CN114844807A - System detection method, device, equipment, storage medium, vehicle and cloud control platform - Google Patents

System detection method, device, equipment, storage medium, vehicle and cloud control platform Download PDF

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Publication number
CN114844807A
CN114844807A CN202210323322.4A CN202210323322A CN114844807A CN 114844807 A CN114844807 A CN 114844807A CN 202210323322 A CN202210323322 A CN 202210323322A CN 114844807 A CN114844807 A CN 114844807A
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China
Prior art keywords
frequency
control
message
network
heartbeat
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CN202210323322.4A
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CN114844807B (en
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张伍召
陈博恺
殷其娟
杨凯
张磊
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Apollo Intelligent Technology Beijing Co Ltd
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Apollo Intelligent Technology Beijing Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/069—Management of faults, events, alarms or notifications using logs of notifications; Post-processing of notifications

Abstract

The disclosure provides a system detection method, a system detection device, equipment, a storage medium, a vehicle and a cloud control platform, and relates to the technical field of artificial intelligence, in particular to the fields of automatic driving, intelligent transportation and the like. The specific implementation scheme is as follows: determining the network heartbeat frequency of a network heartbeat message received by a first system, wherein the network heartbeat message comprises a message sent by a second system to the first system through a network link; determining the control message frequency of a first system for receiving a control link message, wherein the control link message comprises a message sent to the first system by a second system through a control; the control is used for controlling the communication between the second system and the part in the controlled platform; and determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency. The method and the device can improve the accuracy of system failure judgment.

Description

System detection method, device, equipment, storage medium, vehicle and cloud control platform
Technical Field
The present disclosure relates to the field of artificial intelligence technology, and in particular to the fields of automatic driving, intelligent transportation, etc.
Background
To ensure safety, inter-system viability testing is generally required. For example, in order to ensure safety during unmanned driving, a hot standby redundant system is often required to doubly guarantee the reliability of the system, i.e., the redundant system is used as a backup for the primary system. In this configuration, the main system and the redundant system detect the survivability of each other in real time, i.e., perform a system check, and thus determine which system should control the vehicle at the present time.
Disclosure of Invention
The disclosure provides a system detection method, a system detection device, equipment, a storage medium, a vehicle and a cloud control platform.
According to a first aspect of the present disclosure, there is provided a system detection method, including:
determining a network heartbeat frequency at which the first system receives network heartbeat messages, the network heartbeat messages including messages sent by the second system to the first system over a network link;
determining a control message frequency of a control link message received by the first system, wherein the control link message comprises a message sent to the first system by the second system through a control; the control is used for controlling the communication between the second system and the component in the controlled platform;
and determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.
According to a second aspect of the present disclosure, there is provided a system detection apparatus comprising:
a network heartbeat frequency determining module, configured to determine a network heartbeat frequency at which the first system receives a network heartbeat message, where the network heartbeat message includes a message that the second system sends to the first system through a network link;
a control message frequency determining module, configured to determine a control message frequency at which a control link message is received by the first system, where the control link message includes a message sent to the first system by the second system through a control; the control is used for controlling the communication between the second system and the component in the controlled platform;
and the effectiveness determining module is used for determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method according to the first aspect.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.
According to a sixth aspect of the present disclosure, there is provided a vehicle comprising: the electronic device of the fourth aspect.
According to a seventh aspect of the present disclosure, there is provided a cloud control platform including the electronic device according to the fourth aspect.
In the embodiment of the disclosure, whether the second system fails or not is determined by combining the network heartbeat frequency and the control message frequency, so that the wrong judgment of system failure caused by the influence of the network in the process of determining whether the second system fails or not by only sending a message through a network link can be avoided, and the accuracy of system failure judgment can be improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flow chart of a system detection method provided by an embodiment of the present disclosure;
FIG. 2 is a flow chart of determining whether the second system has failed in an embodiment of the present disclosure;
FIG. 3 is another flow chart of a system detection method provided by the embodiments of the present disclosure;
FIG. 4 is a flow chart of determining a network heartbeat frequency in an embodiment of the disclosure;
FIG. 5 is a schematic structural diagram of a system detection device provided in the embodiment of the present disclosure;
FIG. 6 is a schematic view of another structure of a system detection device provided in the embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device for implementing a system detection method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The embodiment of the present disclosure provides a system detection method, which may include:
determining the network heartbeat frequency of a network heartbeat message received by a first system, wherein the network heartbeat message comprises a message sent by a second system to the first system through a network link;
determining the control message frequency of a first system for receiving a control link message, wherein the control link message comprises a message sent to the first system by a second system through a control; the control is used for controlling the communication between the second system and the part in the controlled platform;
and determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.
In the embodiment of the disclosure, whether the second system fails is determined by combining the network heartbeat frequency and the control message frequency, so that the wrong judgment of the system failure caused by the influence of the network can be avoided in the process of determining whether the second system fails by only sending a message through a network link, and the accuracy of the system failure judgment can be improved. Further, the reliability of the system can be improved.
The system detection method provided by the embodiment of the disclosure can be applied to a system to be mutually probed for survivability with other systems. The master system and the slave system mutually detect the validity of each other to determine which system controls the operation of the controlled platform. It is to be understood that the method can be applied to a scenario having a master system and a slave system. Specifically, the master system detects whether the slave system fails, and in response to the master system detecting that the slave system fails, the master system takes over the control of the slave system on the controlled platform, and the master system controls the operation of the controlled platform. And in a similar way, the slave system detects whether the master system fails, and in response to the detection of the master system failure by the slave system, the slave system takes over the control of the master system on the controlled platform, and the slave system controls the operation of the controlled platform.
The controlled platform may be an electronic device, a platform formed by a plurality of electronic devices, a platform formed by electronic devices and components, and the like.
The system to be checked for viability with other systems may be a system that controls the operation of a vehicle, a system that controls the operation of a server, a system that controls the operation of an information management platform, and so forth.
In the embodiments of the present disclosure, the first system is taken as an example for detailed description. Similarly, the second system may also perform steps similar to the first system to determine if the first system has failed. The first system and the second system detect each other's validity, which may also be understood as detecting each other's corresponding survivability.
Fig. 1 is a flowchart of a system detection method provided in an embodiment of the present disclosure. Referring to fig. 1, a system detection method provided by the embodiment of the present disclosure may include:
s101, determining the network heartbeat frequency of the first system for receiving the network heartbeat message.
The network heartbeat message includes a message sent by the second system to the first system over the network link.
In the disclosed embodiment, the network link may include a link using an internet network, for example, a network communicating via a socket, and two programs on the network exchange data via a bidirectional communication connection, one end of which is referred to as a socket. For example, links that communicate via network communication protocols such as Transmission Control Protocol (TCP), User Datagram Protocol (UDP), and the like.
The network heartbeat frequency, that is, the frequency at which the first system receives the network heartbeat messages sent by the second system, can be understood as the number of network heartbeat messages received by the first system in a unit time.
In an implementation manner, the first system may periodically detect the number of network heartbeat messages received in a first time period, calculate a ratio of the number to the first time period, and use the ratio of the number to the first time period as the network heartbeat frequency. The first time period may be understood as an interval time when the second system sends the network heartbeat message. For example, the second system sends the network heartbeat message to the first system at a first preset time interval, where the first preset time interval is a first time period.
S102, determining the control message frequency of the first system for receiving the control link message.
The control link message comprises a message sent to the first system by the second system through the control; the control is used for controlling the communication of the second system and the component in the controlled platform.
The controlled platform, i.e. the first system or the second system, controls the operation of the controlled platform.
The control packet frequency, i.e. the frequency at which the first system receives the control link packet sent by the second system, can be understood as the number of control link packets received by the first system in a unit time.
The determination of the control message frequency is similar to the determination of the network heartbeat frequency. For example, in one implementation manner, the first system may periodically detect the number of control link messages received in the second time period, calculate a ratio of the number to the second time period, and use the ratio of the number to the second time period as the control message frequency. The second time period may be understood as an interval time for the second system to send the control link message. For example, the second system sends the control link packet to the first system at intervals of a second preset time interval, where the second preset time interval is a second time period.
S103, determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.
The first system determines whether the second system fails or not by combining the network heartbeat frequency and the control message frequency.
Failure of the second system may also be understood as a failure of the second system.
The first system determines that the second system fails, can take over the control of the second system on the controlled platform, and controls the controlled platform by the first system, so that the second system which fails is prevented from controlling the controlled platform, and further the influence on the normal operation of the controlled platform is avoided.
In one implementation, as shown in fig. 2, S103 may include:
s201, determining whether the network heartbeat detection is abnormal or not based on the network heartbeat frequency.
Determining that the network heartbeat detection is abnormal in response to the network heartbeat frequency not meeting the first condition; and determining that the network heartbeat detection is normal in response to the network heartbeat frequency satisfying a first condition.
In one implementation manner, in response to that the network heartbeat frequency does not satisfy the first condition, the network communication mechanism heartbeat detection abnormal identifier may be marked, and in response to that the network heartbeat frequency satisfies the first condition, the network communication mechanism heartbeat detection normal identifier may be marked. Therefore, whether the network heartbeat detection is abnormal or not can be determined by detecting the identification information, namely, when the abnormal identification of the network communication mechanism heartbeat detection is detected, the abnormal network heartbeat detection is determined, and when the normal identification of the network communication mechanism heartbeat detection is detected, the normal network heartbeat detection is determined. The network communication mechanism heartbeat detection abnormal identifier is used for indicating that network heartbeat detection is abnormal, and the network communication mechanism heartbeat detection normal identifier is used for indicating that network heartbeat detection is normal.
The first condition includes that the network heartbeat frequency is not less than a first preset frequency, or the network heartbeat frequency is not less than a ratio of a system preset value to twice a first preset time interval.
In one implementation, the first condition may include the network including a network heartbeat frequency not less than a first preset frequency. Responding to that the network heartbeat frequency is not less than a first preset frequency, and determining that the network heartbeat detection is normal; and determining that the network heartbeat detection is abnormal in response to the network heartbeat frequency being less than the first preset frequency.
In another implementation manner, the first condition may include that the network heartbeat frequency is not less than a ratio of a system preset value to twice a first preset time interval, where the first preset time interval represents an interval time for the second system to send the network heartbeat message. The system preset value, that is, the preset value of the first system, may be determined according to actual requirements or experience.
Whether the network heartbeat detection is abnormal or not is determined by judging whether the first condition is met or not, the first condition can be used as a reference and is compared with the reference, and whether the network heartbeat detection is abnormal or not can be determined more conveniently.
S202, determining whether the control heartbeat detection is abnormal or not based on the control message frequency.
In one case, the control message frequency comprises a first frequency, i.e., the frequency at which the first system receives the first control message.
In this case, it is determined whether or not the control heartbeat detection is abnormal based on the first frequency. Specifically, it may be determined whether the first frequency satisfies a second condition, and in response to the first frequency not satisfying the second condition, determining that the control heartbeat detection is abnormal; and determining that the heartbeat detection is normal in response to the first frequency satisfying a second condition.
In one implementation, the control heartbeat detection abnormal identifier may be marked in response to the first frequency not satisfying the second condition, and the control heartbeat detection normal identifier may be marked in response to the first frequency satisfying the second condition. Therefore, whether control heartbeat detection is abnormal or not can be determined by detecting identification information, namely, when the control heartbeat detection abnormal identification is detected, the control heartbeat detection is determined to be abnormal, and when the control heartbeat detection normal identification is detected, the control heartbeat detection is determined to be normal. It can also be understood that the control heartbeat detection abnormal identifier is used for indicating that the control heartbeat detection is abnormal, and the control heartbeat detection normal identifier is used for indicating that the control heartbeat detection is normal.
The second condition includes that the first frequency is not less than a second preset frequency, or the first frequency is not less than a ratio of a system preset value to twice a second preset time interval, and the second preset time interval represents an interval time for the second system to send the first control message to the first system.
In one implementation, the second condition may include that the first frequency is not less than a second preset frequency. Responding to the first frequency not less than a second preset frequency, and determining that the heartbeat detection is normally controlled; and determining that the control heartbeat detection is abnormal in response to the first frequency being less than the second preset frequency.
The value of the second preset frequency may be the same as or different from the value of the second preset frequency, and similar to the value of the first preset frequency, the value of the second preset frequency may be determined according to actual requirements or experience.
In another implementation, the second condition may include that the first frequency is not less than a ratio of the system preset value to twice the second preset time interval.
The first frequency may be understood as the number of first control messages received by the first system per unit time.
The manner of determining the first frequency is similar to the manner of determining the network heartbeat frequency, and the determination of the network heartbeat frequency has been described in the above embodiment, and the process of determining the first frequency may refer to the process of determining the network heartbeat frequency.
S203, responding to the abnormal network heartbeat detection and the abnormal control heartbeat detection, and determining that the second system is invalid.
When one of the network heartbeat detection and the control heartbeat detection is normal, namely when the network heartbeat detection is abnormal, the control heartbeat detection is normal, or when the control heartbeat detection is abnormal and the network heartbeat detection is normal, the second system is determined to be effective; and when the network heartbeat detection and the control heartbeat detection are abnormal, determining that the second system is invalid.
Therefore, the network heartbeat detection and the control heartbeat detection are combined together and can be understood as cooperative detection, and misjudgment caused by network instability in the process of determining the effectiveness of the system independently according to the network heartbeat detection can be avoided. For example, due to the influence of network delay jitter, when the network condition is not good, a heartbeat may be blocked, so that false positives are caused, that is, heartbeat detection is abnormal due to the influence of the network, but the system itself fails, so that misjudgment is caused; or, the misjudgment caused by the control link message loss or the influence of hardware transmission delay in the system effectiveness process is determined according to the network heartbeat detection or the control heartbeat detection; or, due to the influence of the inspection program itself, for example, when the inspection program for performing network heartbeat detection is based on network heartbeat detection alone, false alarm of the heartbeat problem may be caused due to problem hang caused by various performances or after the program is dead, and when the inspection program for controlling heartbeat detection is based on the problem hang caused by various performances or after the program is dead, false alarm of the heartbeat problem may be caused. The control message frequency can be used as a supplement of the network heartbeat frequency and is commonly used for determining whether the system fails, and compared with the method for determining whether the system fails by independently detecting the network heartbeat, the accuracy of judging the system failure can be improved.
As above, in one case, the control message frequency includes a first frequency at which the first system receives the first control message, and whether the control heartbeat detection is abnormal is determined based on the first frequency.
In another optional embodiment, based on the embodiment shown in fig. 1, the control packet frequency includes a first frequency at which the first system receives the first control packet and a second frequency at which the first system receives the second control packet, and it is determined whether the control heartbeat detection is abnormal based on the first frequency and the second frequency.
As shown in fig. 3, S102 may include:
s301, a first frequency is determined, wherein the first frequency is the frequency of the first system for receiving the first control message.
The first control message comprises a message sent by the second system to the first system through the control.
S302, determine a second frequency, where the second frequency is a frequency at which the first system receives the second control packet.
The second control message comprises a message sent by the controller to the first system, and the controller is used for controlling the communication between the component in the controlled platform and the first system.
The second frequency, i.e. the frequency of the second control packet sent by the first system receiving controller to the first system, may be understood as the number of the second control packets received by the first system in a unit time.
The manner of determining the second frequency is similar to the manner of determining the network heartbeat frequency, and the determination of the network heartbeat frequency has been described in the above embodiment, and the process of determining the second frequency may refer to the process of determining the network heartbeat frequency.
In the embodiment of the present disclosure, the control link packet includes a first control packet, that is, a packet sent by the second system to the first system through the control, and also includes a second control packet, that is, a packet sent by the controller to the first system.
The control message frequency includes a first frequency at which the first system receives the first control message, and a second frequency at which the second control message is received.
S202 may include:
s303: based on the first frequency and the second frequency, it is determined whether the control heartbeat detection is abnormal.
In this case, it may be determined whether the first frequency satisfies the second condition and whether the second frequency satisfies the third condition, and it may be determined to control the heartbeat detection abnormality in response to the first frequency not satisfying the second condition and the second frequency satisfying the third condition.
The third condition includes that the second frequency is not less than a third preset frequency, or the second frequency is not less than a ratio of a system preset value to twice a third preset time interval, where the third preset time interval represents an interval time for the controller to send the second control packet to the first system.
In one implementation, similar to the first condition and the second condition, the third condition may include that the second frequency is not less than a third preset frequency. The third preset frequency may be the same as or different from the first preset frequency or the second preset frequency, and the value of the third preset frequency may be determined according to actual requirements or experience.
In another implementation, the third condition may include that the second frequency is not less than a ratio of the system preset value to twice the third preset time interval.
In one implementation, the first frequency does not satisfy the second condition and the second frequency satisfies the third condition, and the heartbeat detection anomaly flag may be marked and controlled. Therefore, whether the control heartbeat detection is abnormal or not can be determined by detecting the identification information, namely when the control heartbeat detection abnormal identification is detected, the control heartbeat detection is determined to be abnormal.
In an implementation manner, the second condition includes that the first frequency is not less than a ratio of a system preset value to twice a second preset time interval, where the second preset time interval represents an interval time for the second system to send the first control packet to the first system. The third condition includes that the second frequency is not less than the ratio of the system preset value to twice a third preset time interval, and the third preset time interval represents the interval time for the controller to send the second control message to the first system. And determining that the heartbeat detection is abnormal in response to the first frequency not meeting the second condition and the second frequency meeting the third condition, namely determining that the heartbeat detection is abnormal in response to the first frequency being less than the ratio of the system preset value to twice a second preset time interval and the second frequency being not less than the ratio of the system preset value to twice a third preset time interval.
The second condition and the third condition can be used as a reference in the process of determining the abnormal control heartbeat detection, and the comparison with the reference can determine whether the abnormal control heartbeat detection is abnormal or not, so that the abnormal control heartbeat detection is more convenient to determine, and the combination of the second condition and the third condition can improve the accuracy of determining whether the abnormal control heartbeat detection is abnormal or not.
Thus, it is possible to determine whether the network heartbeat detection is abnormal based on the network heartbeat frequency, determine whether the control heartbeat detection is abnormal based on the first frequency and the second frequency, and determine that the second system is failed in response to the network heartbeat detection being abnormal and the control heartbeat detection being abnormal.
The steps of determining whether the network heartbeat detection is abnormal based on the network heartbeat frequency, and determining that the second system is disabled in response to the network heartbeat detection being abnormal and controlling the heartbeat detection to be abnormal have been described in detail in the above embodiments, and refer to the above embodiments.
The second frequency represents the frequency of the message sent by the first system receiving controller to the first system, and it is understood that the second frequency can represent whether the control link of the first system is normal. When the control link of the first system is abnormal, it may be that the first system receives the control link message and fails, and at this time, the first system receives the control link message sent by the second system, that is, the frequency of the first control message is abnormal, it may be that the first system itself receives the message abnormally, and the second system sends the first control message normally. In the embodiment of the present disclosure, the second frequency of the message sent to the first system by the controller is combined with the reception of the second control message by the first system, that is, the influence of the control link of the first system is considered in the process of determining whether the second system fails, and by this way, the influence of the abnormality of the control link of the first system on the determination of the validity of the second system can be reduced, and the accuracy of the validity determination of the second system is improved.
In one implementation manner, the second system receives the frequency abnormality of the message sent by the controller to the first system, and may not judge whether the control link of the second system is abnormal; when the control link of the first system is normal and the control link of the second system is abnormal, in this case, it is determined that the control link of the second system is abnormal. The control link of the second system may be understood as a link through which the second system sends a message to the first system through the control. The control link of the first system may be understood as a link through which the first system receives messages sent by the controller to the first system.
In an optional embodiment, determining whether the first system fails based on the second frequency may be further included.
It may be determined whether the second frequency satisfies a third condition, and the second frequency does not satisfy the third condition, and the first system is determined to be failed. Simply understand, judge the frequency that the controller sends the message to the first system is unusual, confirm that the first system is invalid.
The first system can determine whether the second system fails or not by combining the network heartbeat frequency, the first frequency and the second frequency, and can also determine whether the first system fails or not based on the second frequency, so that an optional mode is provided for the system to determine whether the first system fails or not, and the reliability of the system can be further improved.
In one implementation, whether the first system fails may also be determined based on the first frequency and the second frequency. Specifically, it may be determined whether the first frequency satisfies a second condition and whether the second frequency satisfies a third condition, and in response to the first frequency not satisfying the second condition and the second frequency not satisfying the third condition, determining that the first system is failed; alternatively, the first system is determined to be failed in response to the first frequency satisfying the second condition and the second frequency not satisfying the third condition.
In one implementation, the second condition includes that the first frequency is not less than a ratio of the system preset value to twice the second preset time interval. The third condition includes a ratio of the second frequency not less than the system preset value to twice the third preset time interval. Determining that the first system is disabled in response to the first frequency not satisfying the second condition and the second frequency not satisfying the third condition; or, in response to the first frequency meeting the second condition and the second frequency not meeting the third condition, determining that the first system is failed, that is, the first frequency is less than a ratio of the system preset value to twice the second preset time interval and the second frequency is less than a ratio of the system preset value to twice the third preset time interval, and determining that the first system is failed; or, the first frequency is not less than the ratio of the system preset value to twice the second preset time interval, and the second frequency is less than the ratio of the system preset value to twice the third preset time interval, so that the first system is determined to be invalid.
Similarly to the process of determining and controlling the abnormal heartbeat detection, the second condition and the third condition can be used as a reference in the process of determining whether the first system fails, and the second condition and the third condition can be compared with the reference to determine whether the first system fails, so that the determination of the abnormal heartbeat detection can be simpler and more convenient, and the combination of the second condition and the third condition can improve the accuracy of determining whether the first system fails.
After determining that the first system is out of order, alarm information may be sent to prompt the first system to perform a fault check, and the like.
The first system can determine whether the second system fails or not by combining the network heartbeat frequency, the first frequency and the second frequency, and can also determine whether the first system fails or not based on the first frequency and the second frequency, so that a selectable mode is provided for the system to determine whether the first system fails or not, the accuracy of determining the self-failure property can be improved by combining the first frequency and the second frequency, and the reliability of the system can be further improved.
In an alternative embodiment, S101 may include:
the network heartbeat frequency is determined based on a current time of the first system and a timestamp included in the network heartbeat message.
S102 may include:
the control message frequency is determined based on a current time of the first system and a timestamp included in the control link message.
The network heartbeat frequency can be determined more conveniently and rapidly through the timestamp of the second system and the current time of the first system included in the network heartbeat message. Similarly, the frequency of the chassis link message can be determined more conveniently and quickly by controlling the link message to include the timestamp of the second system and the current time of the first system.
In one implementation, determining the network heartbeat frequency based on the current time of the first system and the timestamp included in the network heartbeat message may include:
comparing the current time of the first system with the time stamps included in the network heartbeat messages according to the time sequence of the time stamps included in the network heartbeat messages; and calculating the network heartbeat frequency by using the time difference value meeting the preset message receiving requirement and the time stamp in the time stamps included in each network heartbeat message in response to the fact that the time difference value between the current time of the first system and the time stamp meets the preset message receiving requirement, wherein the preset message receiving requirement indicates that the heartbeat is normally sent.
Specifically, as shown in fig. 4, the method may include:
s401, according to the time sequence of the time stamps included in each network heartbeat message, the time stamps included in one network heartbeat message are used as calculation time stamps, the time difference value between the current time of the first system and the calculation time stamps is calculated, and 1 is added to the calculated message number.
Each network heartbeat message comprises a plurality of messages which are sent by the second system to the first system through the network link according to a first preset time interval.
Chronological order may include an order from the front to the back or may also be an order from the back to the front. If the calculation is finished when the number of the calculated messages reaches the preset number in the order of time from back to front, the calculation amount can be reduced.
S402, judging whether the preset message receiving requirement is met.
Wherein, the preset message receiving requirement indicates that the heartbeat is normally sent.
The preset message reception requirement may include: and the time difference value corresponding to the current timestamp is smaller than the system value, or the number of the messages corresponding to the current timestamp is smaller than the first ratio.
When any condition is met, the difference value between the target message quantity and the target time can be determined, and compared with the method of traversing the timestamps in all network heartbeat messages for calculation, the calculation amount can be reduced.
The system value may be determined based on actual requirements or experience, etc. The first ratio is a ratio of the system value to a first preset time interval, and the first preset time interval represents an interval time of sending the network heartbeat message by the second system.
Responding to the fact that the time difference value corresponding to the calculated timestamp does not meet the preset message receiving requirement, and returning to execute S401; and executing S403 in response to that the time difference value corresponding to the calculated timestamp meets the preset message receiving requirement.
And S403, taking the time difference value corresponding to the calculation timestamp as a target time difference value, and taking the calculated message quantity as a target message quantity.
S404, calculating a second ratio of the number of the target messages to the difference value of the target time, and taking the second ratio as the network heartbeat frequency.
The target time difference and the target message quantity which meet the conditions are selected by utilizing the timestamps carried in the network heartbeat messages sent by the second system, and the network heartbeat frequency is determined by utilizing the target time difference and the target message quantity which meet the conditions, so that the accuracy of the determined network heartbeat frequency can be improved.
Therefore, the time stamps included by the network heartbeat messages are calculated at the current time of the first system according to the time sequence of the time stamps included by the network heartbeat messages, so that the difference value between the target message quantity and the target time is determined when the preset message receiving requirement is met, the network heartbeat frequency is obtained through calculation, the message quantity and the time difference value for calculating the network heartbeat frequency can be selected, the network heartbeat frequency is obtained through calculation according to the target message quantity and the target time difference value meeting the condition, and the accuracy of the network heartbeat frequency can be improved.
In an optional embodiment, the timestamps included in each network heartbeat message are stored in the queue according to a chronological order.
Comparing the current time of the first system with the time stamps included in each network heartbeat message according to the time sequence of the time stamps included in each network heartbeat message, may include:
the current time of the first system is compared to the timestamps included in the queue in order from the end of the queue to the head of the queue.
Wherein, presetting the message receiving requirement comprises: and calculating that the time difference value corresponding to the timestamp is not less than a system preset value, the calculated message quantity is not less than a first ratio, or the queue reaches the head of the queue.
Wherein the first ratio is a ratio of a system preset value to a first preset time interval, and the calculated message number represents the number of timestamps that have been compared with the current time of the first system.
The calculation can be facilitated through the queues, the difference value between the target message quantity and the target time can be determined when any condition is met, and compared with the method of calculating by traversing the timestamps in all the network heartbeat messages, the calculation amount can be reduced.
In one implementation, a plurality of network heartbeat messages sent by a second system at a first preset time interval are received, and for each network heartbeat message, the network heartbeat message includes the second system; and storing the time stamp included by the network heartbeat message to a queue with a preset length aiming at each network heartbeat message.
Therefore, the time stamps stored in the queue can be used as the calculation time stamps according to the queue sequence, such as the sequence from the tail of the queue to the head of the queue or the sequence from the head of the queue to the tail of the queue, so that the target time difference value and the target message quantity can be counted more conveniently.
In one example, the first system maintains a queue with a system preset value QueueSize, and after receiving a network heartbeat message sent by the second system, puts a timestamp of the second system carried in the network heartbeat message into the tail of the queue, checks whether the queue is full, and if the queue is full, removes a head element of the queue. For example, after receiving the heartbeat message Tslave sent by the redundant system, the primary system puts the current heartbeat message Tslave at the end of the queue.
In the process of determining the network heartbeat frequency, a thread can be newly established, the current time Tcur of the first system is obtained, elements [ T0, T1, T2 … Tn-1] in the queue are checked in sequence from the tail of the queue to the head of the queue, and the check is jumped out if any one of the following conditions is met: 1) the method comprises the following steps of A, taking Tdiff as Tcur-Ti, wherein Tdiff is greater than TimeInterval, i-0,1,2, … …, n-1, and n is a natural number, wherein the TimeInterval is a system preset value; 2) the number of the checked elements is N, and N > is TimeInterval/SendPeriod; 3) the queue reaches the head of the queue.
The element in the queue corresponding to the skip-out check may be understood as a target timestamp, a difference between the element in the queue corresponding to the skip-out check and the current time of the first system is a target time difference, and the corresponding N is the target packet number.
Therefore, a second ratio of the number of the target messages to the difference value of the target time is calculated, and the second ratio is used as the network heartbeat frequency.
The step of determining the frequency of the control message is based on the current time of the first system and the timestamp comprised in the control link message, similar to the step of determining the frequency of the network heartbeat based on the current time of the first system and the timestamp comprised in the network heartbeat message. In the step of determining the network heartbeat frequency based on the current time of the first system and the timestamp included in the network heartbeat message, the timestamp included in the network heartbeat message is replaced by the timestamp included in the control link message, so that the step of determining the frequency of the control message based on the current time of the first system and the timestamp included in the control link message can be realized.
Determining the control message frequency is similar to determining the network heartbeat frequency, and determining the control message frequency can be completed by referring to the process of determining the heartbeat frequency in the above embodiment.
In an alternative embodiment, the control includes a chassis driver for controlling the second system to communicate with the vehicle chassis; the controller is used for controlling the vehicle chassis to communicate with the first system.
The system detection method of the embodiment of the disclosure can be applied to a vehicle control system scene, and specifically can be executed by a system for controlling the vehicle to run, for example, a first system is a main system, and a second system is a redundant system; alternatively, the first system is a redundant system and the second system is a primary system. The controlled platform is a vehicle, and the controller is a controller for controlling the chassis of the vehicle to run. In the scene, the main system or the redundant system controls the running of the vehicle, and the second system sends a first control message to the first system by controlling a chassis driving program for communicating the second system and the vehicle chassis.
The first system may determine a network heartbeat frequency at which the first system receives network heartbeat messages, the network heartbeat messages including messages sent by the second system to the first system over the network link; determining the control message frequency of a first system for receiving a control link message, wherein the control link message comprises a message sent to the first system by a second system through a chassis driving program; the control is for controlling communication of the second system with the vehicle chassis. In this case, the control link message may also be referred to as a chassis link message.
Therefore, whether the second system fails or not can be determined by combining the network heartbeat frequency and the control message frequency, the error judgment of the system failure caused by the influence of the network can be avoided when the second system is determined to fail or not by only sending the message through the network link, and the accuracy of the judgment of the vehicle control system failure can be improved. The reliability of the vehicle control system can be further improved.
In one implementation, the control link message may include a message sent by the second system to the first system via the chassis driver, and may also include a message sent by the controller controlling the vehicle chassis to communicate with the first system to the first system. The second system sends the message to the first system through the chassis driver, namely the first control message, and the controller sends the message to the first system, namely the second control message.
The communication link of the message sent to the first system by the chassis driver may be understood as a chassis link, and specifically, the chassis link may include a Controller Area Network (CAN) link. The CAN link belongs to bus type serial communication, and the CAN bus structure is divided into two layers: the physical layer and the data link layer.
The method can be realized by combining the frequency of the first system for receiving the message sent to the first system by the second system through the chassis driving program and the message sent to the first system by the first system receiving controller, determining whether the control heartbeat detection is abnormal or not, and further determining whether the network heartbeat detection is abnormal or not based on the network heartbeat frequency so as to determine whether the second system fails or not, so that the accuracy of judging the validity of the vehicle control system can be further improved and the reliability of the vehicle control system can be improved in a vehicle control scene.
In an optional embodiment, the system detection method provided by the embodiment of the present disclosure may be applied to an automatic driving scenario. Namely, the vehicle in the vehicle control system scene is an automatic driving vehicle. The embodiment of the disclosure realizes a heartbeat mechanism by using network and chassis messages, can more accurately diagnose survivability on the basis of considering real-time performance, and improves the safety of automatic driving and the continuity of driving.
In the automatic driving process, the main system and the redundant system can also be understood as validity by detecting the survivability of the other side so as to determine which system controls the vehicle, whether the system is in failure or not is more accurate, and the switching between the systems can be more accurately and continuously carried out, so that the safety of automatic driving and the running continuity can be improved.
In a specific example, first, according to Internet Protocol addresses (IP addresses) and ports of a main system and a redundant system, a reader (read) function and a writer (write) function are simultaneously performed in the main system and the secure system, and at this time, the main system and the redundant system are both a server and a client, and send messages to each other and receive messages sent by each other.
In this example, the main system is taken as an execution subject to be described in detail. Similarly, the redundant system may perform similar steps as the primary system to determine if the primary system has failed. The primary system and the redundant system detect each other for their validity, which may also be understood as detecting each other for corresponding survivability.
The redundancy system obtains a timestamp of the current system, namely the redundancy system, at a system preset value SendPeriod time interval (a first preset time interval), encapsulates the timestamp into a network heartbeat message, and sends the network heartbeat message to the main system.
The main system maintains a queue with a system preset value QueueSize, after receiving a network heartbeat message sent by a redundant system, puts a timestamp of the redundant system carried in the network heartbeat message into the tail of the queue, checks whether the queue is full, and removes a queue element at the head of the queue if the queue is full. For example, after receiving the heartbeat message Tslave sent by the redundant system, the primary system puts the current heartbeat message Tslave at the end of the queue.
After the main system stores the network heartbeat information sent by the redundant system into the queue, the network heartbeat frequency can be determined based on the elements in the queue in the process of determining the network heartbeat frequency. The process of determining the network heartbeat frequency based on the elements in the queue has been described in detail in the foregoing embodiments, and is not described here again.
Calculating to obtain the network heartbeat frequency, if obtaining the frequency F ═ N/Tcur-Ti of the heartbeat received by the main system, checking whether F > ═ TimeInterval/(2 ═ SendPeriod) is true, if true, showing that the heartbeat detection performed by the network communication mechanism is not abnormal at this time, that is, the network link heartbeat detection is normal; otherwise, that is, F < TimeInterval/(2 × SendPeriod), indicates that the heartbeat detection performed by the network communication mechanism is abnormal, that is, the heartbeat detection of the network link is abnormal, and may be denoted as UDP _ ERR, or may be understood as marking the heartbeat detection abnormality of the network communication mechanism to identify UDP _ ERR.
Sending message information to the chassis driver of the main system by the chassis driver of the redundant system at a time interval Period, wherein the ID of the message is ID slave 。
The chassis driver of the main system receives message information uploaded by the chassis, the message ID is divided into two types, one type is message information automatically sent by the vehicle chassis, namely the chassis message, and the ID is ID idle The other is a message sent by the redundant system driver, namely a chassis link message, and the ID is ID slave Respectively counting IDs by a mechanism for calculating similar network heartbeat frequency idle And ID slave The corresponding frequency. In particular ID idle Corresponding frequency, i.e. chassis transmission frequency, ID in the above-described embodiment slave The corresponding frequency is also the chassis link message frequency in the above embodiment.
Suppose an ID slave And ID idle If the corresponding frequencies are abnormal, it is indicated that a problem occurs in the chassis link of the main system, and in this case, it may be determined that the main system fails (which may also be understood as a fault), that is, it is determined that the first system fails, and at the same time, after it is determined that the main system fails, the occurred problem may be reported to warn. Suppose an ID slave Corresponding frequency Normal, ID idle When the corresponding frequency is abnormal, the chassis message is indicated to have a problem, under the condition, the failure of the main system can be determined, and meanwhile, the problem can be reported for warning after the failure of the main system is determined; suppose an ID idle Corresponding frequency Normal, ID slave And the corresponding frequency is abnormal, which indicates that the CAN link of the redundant system has a problem and is recorded as CAN _ ERR. Wherein, ID slave Corresponding frequency, i.e. first frequency, ID idle Corresponding frequency, i.e. second frequency, ID slave The corresponding frequency abnormality can be understood as ID slave The corresponding frequency does not satisfy the second condition, and the second condition may include that the chassis link message frequency is not less than the system preset value andthe ratio of twice a second preset time interval, where the second preset time interval represents the interval time for the second system to send the chassis link message to the first system. ID idle The corresponding frequency abnormality can be understood as ID idle The corresponding frequency does not satisfy a third condition, where the third condition may include that the chassis transmission frequency is not less than the ratio of the system preset value to twice a third preset time interval, where the third preset time interval represents an interval time for the vehicle chassis to send the chassis message to the first system. ID (identity) slave Corresponding frequency does not satisfy the second condition and ID idle If the corresponding frequency satisfies the third condition, the CAN _ ERR, ID is marked slave Corresponding frequency does not satisfy the second condition and ID idle The corresponding frequency does not satisfy the third condition, or, ID slave The corresponding frequency satisfies the second condition and ID idle And the corresponding frequency does not meet the third condition, which indicates that the chassis link of the main system has a problem and can determine that the main system fails.
If CAN _ ERR and UDP _ ERR appear simultaneously, the redundant system is judged to have fault abnormality at the moment, namely the redundant system is judged to be failed, and the fault CAN also be understood as heartbeat error, and in this case, the main system takes over the vehicle in an emergency.
Similarly, when the redundant system detects that the primary system has such an error, that is, the redundant system determines that the primary system fails, the redundant system also takes over the vehicle in an emergency.
The heart state detection mechanism based on the network and the chassis message in the embodiment of the disclosure improves the reliability of the system and reduces the problem of false heartbeat report caused by the network, hardware, programs and the like.
Corresponding to the system detection method provided in the foregoing embodiment, an embodiment of the present disclosure further provides a system detection apparatus, as shown in fig. 5, which may include:
a network heartbeat frequency determining module 501, configured to determine a network heartbeat frequency at which a first system receives a network heartbeat message, where the network heartbeat message includes a message that a second system sends to the first system through a network link;
a control message frequency determining module 502, configured to determine a control message frequency at which a first system receives a control link message, where the control link message includes a message sent by a second system to the first system through a control; the control is used for controlling the communication between the second system and the part in the controlled platform;
a validity determining module 503, configured to determine whether the second system fails based on the network heartbeat frequency and the control packet frequency.
Optionally, the validity determining module 503 is specifically configured to determine whether the network heartbeat detection is abnormal based on the network heartbeat frequency; determining whether the control heartbeat detection is abnormal or not based on the control message frequency; and determining that the second system fails in response to the network heartbeat detection anomaly and the control heartbeat detection anomaly.
Optionally, the validity determining module 503 is specifically configured to determine that the network heartbeat detection is abnormal in response to that the network heartbeat frequency does not satisfy the first condition; and determining that the network heartbeat detection is normal in response to the network heartbeat frequency satisfying a first condition.
Optionally, the first condition includes that the network heartbeat frequency is not less than a first preset frequency, or the network heartbeat frequency is not less than a ratio of a system preset value to twice a first preset time interval.
Optionally, the control packet frequency determining module 502 is specifically configured to determine a first frequency, where the first frequency is a frequency at which the first system receives a first control packet, and the first control packet includes a packet sent by the second system to the first system through the control; determining a second frequency, wherein the second frequency is the frequency of the first system for receiving a second control message, the second control message comprises a message sent to the first system by a controller, and the controller is used for controlling the communication between the component in the controlled platform and the first system;
the validity determining module 503 is specifically configured to determine whether the control heartbeat detection is abnormal based on the first frequency and the second frequency.
Optionally, the validity determining module 503 is specifically configured to determine that the heartbeat detection is abnormal in response to that the first frequency does not satisfy the second condition and that the second frequency satisfies the third condition.
Optionally, as shown in fig. 6, the apparatus further comprises:
a first system fault determination module 601 for determining whether the first system fails based on the second frequency.
Optionally, the first system fault determining module 601 is specifically configured to determine that the first system fails in response to the first frequency not meeting the second condition and the second frequency not meeting the third condition; alternatively, the first system is determined to be failed in response to the first frequency satisfying the second condition and the second frequency not satisfying the third condition.
Optionally, the second condition includes that the first frequency is not less than a second preset frequency, or the first frequency is not less than a ratio of the system preset value to twice a second preset time interval; the third condition includes that the second frequency is not less than a third preset frequency, or the second frequency is not less than a ratio of the system preset value to twice a third preset time interval.
Optionally, the network heartbeat frequency determining module 501 is specifically configured to determine the network heartbeat frequency based on the current time of the first system and a timestamp included in the network heartbeat message;
the control packet frequency determining module 502 is specifically configured to determine the control packet frequency based on the current time of the first system and a timestamp included in the control link packet.
Optionally, the network heartbeat frequency determining module 501 is specifically configured to compare the current time of the first system with the time stamps included in each network heartbeat message according to the time sequence of the time stamps included in each network heartbeat message; and calculating the network heartbeat frequency by using the time difference value meeting the preset message receiving requirement and the time stamp in the time stamps included in each network heartbeat message in response to the fact that the time difference value between the current time of the first system and the time stamp meets the preset message receiving requirement, wherein the preset message receiving requirement indicates that the heartbeat is normally sent.
Optionally, the timestamps included in each network heartbeat message are stored in the queue according to the time sequence;
a network heartbeat frequency determining module 501, configured to compare the current time of the first system with a timestamp included in the queue according to an order from a tail of the queue to a head of the queue;
the preset message reception requirements include: and calculating that the time difference value corresponding to the timestamp is not less than a system preset value, and the calculated message quantity is not less than a first ratio, or the queue reaches the head of the queue, wherein the first ratio is the ratio of the system preset value to a first preset time interval, and the calculated message quantity represents the number of the timestamps which are compared with the current time of the first system.
Optionally, the control comprises a chassis driver for controlling the second system to communicate with the vehicle chassis; the controller is used for controlling the vehicle chassis to communicate with the first system.
In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 7 illustrates a schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the electronic device 700 includes a computing unit 701, which may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
A number of components in the electronic device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
Computing unit 701 may be a variety of general purpose and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 701 performs the respective methods and processes described above, such as the system detection method. For example, in some embodiments, the system detection method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 700 via ROM 702 and/or communications unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the system detection method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the system detection method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
The disclosed embodiment also provides a vehicle, including: such as the electronic device shown in the embodiment of fig. 7.
The vehicle may include an autonomous automobile or the like.
The embodiment of the present disclosure further provides a cloud control platform, including: such as the electronic device shown in the embodiment of fig. 7.
The cloud control platform executes processing at a cloud end, and electronic equipment included in the cloud control platform can acquire data of a vehicle, such as pictures, videos and the like, so that image video processing and data calculation are performed; the cloud control platform can also be called a vehicle-road cooperative management platform, an edge computing platform, a cloud computing platform, a central system, a cloud server and the like.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims (31)

1. A system detection method, comprising:
determining a network heartbeat frequency at which the first system receives network heartbeat messages, the network heartbeat messages including messages sent by the second system to the first system over a network link;
determining a control message frequency of a control link message received by the first system, wherein the control link message comprises a message sent to the first system by the second system through a control; the control is used for controlling the communication between the second system and the component in the controlled platform;
and determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.
2. The method of claim 1, wherein the determining whether the second system is down based on the network heartbeat frequency and the control message frequency comprises:
determining whether the network heartbeat detection is abnormal or not based on the network heartbeat frequency;
determining whether the control heartbeat detection is abnormal or not based on the control message frequency;
determining that the second system is failed in response to the network heartbeat detection being abnormal and the control heartbeat detection being abnormal.
3. The method of claim 2, wherein the determining whether a network heartbeat detection is abnormal based on the network heartbeat frequency comprises:
determining that a network heartbeat detection is abnormal in response to the network heartbeat frequency not satisfying a first condition;
determining that network heartbeat detection is normal in response to the network heartbeat frequency satisfying the first condition.
4. The method according to claim 3, wherein the first condition comprises the network heartbeat frequency not being less than a first preset frequency, or the network heartbeat frequency not being less than a system preset value over twice a first preset time interval.
5. The method of claim 2, wherein the determining a control message frequency at which the first system receives control link messages comprises:
determining a first frequency, where the first frequency is a frequency at which the first system receives a first control packet, and the first control packet includes a packet sent by the second system to the first system through the control;
determining a second frequency, where the second frequency is a frequency at which the first system receives a second control packet, where the second control packet includes a packet sent by a controller to the first system, and the controller is configured to control communication between a component in the controlled platform and the first system;
the determining whether the control heartbeat detection is abnormal based on the control message frequency includes:
determining whether controlling heartbeat detection is abnormal based on the first frequency and the second frequency.
6. The method of claim 5, wherein the determining whether controlling heartbeat detection is abnormal based on the first frequency and the second frequency comprises:
in response to the first frequency not satisfying a second condition and the second frequency satisfying a third condition, determining that a control heartbeat detection is abnormal.
7. The method of claim 5, further comprising:
determining whether the first system is malfunctioning based on the second frequency.
8. The method of claim 7, wherein the determining whether the first system is malfunctioning based on the second frequency comprises:
determining that the first system failed in response to the first frequency not satisfying the second condition and the second frequency not satisfying the third condition; alternatively, the first system failure is determined in response to the first frequency satisfying the second condition and the second frequency not satisfying the third condition.
9. The method according to claim 6 or 8, wherein the second condition comprises the first frequency not being less than a second preset frequency, or the first frequency not being less than a ratio of a system preset value to twice a second preset time interval; the third condition includes that the second frequency is not less than a third preset frequency, or the second frequency is not less than a ratio of the system preset value to twice a third preset time interval.
10. The method of claim 1, wherein the determining a network heartbeat frequency at which the first system receives network heartbeat messages comprises:
determining a network heartbeat frequency based on a current time of the first system and a timestamp included in the network heartbeat message;
the determining the control packet frequency at which the first system receives the control link packet includes:
and determining the control message frequency based on the current time of the first system and the timestamp included in the control link message.
11. The method of claim 10, wherein the determining a network heartbeat frequency based on a current time of the first system and a timestamp included in the network heartbeat message comprises:
comparing the current time of the first system with the time stamps included in the network heartbeat messages according to the time sequence of the time stamps included in the network heartbeat messages;
responding to that a time difference value between the current time of the first system and a time stamp in time stamps included in each network heartbeat message meets a preset message receiving requirement, and calculating the network heartbeat frequency by using the time difference value meeting the preset message receiving requirement and the time stamp, wherein the preset message receiving requirement indicates that the heartbeat is normally sent.
12. The method according to claim 11, wherein the timestamps included in the respective network heartbeat messages are stored in a queue in chronological order;
the comparing, according to the time sequence of the timestamps included in each network heartbeat message, the current time of the first system with the timestamps included in each network heartbeat message includes:
comparing the current time of the first system with the time stamps included in the queue in the sequence from the tail of the queue to the head of the queue;
the preset message reception requirement comprises: the time difference value corresponding to the calculated timestamp is not less than a system preset value, the calculated message quantity is not less than a first ratio, or the queue reaches the head of the queue, wherein the first ratio is the ratio of the system preset value to the first preset time interval, and the calculated message quantity represents the number of timestamps which are compared with the current time of the first system.
13. The method of any of claims 1-12, wherein the control comprises a chassis driver for controlling the second system to communicate with a vehicle chassis; the controller is configured to control the vehicle chassis to communicate with the first system.
14. A system detection apparatus, comprising:
a network heartbeat frequency determining module, configured to determine a network heartbeat frequency at which the first system receives a network heartbeat message, where the network heartbeat message includes a message that the second system sends to the first system through a network link;
a control message frequency determining module, configured to determine a control message frequency at which a control link message is received by the first system, where the control link message includes a message sent to the first system by the second system through a control; the control is used for controlling the communication between the second system and the component in the controlled platform;
and the effectiveness determining module is used for determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.
15. The apparatus according to claim 14, wherein the validity determination module is specifically configured to determine whether a network heartbeat detection is abnormal based on the network heartbeat frequency; determining whether the control heartbeat detection is abnormal or not based on the control message frequency; determining that the second system is failed in response to the network heartbeat detection being abnormal and the control heartbeat detection being abnormal.
16. The apparatus according to claim 15, wherein the validity determination module is specifically configured to determine that a network heartbeat detection is abnormal in response to the network heartbeat frequency not satisfying a first condition; determining that network heartbeat detection is normal in response to the network heartbeat frequency satisfying the first condition.
17. The apparatus of claim 16, wherein the first condition comprises the network heartbeat frequency not being less than a first preset frequency, or the network heartbeat frequency not being less than a ratio of a system preset value to twice a first preset time interval.
18. The apparatus according to claim 15, wherein the control packet frequency determining module is specifically configured to determine a first frequency, where the first frequency is a frequency at which the first system receives a first control packet, and the first control packet includes a packet sent by the second system to the first system through the control; determining a second frequency, where the second frequency is a frequency at which the first system receives a second control packet, where the second control packet includes a packet sent by a controller to the first system, and the controller is configured to control communication between a component in the controlled platform and the first system;
and the effectiveness determining module is specifically used for determining whether the control heartbeat detection is abnormal or not based on the first frequency and the second frequency.
19. The apparatus according to claim 18, wherein the validity determination module is specifically configured to determine to control the heartbeat detection anomaly in response to the first frequency not satisfying a second condition and the second frequency satisfying a third condition.
20. The apparatus of claim 18, the apparatus further comprising:
a first system fault determination module to determine whether the first system is malfunctioning based on the second frequency.
21. The apparatus of claim 20, wherein the first system fault determination module is specifically configured to determine that the first system failed in response to the first frequency not satisfying the second condition and the second frequency not satisfying the third condition; alternatively, the first system failure is determined in response to the first frequency satisfying the second condition and the second frequency not satisfying the third condition.
22. The apparatus of claim 19 or 21, wherein the second condition comprises the first frequency not being less than a second preset frequency, or the first frequency not being less than a ratio of a system preset value to twice a second preset time interval; the third condition includes that the second frequency is not less than a third preset frequency, or the second frequency is not less than a ratio of the system preset value to twice a third preset time interval.
23. The apparatus according to claim 14, wherein the network heartbeat frequency determination module is specifically configured to determine the network heartbeat frequency based on a current time of the first system and a timestamp included in the network heartbeat message;
the control packet frequency determining module is specifically configured to determine the control packet frequency based on the current time of the first system and a timestamp included in the control link packet.
24. The apparatus according to claim 23, wherein the network heartbeat frequency determining module is specifically configured to compare the current time of the first system with the time stamps included in each network heartbeat message according to a time sequence of the time stamps included in each network heartbeat message; responding to that a time difference value between the current time of the first system and a time stamp in time stamps included in each network heartbeat message meets a preset message receiving requirement, and calculating the network heartbeat frequency by using the time difference value meeting the preset message receiving requirement and the time stamp, wherein the preset message receiving requirement indicates that the heartbeat is normally sent.
25. The apparatus according to claim 24, wherein the timestamps included in the respective network heartbeat messages are stored in a queue in chronological order;
the network heartbeat frequency determining module is specifically configured to compare the current time of the first system with the timestamps included in the queue according to an order from the tail of the queue to the head of the queue;
the preset message reception requirement comprises: the time difference value corresponding to the calculated timestamp is not less than a system preset value, the calculated message quantity is not less than a first ratio, or the queue reaches the head of the queue, wherein the first ratio is the ratio of the system preset value to the first preset time interval, and the calculated message quantity represents the number of timestamps which are compared with the current time of the first system.
26. The apparatus of any one of claims 14 to 25, wherein the control comprises a chassis driver for controlling the second system to communicate with a vehicle chassis; the controller is configured to control the vehicle chassis to communicate with the first system.
27. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-13.
28. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-13.
29. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-13.
30. A vehicle, comprising: the electronic device of claim 27.
31. A cloud controlled platform comprising the electronic device of claim 27.
CN202210323322.4A 2022-03-29 2022-03-29 System detection method, device, equipment, storage medium, vehicle and cloud control platform Active CN114844807B (en)

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