used for analyzing the first information sent by the software module, and determining that the software module fails when the first information is determined to not meet the preset rule of automatic driving, wherein the first information is used for indicating the vehicle to automatically drive; acquiring a time stamp of the first information, and determining a software module fault when the difference between the time in the time stamp and the current time exceeds a preset time threshold value; and acquiring each piece of control information in the first information, acquiring response information of the chassis controlled system corresponding to each piece of control information, and determining that faults exist in the software module and the chassis controlled system when the difference value between the existing control information and the corresponding response information exceeds the preset control range corresponding to the control information.
In summary, the fault diagnosis module is additionally arranged in the autopilot domain controller, and the fault diagnosis module judges whether the data sent by the software module of the autopilot domain controller is valid, feasible, overtime in operation or not and consistency in control, so that fault diagnosis of the domain controller is realized, faults of the software module can be found in time, and potential safety hazards in automatic driving of a vehicle are reduced.
In one possible implementation, the first information includes control information and at least one of the following information:
perception information, positioning information, decision information or planning information.
In one possible implementation, the chassis controlled system includes at least one of:
steering, braking, power or electrical systems.
In one possible implementation, the fault diagnosis module is further configured to collect at least one of fault information of the chassis-controlled system, fault information of the environment-aware sensor, or fault information of the software module; marking fault codes and classifying fault grades for the collected fault information; different fault classes correspond to different fault handling measures.
In one possible implementation, the fault information of the context-aware sensor includes at least one of:
fault information of a laser radar, fault information of a millimeter wave radar, fault information of a visual camera, fault information of an ultrasonic radar or fault information of a satellite positioning system.
In one possible implementation, the fault diagnosis module is further configured to control the vehicle to start the redundant braking measure when a difference between the control information of the braking system and the response information of the corresponding braking system is determined to exceed a preset control range corresponding to the control information of the braking system.
In one possible implementation manner, the fault diagnosis module is specifically configured to control an electronic stability control system of the vehicle to brake the vehicle, and control a motor of the vehicle to perform regenerative braking on the vehicle; and when the speed of the vehicle is less than or equal to the preset speed, controlling an electronic parking brake system of the vehicle to park the vehicle.
In some embodiments, the fault diagnosis module may control the implementation of fault handling in the software module.
In a third aspect, the present application also provides a vehicle including the fault diagnosis apparatus provided in the above implementation, when the fault diagnosis apparatus is provided in a domain controller of the vehicle, that is, the vehicle includes the domain controller provided in the above implementation.
In summary, the vehicle employs the autopilot domain controller provided in the above embodiment, and a fault diagnosis module is added in the autopilot domain controller, where the fault diagnosis module determines whether to run overtime and control consistency by performing validity, feasibility, and running overtime on data sent by a software module of the autopilot domain controller, so that fault diagnosis of the domain controller is implemented, faults occurring in the software module can be found in time, and potential safety hazards during autopilot of the vehicle are reduced.
Drawings
Fig. 1 is a flowchart of a fault diagnosis method provided in an embodiment of the present application;
FIG. 2 is a flow chart of another fault diagnosis method according to an embodiment of the present application;
fig. 3 is a schematic diagram of an autopilot controller according to an embodiment of the present application;
fig. 4 is a schematic diagram of a vehicle according to an embodiment of the present application.
Detailed Description
In order to enable those skilled in the art to understand the solution of the present application more clearly, the application scenario of the technical solution of the embodiment of the present application is first described below.
The automatic driving of the vehicle means that the vehicle acquires information through sensing and positioning, and then makes decision, planning and control according to the acquired information, so as to control the vehicle to automatically drive.
An autopilot domain controller (AUTO Control Unit, ACU), hereinafter referred to as a domain controller, is provided with multiple sensor fusion, positioning, path planning, decision making, planning, control, wireless communication, and high-speed communication capabilities for controlling the brain of an autopilot of a vehicle. Devices such as a plurality of cameras, millimeter wave radars, laser radars, inertial measurement units (Inertial Measurement Unit, IMUs) and the like are usually required to be externally connected, and the completed functions comprise image recognition, data processing and the like.
Currently, fault diagnosis of automatic driving is mainly focused on a whole vehicle and a drive-by-wire chassis.
However, when a fault occurs in the domain controller of the vehicle, the fault diagnosis cannot be performed, and thus the fault diagnosis fails.
The drive-by-wire chassis is a vehicle chassis which is communicated through electric signals, and instructions such as brake pressure, gear conversion and the like are sent through the electric signals. With respect to the failure diagnosis of the drive-by-wire chassis, it is meant that the chassis executor of the vehicle performs the failure diagnosis for the drive-by-wire chassis, that is, does not perform the failure diagnosis for the domain controller of the vehicle, using the related information of the drive-by-wire chassis, such as steering information, braking information, power information, and the like.
In summary, the current fault diagnosis scheme cannot perform fault diagnosis on the domain controller, so when the domain controller fails, the domain controller cannot be found out in time to fail in the fault diagnosis, which may result in failure diagnosis of the domain controller, and generate misjudgment of the fault diagnosis, and may issue an erroneous control command.
Therefore, the current fault diagnosis scheme cannot carry out fault diagnosis on the domain controller, so that potential safety hazards exist when the vehicle is automatically driven.
In order to solve the above problems, embodiments of the present application provide a fault diagnosis method, an autopilot controller, and a vehicle. The method includes the steps that first information sent by a software module of an automatic driving domain controller is analyzed, when the first information is determined to not meet preset rules of automatic driving, the software module is determined to be faulty, and the first information is used for indicating a vehicle to automatically drive. And acquiring a time stamp of the first information, and determining that the software module fails when the difference between the time in the time stamp and the current time exceeds a preset time threshold. And acquiring each piece of control information in the first information, acquiring response information of a chassis controlled system corresponding to each piece of control information, and determining that the software module has faults when the difference value between the existing control information and the corresponding response information exceeds a preset control range corresponding to the control information. By utilizing the method, the fault diagnosis of the automatic driving domain controller is realized, and the potential safety hazard during automatic driving of the vehicle is reduced.
In order to make the technical solution more clearly understood by those skilled in the art, the following description will refer to the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.
The words "first," "second," and the like in the description herein are used for descriptive purposes only and are not to be interpreted as indicating or implying a relative importance or implicitly indicating the number of features indicated
In the present application, unless explicitly specified and limited otherwise, the term "coupled" is to be construed broadly, and for example, "coupled" may be either fixedly coupled, detachably coupled, or integrally formed; may be directly connected or indirectly connected through an intermediate medium.
The domain controller in the following embodiments is simply referred to as an autopilot domain controller.
The embodiment of the application provides a fault diagnosis method, and the fault diagnosis method is specifically described below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a fault diagnosis method according to an embodiment of the present application is shown.
S101: and analyzing the first information sent by the software module of the autopilot domain controller, and determining that the software module fails when the first information is determined to not meet the preset rule of autopilot.
The software module of the autopilot domain controller is used for realizing the capabilities of sensing, positioning, deciding, planning, controlling and the like in the automatic driving process of the vehicle, so that the software module is a set of a plurality of functional modules, namely a set of a sensing module, a positioning module, a deciding module, a planning module, a control module and the like.
The automatic driving domain controller sends out first information in the process of controlling the vehicle to automatically drive, wherein the first information is used for indicating the vehicle to automatically drive.
The first information may include, but is not limited to, perception information, positioning information, decision information, planning information, control information, etc. in the process of automatic driving.
After the first information is acquired, the content of the first information is analyzed. In order to realize automatic driving, a certain rule needs to be preset for the first information, taking control information in the first information as an example, the preset rule is used for indicating a rule for controlling the processes of vehicle speed, acceleration, braking and the like, and the preset rule is a limiting condition and is used for guaranteeing the safety of the vehicle in the automatic driving process.
When the first information meets a preset rule, the validity and the feasibility of the first information are indicated to be good, and the first information is normal information; and when the first information does not meet the preset rule, indicating that the first information is wrong, namely judging that the software module breaks down at the moment.
S102: and acquiring a time stamp of the first information, and determining that the software module fails when the difference between the time in the time stamp and the current time exceeds a preset time threshold.
And acquiring the time in the timestamp of the first information, comparing the time with the current time, and representing the running timeout of the current software module when the difference between the time and the current time exceeds a preset time threshold value, namely, the running timeout fault of the software module occurs.
The first information sent by the overtime fault representation software module is not time-efficient, namely the first information is out of date, and the first information is used for indicating that the vehicle is driven automatically, so that potential safety hazards exist.
S103: and acquiring each piece of control information in the first information, acquiring response information of a chassis controlled system corresponding to each piece of control information, and determining that the software module has faults when the difference value between the existing control information and the corresponding response information exceeds a preset control range corresponding to the control information.
The control information corresponds to chassis controlled systems including, but not limited to, steering systems, braking systems, power systems, or electrical systems.
The steering system is used for controlling the vehicle to steer in the automatic driving process.
Brake systems are used to control braking of a vehicle during autopilot, including service and parking brakes.
The power system is used for controlling the motor of the vehicle so as to provide the required mechanical energy for the operation of the vehicle.
The electrical system is used for realizing transmission of electrical signals, vehicle illumination, management of storage batteries and the like.
The first information includes control information of each chassis controlled system, and is used for indicating the working state of the corresponding chassis controlled system. After receiving the control information, the chassis controlled system performs corresponding control operation, and then feeds back response information to the domain controller of the automatic driving.
And acquiring a difference value between the control information and the corresponding response information, and determining that a fault exists in the chassis controlled system and/or the software module at the moment when the difference value exceeds a preset control range, wherein the fault is a control consistency fault.
The control consistency mainly comprises speed consistency, steering consistency, braking consistency, parking braking consistency and the like, and taking speed consistency as an example, the domain controller sends control information to the power system to instruct the power system to control the speed of the vehicle at a first speed, response information fed back to the domain controller by the power system indicates that the speed is a second speed, and when the difference value between the first speed and the second speed is within a preset control range, the control of the speed can be normally realized at the moment, namely, a software module of the domain controller and the power system are normal; when the difference between the first speed and the second speed exceeds a preset control range, it can be judged that abnormality occurs in the control of the vehicle speed at the moment, namely, the abnormal acceleration or the abnormal reduction of the vehicle speed is shown, and the abnormality is possibly a software module fault or/and a power system fault. And if the fault information of the power system is not detected at the moment, the software module is characterized as faulty at the moment.
Through the steps, potential faults and potential safety hazards caused by automatic driving of the vehicle when the software module of the domain controller and the chassis actuator cannot self-check faults can be prevented.
It will be appreciated that the chassis controlled system may correspond to different preset control ranges.
The above steps are merely for convenience of description and are not limited to the embodiments of the present application, and a person skilled in the art may change the order of the above steps when applying the embodiments of the present application.
In summary, by using the fault diagnosis method provided by the embodiment of the application, through judging the validity, feasibility, whether the operation is overtime and the control consistency of the data sent by the software module of the automatic driving domain controller, the fault diagnosis of the domain controller is realized, the faults of the software module can be found in time, and the potential safety hazard when the vehicle is automatically driven is reduced.
The following description is made in connection with specific implementations.
Referring to fig. 2, a flowchart of another fault diagnosis method according to an embodiment of the present application is shown.
S201: and analyzing the first information sent by the software module of the autopilot domain controller.
The first information may include, but is not limited to, perception information, positioning information, decision information, planning information, control information, etc. in the process of automatic driving.
S202: it is determined whether the first information satisfies a preset rule for automatic driving.
If yes, execution proceeds to S203, otherwise execution proceeds to S206.
In order to realize automatic driving, a certain rule needs to be preset for the first information, taking control information in the first information as an example, the preset rule is used for indicating a rule for controlling the processes of vehicle speed, acceleration, braking and the like, and the preset rule is a limiting condition and is used for guaranteeing the safety of the vehicle in the automatic driving process.
When the first information meets a preset rule, the validity and the feasibility of the first information are indicated to be good, and the first information is normal information; and when the first information does not meet the preset rule, indicating that the first information is wrong, namely judging that the software module breaks down at the moment.
S203: it is determined whether a time in the timestamp of the first signal is different from the current time by more than a preset time threshold.
If not, S204 is performed, otherwise S206 is performed.
And acquiring the time in the timestamp of the first information, comparing the time with the current time, and representing the running timeout of the current software module when the difference between the time and the current time exceeds a preset time threshold value, namely, the running timeout fault of the software module occurs.
The first information sent by the overtime fault representation software module is not time-efficient, namely the first information is out of date, and the information is used for indicating that the vehicle is driven automatically, so that potential safety hazards exist.
S204: and acquiring each piece of control information in the first information, and acquiring response information of the chassis controlled system corresponding to each piece of control information.
The control information corresponds to chassis controlled systems including, but not limited to, steering systems, braking systems, power systems, or electrical systems.
S205: and determining whether a difference value between the control information and the corresponding response information exceeds a preset control range corresponding to the control information.
If not, S207 is performed, otherwise S206 is performed.
The first information includes control information of each chassis controlled system, and is used for indicating the working state of the corresponding chassis controlled system. After receiving the control information, the chassis controlled system performs corresponding control operation, and then feeds back response information to the domain controller of the automatic driving.
And acquiring a difference value between the control information and the corresponding response information, and determining that a fault exists in the chassis controlled system and/or the software module at the moment when the difference value exceeds a preset control range, wherein the fault is a control consistency fault.
S206: it is determined that a software module of the domain controller has failed.
S207: and collecting fault information of the chassis controlled system, fault information of the environment sensing sensor or fault information of the software module.
The fault information of the chassis controlled system includes, but is not limited to, fault information of a steering system, fault information of a braking system, fault information of a power system, fault information of an electrical system and the like.
The fault information of the environment sensing sensor includes, but is not limited to, fault information of a laser radar, fault information of a millimeter wave radar, fault information of a visual camera, fault information of an ultrasonic radar, fault information of a satellite positioning system, and the like.
In some embodiments, the detection and collection of faults may be performed in an event-triggered manner, i.e., when fault information is detected, meaning that the vehicle is faulty.
S208: and marking the fault codes and classifying the fault grades on the collected fault information.
The marking of the fault codes refers to marking different fault codes for different fault information, so that personnel can maintain and detect the fault codes conveniently.
The classification of the fault level refers to classifying the fault level according to different severity of different fault information.
For example, the vehicle is fault free in a 0 level; level 1 indicates a slight malfunction of the vehicle; level 2 indicates a vehicle moderate fault; level 3 indicates a severe fault.
Different fault grades correspond to different fault handling measures, namely corresponding fault handling is carried out according to different fault grades, and the fault handling comprises two aspects of audible and visual alarm and vehicle control intervention. For example, wherein level 0 has no alert and no intervention; the level 1 is only used as an instrument desk for displaying warning, and vehicle behavior control intervention is not performed; 2, triggering a slow brake intervention and carrying out audible and visual alarm warning; and 3, triggering emergency stop intervention and carrying out audible and visual alarm warning.
In some embodiments, when it is determined that a difference between control information of the brake system and response information of the corresponding brake system exceeds a preset control range corresponding to the control information of the brake system, it is determined that an electro-hydraulic brake system (Electronic Hydraulic Brake System, EHB) of the vehicle is malfunctioning at the time or a software module is malfunctioning at the time, and redundant braking measures are controlled to be activated by the vehicle.
The vehicle-starting redundant braking measure includes:
an electronic stability control system (Electronic Stability Control, ESC) controls the vehicle to brake the vehicle and controls the motor of the vehicle to regeneratively brake the vehicle.
When the speed of the vehicle is less than or equal to a preset speed, an electronic parking brake system (Electrical Park Brake System, EPB) of the vehicle is controlled to park the vehicle.
The regenerative braking refers to that a motor control unit (Motor Control Unit, MCU) of the vehicle controls a motor of the vehicle to generate electricity, that is, even if the motor of the vehicle works in a generator mode, mechanical energy of the vehicle is converted into electric energy so as to charge a power battery pack and/or a storage battery of the vehicle, on one hand, the energy is fully utilized, and on the other hand, the vehicle is assisted to brake.
In some embodiments, the vehicle is not provided with an ESC, but is provided with an Anti-lock BrakingSystem, ABS system, and the ABS of the vehicle can be controlled to brake the vehicle.
In summary, by using the method provided by the embodiment of the application, through judging the validity, feasibility, whether to run overtime and control consistency of the data sent by the software module of the automatic driving domain controller, the fault diagnosis of the domain controller is realized, the fault of the software module can be found in time, and the potential safety hazard of the vehicle during automatic driving is reduced. In addition, the collection of fault information of the whole vehicle and corresponding fault processing can be realized, and the potential safety hazard during automatic driving of the vehicle is further reduced.
Based on the fault diagnosis method provided by the above embodiment, the embodiment of the present application further provides an autopilot domain controller, which is specifically described below with reference to the accompanying drawings.
Referring to fig. 3, a schematic diagram of an autopilot controller according to an embodiment of the present application is shown.
The domain controller 10 provided in the embodiment of the present application includes a software module 11 and a fault diagnosis module 12.
Wherein the software module 11 and the fault diagnosis module 12 are electrically connected.
The fault diagnosis module 12 analyzes the first information sent by the software module 11, and the first information is used for indicating the vehicle to automatically drive.
When the first information meets a preset rule, the validity and the feasibility of the first information are indicated to be good, and the first information is normal information; when the first information does not meet the preset rule, the first information is the wrong information, that is, the software module 11 is judged to have a fault at the moment.
The fault diagnosis module 12 obtains a time stamp of the first information, and determines that the software module has failed when it is determined that a time in the time stamp is different from the current time by more than a preset time threshold.
The fault diagnosis module 12 obtains each control information in the first information, obtains response information of the chassis controlled system corresponding to each control information, and determines that the software module has a fault when a difference value between the existing control information and the corresponding response information exceeds a preset control range corresponding to the control information.
In summary, the fault diagnosis module is additionally arranged in the autopilot domain controller provided by the embodiment of the application, and the fault diagnosis module judges whether the data sent by the software module of the autopilot domain controller is overtime or not and control consistency by judging the validity, feasibility and running time, so that the fault diagnosis of the domain controller is realized, the faults of the software module can be found in time, and the potential safety hazard of the autopilot of the vehicle is reduced.
The following description will be continued with reference to fig. 3.
The software module 11 in fig. 3 is a collection of functional modules, which includes a perception module 111, a positioning module 112, a decision module 113, a planning module 114, and a control module 115.
The automatic driving domain controller sends out first information in the process of controlling the vehicle to automatically drive, wherein the first information is used for indicating the vehicle to automatically drive.
The first information may include, but is not limited to, perception information, positioning information, decision information, planning information, control information, etc. in the process of automatic driving.
The fault diagnosis module 12 parses the content of the first information. In order to realize automatic driving, a certain rule needs to be preset for the first information, taking control information in the first information as an example, the preset rule is used for indicating a rule for controlling the processes of vehicle speed, acceleration, braking and the like, and the preset rule is a limiting condition and is used for guaranteeing the safety of the vehicle in the automatic driving process.
When the fault diagnosis module 12 determines that the first information meets the preset rule, the validity and feasibility of the first information are good, and the first information is normal information; and when the first information does not meet the preset rule, indicating that the first information is wrong, namely judging that the software module breaks down at the moment.
The fault diagnosis module 12 obtains the time in the timestamp of the first information, compares the time with the current time, and when the difference between the time and the current time exceeds a preset time threshold, the fault diagnosis module characterizes the running timeout of the current software module, namely the running timeout fault of the software module occurs.
The first information sent by the overtime fault representation software module is not time-efficient, namely the first information is out of date, and the first information is used for indicating that the vehicle is driven automatically, so that potential safety hazards exist.
The control information corresponds to a chassis controlled system that may be monitored by the chassis actuator 20, the illustrated chassis controlled system comprising: the steering system 21, the braking system 22, the power system 23 and the electrical system 24 may include other systems in practical applications, and will not be described herein.
Wherein the steering system 21 is used for controlling the steering of the vehicle during autonomous driving.
The braking system 22 is used to control braking of the vehicle during autopilot, including service braking and parking braking.
The powertrain 23 is configured to control the electric motor of the vehicle to provide the desired mechanical energy for operation of the vehicle.
The electrical system 24 is used to enable transmission of electrical signals, vehicle lighting, management of batteries, and the like.
The first information includes control information of each chassis controlled system, and is used for indicating the working state of the corresponding chassis controlled system. After receiving the control information, the chassis controlled system performs corresponding control operation, and then feeds back response information to the domain controller of the automatic driving.
The fault diagnosis module 12 obtains the difference between the control information and the corresponding response information, and when the difference exceeds the preset control range, determines that a fault exists in the chassis controlled system and/or the software module at the moment, wherein the fault is a control consistency fault.
The control consistency mainly comprises speed consistency, steering consistency, braking consistency, parking braking consistency and the like, and taking speed consistency as an example, the domain controller sends control information to the power system to instruct the power system to control the speed of the vehicle at a first speed, response information fed back to the domain controller by the power system indicates that the speed is a second speed, and when the difference value between the first speed and the second speed is within a preset control range, the control of the speed can be normally realized at the moment, namely, a software module of the domain controller and the power system are normal; when the difference between the first speed and the second speed exceeds a preset control range, it can be judged that abnormality occurs in the control of the vehicle speed at the moment, namely, the abnormal acceleration or the abnormal reduction of the vehicle speed is shown, and the abnormality is possibly a software module fault or/and a power system fault. And if the fault information of the power system is not detected at the moment, the software module is characterized as faulty at the moment.
The fault diagnosis module 12 is also used to collect fault information of chassis controlled systems, fault information of environment-aware sensors or fault information of software modules.
The fault information of the chassis controlled system includes, but is not limited to, fault information of a steering system, fault information of a braking system, fault information of a power system, fault information of an electrical system and the like.
The fault information of the environment sensing sensor includes, but is not limited to, fault information of a laser radar, fault information of a millimeter wave radar, fault information of a visual camera, fault information of an ultrasonic radar, fault information of a satellite positioning system, and the like.
In some embodiments, the fault diagnostic module 12 detects and gathers faults in an event-triggered manner, meaning that the vehicle is faulty when fault information is detected.
The fault diagnosis module 12 is also capable of marking the collected fault information with a fault code and classifying the fault class.
The marking of the fault codes refers to marking different fault codes for different fault information, so that personnel can maintain and detect the fault codes conveniently.
The classification of the fault level refers to classifying the fault level according to different severity of different fault information.
For example, the vehicle is fault free in a 0 level; level 1 indicates a slight malfunction of the vehicle; level 2 indicates a vehicle moderate fault; level 3 indicates a severe fault.
Different fault grades correspond to different fault handling measures, namely corresponding fault handling is carried out according to different fault grades, and the fault handling comprises two aspects of audible and visual alarm and vehicle control intervention. For example, wherein level 0 has no alert and no intervention; the level 1 is only used as an instrument desk for displaying warning, and vehicle behavior control intervention is not performed; 2, triggering a slow brake intervention and carrying out audible and visual alarm warning; and 3, triggering emergency stop intervention and carrying out audible and visual alarm warning.
In some embodiments, when the fault diagnosis module 12 determines that the difference between the control information of the brake system and the response information of the corresponding brake system exceeds the preset control range corresponding to the control information of the brake system, it determines that the EHB of the vehicle is faulty at this time or that the software module is faulty at this time, and controls the vehicle to start the redundant braking measure.
The vehicle-starting redundant braking measure includes:
the ESC brakes the vehicle and controls the motor of the vehicle to regeneratively brake the vehicle.
When the speed of the vehicle is less than or equal to the preset speed, the EPB parks the vehicle.
The regenerative braking means that the MCU of the vehicle controls the motor of the vehicle to generate electricity, that is, even if the motor of the vehicle works in a generator mode, the mechanical energy of the vehicle is converted into electric energy so as to charge the power battery pack and/or the storage battery of the vehicle, on one hand, the energy is fully utilized, and on the other hand, the vehicle is assisted to brake.
In some embodiments, the vehicle is not provided with an ESC, but is provided with an ABS, and the ABS of the vehicle can also be controlled to brake the vehicle.
In summary, the fault diagnosis module is additionally arranged in the autopilot domain controller provided by the embodiment of the application, and the fault diagnosis module judges whether the data sent by the software module of the autopilot domain controller is overtime or not and control consistency by judging the validity, feasibility and running time, so that the fault diagnosis of the domain controller is realized, the faults of the software module can be found in time, and the potential safety hazard of the autopilot of the vehicle is reduced. In addition, the fault diagnosis module can also collect the fault information of the whole vehicle and process corresponding faults, so that potential safety hazards during automatic driving of the vehicle are further reduced.
Based on the autopilot controller provided in the above embodiments, the embodiments of the present application further provide a vehicle, and the following detailed description is given with reference to the accompanying drawings.
Referring to fig. 4, a schematic diagram of a vehicle according to an embodiment of the present application is provided.
The illustrated vehicle 40 includes an autopilot controller 10 and a chassis actuator 20.
The autopilot controller 10 includes a software module 11 and a fault diagnosis module 12.
Reference may be made to the description of the above embodiments regarding the specific implementation and operation of the software module and the fault diagnosis module 12, and this application will not be repeated here.
The autopilot controller 10 is electrically connected to the chassis actuators 20 to enable the fault diagnosis module 12 to collect fault information for the chassis actuators 20, flag fault codes, rank faults, and process faults.
In other embodiments, the fault diagnosis module 12 may control a control module in the software module to implement fault handling.
In summary, the vehicle provided by the embodiment of the application, which is applied to the autopilot domain controller provided by the embodiment, is additionally provided with the fault diagnosis module, and the fault diagnosis module judges whether the data sent by the software module of the autopilot domain controller is overtime or not and control consistency by judging the validity, feasibility and running time-out of the data, so that the fault diagnosis of the domain controller is realized, faults occurring in the software module can be found in time, and potential safety hazards when the vehicle is autopilot are reduced.
The autopilot controller in the above embodiments of the present application may be an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic device (Programmable Logic Device, PLD), a digital signal processor (Digital Signal Processor, DSP), or a combination thereof. The PLD may be a complex programmable logic device (Complex Programmable Logic Device, CPLD), a Field programmable gate array (Field-programmable Gate Array, FPGA), a general-purpose array logic (Generic Array Logic, GAL), or any combination thereof, and embodiments of the present application are not particularly limited.
It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. The apparatus embodiments described above are merely illustrative, wherein the units and modules illustrated as separate components may or may not be physically separate. In addition, some or all of the units and modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing is merely exemplary of the application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the application and are intended to be comprehended within the scope of the application.
Claims (15)
1. A fault diagnosis method, the method comprising:
analyzing first information sent by a software module of an autopilot domain controller, and determining that the software module fails when the first information is determined to not meet preset rules of autopilot, wherein the first information is used for indicating a vehicle to perform autopilot;
acquiring a time stamp of the first information, and determining that the software module fails when the difference between the time in the time stamp and the current time exceeds a preset time threshold;
and acquiring each piece of control information in the first information, acquiring response information of a chassis controlled system corresponding to each piece of control information, and determining that the software module has a fault when the difference value between the control information and the corresponding response information exceeds a preset control range corresponding to the control information.
2. The fault diagnosis method according to claim 1, wherein the first information includes control information and at least one of the following information:
perception information, positioning information, decision information or planning information.
3. The fault diagnosis method according to claim 1, wherein the chassis-controlled system comprises at least one of:
steering, braking, power or electrical systems.
4. A fault diagnosis method according to any one of claims 1 to 3, further comprising:
collecting at least one of fault information of the chassis controlled system, fault information of an environment-aware sensor, or fault information of the software module;
marking fault codes and classifying fault grades for the collected fault information; different fault classes correspond to different fault handling measures.
5. The fault diagnosis method of claim 4, wherein the fault information of the environment-aware sensor includes at least one of:
fault information of a laser radar, fault information of a millimeter wave radar, fault information of a visual camera, fault information of an ultrasonic radar or fault information of a satellite positioning system.
6. The method of claim 4, wherein the chassis-controlled system includes a braking system therein, the method further comprising:
and when the difference value between the control information of the braking system and the corresponding response information of the braking system is determined to exceed the preset control range corresponding to the control information of the braking system, controlling the vehicle to start redundant braking measures.
7. The fault diagnosis method according to claim 6, wherein the controlling the vehicle to activate redundant braking measures includes:
controlling an electronic stability control system of the vehicle to brake the vehicle, and controlling a motor of the vehicle to regeneratively brake the vehicle;
and when the speed of the vehicle is less than or equal to a preset speed, controlling an electronic parking brake system of the vehicle to park the vehicle.
8. An autopilot controller characterized in that the autopilot controller comprises a software module and a fault diagnosis module;
the software module is electrically connected with the fault diagnosis module;
the software module is used for externally sending first information for indicating the automatic driving of the vehicle;
the fault diagnosis module is used for analyzing first information sent by the software module, and determining that the software module has a fault when the first information is determined not to meet a preset rule of automatic driving, wherein the first information is used for indicating a vehicle to automatically drive; acquiring a time stamp of the first information, and determining that the software module fails when the difference between the time in the time stamp and the current time exceeds a preset time threshold; and acquiring each piece of control information in the first information, acquiring response information of a chassis controlled system corresponding to each piece of control information, and determining that the software module has a fault when the difference value between the control information and the corresponding response information exceeds a preset control range corresponding to the control information.
9. The autopilot controller of claim 8 wherein the first information includes control information and at least one of the following:
perception information, positioning information, decision information or planning information.
10. The autopilot controller of claim 8 wherein the chassis controlled system includes at least one of:
steering, braking, power or electrical systems.
11. The autopilot domain controller of any one of claims 8 to 10 wherein the fault diagnosis module is further configured to collect at least one of fault information for the chassis controlled system, fault information for an environmental awareness sensor, or fault information for the software module; marking fault codes and classifying fault grades for the collected fault information; different fault classes correspond to different fault handling measures.
12. The autopilot controller of claim 11 wherein the fault information of the context aware sensor includes at least one of:
fault information of a laser radar, fault information of a millimeter wave radar, fault information of a visual camera, fault information of an ultrasonic radar or fault information of a satellite positioning system.
13. The autopilot controller of claim 11 wherein the chassis controlled system includes a brake system therein, the fault diagnosis module further configured to control the vehicle to initiate redundant braking actions when a difference between control information of the brake system and corresponding response information of the brake system is determined to be outside of a preset control range corresponding to control information of the brake system.
14. The autopilot controller of claim 13 wherein the fault diagnosis module is operable to control an electronic stability control system of the vehicle to brake the vehicle, and to control an electric motor of the vehicle to regeneratively brake the vehicle; and when the speed of the vehicle is less than or equal to a preset speed, controlling an electronic parking brake system of the vehicle to park the vehicle.
15. A vehicle comprising the autopilot controller of any one of claims 8 to 14.
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| CN114750773B (en) * | 2022-05-20 | 2024-07-09 | 一汽解放汽车有限公司 | Drive-by-wire chassis control method, system, device, controller and storage medium |
| CN115390546A (en) * | 2022-08-16 | 2022-11-25 | 北京经纬恒润科技股份有限公司 | Vehicle diagnostic communication method, device, equipment and medium |
| CN115188250A (en) * | 2022-08-25 | 2022-10-14 | 天津市硕恒科技发展有限公司 | Safety self-inspection line control chassis teaching system and method |
| CN115499341A (en) * | 2022-09-14 | 2022-12-20 | 苏州挚途科技有限公司 | Method and device for detecting data communication state and electronic equipment |
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