CN115384532A

CN115384532A - Method and device for diagnosing fault of automatic driving area controller, electronic equipment and storage medium

Info

Publication number: CN115384532A
Application number: CN202211073286.7A
Authority: CN
Inventors: 陆中奎
Original assignee: Zhidao Network Technology Beijing Co Ltd
Current assignee: Zhidao Network Technology Beijing Co Ltd
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2022-11-25

Abstract

The application discloses a method and a device for diagnosing faults of an automatic driving area controller, electronic equipment and a storage medium, wherein the method comprises the following steps: performing fault diagnosis on functional components in the automatic driving domain controller; if the fault occurs, collecting fault information of the functional component corresponding to the fault to a second SOC module; uploading the summarized fault information and the grading result of the fault information by the second SOC module to a cloud platform; and issuing a fault processing instruction through the second SOC module and/or the cloud platform based on the grading result of the fault information so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction. Through the hierarchical fault diagnosis and processing, necessary vehicle control can be performed according to different faults, and the running safety of the automatic driving vehicle is further improved.

Description

Method and device for diagnosing fault of automatic driving area controller, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for diagnosing a fault of an automatic driving area controller, an electronic device, and a storage medium.

Background

With the development of artificial intelligence, automotive electronics and internet technology, the automatic driving of automobiles is receiving more and more attention, and research works of automatic driving are successively developed by various large automobile enterprises and scientific research institutions all around the world.

The automation of vehicle driving needs to make planning decision through an automatic driving domain controller according to the received perception information and vehicle information, and send a control instruction to control the action of an actuating mechanism. Therefore, safe and stable operation of the automatic driving area controller, the sensing system and the vehicle system is very important.

In the related art, safety problems such as vehicle runaway and collision caused by faults in the running process of the automatic driving vehicle often occur, and therefore the running safety of the automatic driving vehicle is influenced.

Disclosure of Invention

The embodiment of the application provides a method and a device for diagnosing faults of an automatic driving area controller, electronic equipment and a storage medium, so that necessary vehicle control is performed according to different faults, and the running safety of an automatic driving vehicle is further improved.

The embodiment of the application adopts the following technical scheme:

in a first aspect, an embodiment of the present application provides a method for diagnosing a fault of an automatic driving domain controller, where the method includes:

performing fault diagnosis on functional components in the automatic driving domain controller;

if the fault occurs, collecting the fault information of the functional component corresponding to the fault to a second SOC module;

uploading the summarized fault information and the grading result of the fault information by the second SOC module to a cloud platform;

and issuing a fault processing instruction through the second SOC module and/or the cloud platform based on the grading result of the fault information so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction.

In a second aspect, an embodiment of the present application further provides an automatic driving area controller fault diagnosis apparatus, where the apparatus includes:

the diagnosis module is used for carrying out fault diagnosis on the functional components in the automatic driving domain controller;

the fault summarizing module is used for summarizing the fault information of the functional component corresponding to the fault to the second SOC module if the fault occurs;

the uploading module is used for uploading the summarized fault information and the grading result of the fault information by the second SOC module to a cloud platform;

and the issuing module is used for issuing a fault processing instruction through the second SOC module and/or the cloud platform based on the grading result of the fault information so as to enable the automatic driving domain controller to process the fault in the functional component according to the fault processing instruction.

In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the above method.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device that includes a plurality of application programs, cause the electronic device to perform the above-described method.

In a fifth aspect, an embodiment of the present application further provides an automatic driving domain controller fault diagnosis system, where the system includes: the automatic driving area controller ACU and perception system, perception system with automatic driving area controller ACU module communication is connected, the inside of automatic driving area controller includes: an SOC1 perception planning module, an FPGA module, an MCU module and an SOC2 decision module,

the SOC1 perception planning module is used for receiving perception information in the perception system;

the SOC1 perception planning module, the FPGA module and the MCU module are all in communication connection with the SOC2 decision module and are used for gathering fault information to the SOC2 decision module;

the SOC2 decision module is connected with the mobile communication module and used for synchronizing information to the cloud server;

the automatic driving domain controller externally includes: further comprising: the vehicle control unit VCU is in communication connection with the MCU module through a CAN communication protocol, and the OBD module is in communication connection with the MCU module through a CAN communication protocol.

The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:

and if faults occur, the fault information of the functional components corresponding to the faults is gathered to a second SOC module, and the gathered fault information and the grading result of the fault information by the second SOC module are uploaded to a cloud platform. The fault information is gathered to the second SOC module to be classified, and the fault information and the result of the fault information are uploaded to the cloud platform, so that unified gathering and classification of the fault information can be realized. And further issuing a fault processing instruction through the second SOC module and/or the cloud platform based on the grading result of the fault information so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction, and effectively processing the fault in the functional component by issuing the fault processing instruction through the second SOC module and/or the cloud platform according to the grading result of different fault information.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic hardware structure diagram of a fault diagnosis method for an automatic driving area controller in an embodiment of the present application;

FIG. 2 is a schematic flow chart illustrating a method for diagnosing a fault of an automatic driving area controller according to an embodiment of the present application;

FIG. 3 is a schematic flow chart illustrating a method for diagnosing a fault of an automatic driving area controller according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a fault diagnosis device of an automatic driving area controller in an embodiment of the present application;

fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

Technical terms in the embodiments of the present application are as follows:

ACU (English full name: automatic-driving Control Unit, automatic driving area controller)

VCU (English full name: vehicle control unit)

SOC (English full name: system on Chip, system on Chip)

FPGA (Field Programmable Gate Array, english full name)

MCU (English full name: microcontroller Unit, microcontrol Unit)

OBD (English full name: on Board Diagnostics, vehicle self-diagnosis system)

Safe and stable operation of the automatic driving area controller, the sensing system and the vehicle system is very important. In order to reduce safety problems of vehicle runaway, collision and the like caused by faults in the running process of an automatic driving vehicle, the embodiment of the application provides a fault diagnosis system and a fault diagnosis method of an automatic driving domain controller, so that the running safety of the automatic driving vehicle is improved.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the hardware structure of the method for diagnosing a fault of an automatic driving domain controller in the embodiment of the present application at least includes: the system comprises a sensing system, an SOC1 sensing planning module, an FPGA module, an MCU module, an SOC2 decision-making module, a vehicle control unit VCU module, an OBD module, a cloud server and a background client.

The SOC1 perception planning module, the FPGA module, the MCU module and the SOC2 decision module are arranged in an automatic driving area controller ACU module. The OBD module, the VCU module and the sensing system are in communication connection with the automatic driving area controller ACU module. In addition, the ACU module is also provided with a 5G/4G communication module. And the information transmission is carried out among the modules through the Ethernet. The sensing system includes, but is not limited to, a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

The automatic driving area controller ACU and the vehicle control unit VCU transmit information through the MCU module in CAN communication, the automatic driving area controller ACU and the cloud service transmit information through the 5G/4G communication module in a mobile network, and the cloud server transmits information through a safety internet channel.

The embodiment of the application provides a fault diagnosis method for an automatic driving domain controller, and as shown in fig. 2, a flow schematic diagram of the fault diagnosis method for the automatic driving domain controller in the embodiment of the application is provided, where the method at least includes the following steps S210 to S230:

and step S210, carrying out fault diagnosis on the functional components in the automatic driving area controller.

Through fault detection software or hardware in the related art, fault diagnosis may be performed on a functional component in the automatic driving domain controller, and the fault diagnosis may be a hardware fault or a hardware fault, a system level fault or a node level fault, which is not specifically limited in the embodiments of the present application.

Based on the above hardware structure, the fault diagnosis of the functional component in the automatic driving area controller may include, but is not limited to, the SOC1 perception planning module, the FPGA module, the MCU module, and the SOC2 decision module. The OBD module, the VCU module and the perception system can be further included. That is, fault diagnosis is required for both the fault of the functional component in the automatic driving domain controller and the fault of the functional component communicatively connected to the automatic driving domain controller.

Step S220, if a fault occurs, summarizing the fault information of the functional component corresponding to the fault to a second SOC module.

If the faults occur, the fault information of the functional components corresponding to the faults is collected and is collected into the second SOC module. It can be understood that the second SOC module adopts a vehicle-mounted chip, and specific functions can be used for decision control. But may of course be used to handle other autonomous driving functions.

It can be understood that the fault diagnosis information of the SOC1 perception planning module, the fault diagnosis information of the FPGA module, the fault diagnosis information of the MCU module, and the SOC2 decision module (self fault diagnosis information) are all summarized to the SOC2 decision module. Similarly, the faults of the OBD module, the faults of the VCU module and the faults of the perception system are all summarized to the SOC2 decision module. But the communication channels used for fault information aggregation are not the same.

It should be noted that, generally, self-fault diagnosis is performed in each module, and it is not necessary to contact other modules, and each module is summarized to the second SOC module according to its self-fault diagnosis result. And the second SOC module can synchronously receive the self fault.

Step S230, uploading the summarized fault information and the classification result of the fault information by the second SOC module to a cloud platform.

And uploading the summarized fault information to the cloud platform, and storing the fault information on the cloud platform. Meanwhile, the grading result of the fault information through the second SOC module is uploaded to the cloud platform.

It can be understood that the cloud platform can determine whether the SOC2 decision module in the automatic driving area controller has the processing capability after comprehensive judgment according to the grading result of the fault information and the collected fault information, and if not, cloud delivery is required, and if yes, the corresponding fault processing instruction can be delivered directly at the SOC2 decision module without cloud delivery. In this way, necessary vehicle control can be performed for different faults to improve the safety of the operation of the autonomous vehicle.

For example, through fault summarizing and fault grading processing, the problems of vehicle runaway and vehicle collision caused by relevant faults (software or hardware) can be reduced in the driving process of the automatic driving vehicle, namely relevant faults in the automatic driving domain controller or controllers relevant to the automatic driving domain controller are found in advance and are solved through preset fault processing measures.

Step S240, based on the classification result of the fault information, issuing a fault processing instruction through the second SOC module and/or the cloud platform, so that the autopilot domain controller processes the fault in the functional component according to the fault processing instruction.

And issuing a fault processing instruction through the second SOC module and/or the cloud platform after the grading result based on the fault information, so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction.

It will be appreciated that the corresponding execution mechanism will execute the fault handling instruction and complete the fault handling instruction action. Corresponding actuators herein include, but are not limited to: a software execution mechanism, a hardware execution mechanism, or other mechanism capable of executing fault handling instructions is not specifically limited in this application.

In an embodiment of the application, the issuing, based on the classification result, a fault handling instruction through the second SOC module and/or the cloud platform includes: receiving judgment information issued by the cloud platform based on the grading result; if the second SOC module can process the fault according to the judgment information, issuing a corresponding fault processing instruction according to a preset fault processing measure through the second SOC module; and if the second SOC module is judged to be not processable according to the judgment information, issuing a corresponding fault processing instruction according to a preset fault processing measure through the cloud platform.

In specific implementation, based on the classification result, judgment information (including judgment of processing by a cloud server or processing by a second SOC module) issued by the cloud platform is received, and if the judgment information indicates that the second SOC module can process the information, a corresponding fault processing instruction is issued by the second SOC module according to a preset fault processing measure. It should be noted that the conditions that can be handled by the second SOC module are pre-configured or configured according to the fault classification.

Further, if the second SOC module is judged to be not processable according to the judgment information, a corresponding fault processing instruction is issued through the cloud platform according to a preset fault processing measure. It should be noted that the second SOC module is configured in advance for the condition that it is not able to process, or configured according to the fault classification. Correspondingly, if the SOC module is not processable, the SOC module needs to be processed by the cloud platform, or is correspondingly configured to be processed by the cloud platform according to the fault classification.

In one embodiment of the present application, the functional components include at least one of: FPGA module, MCU module, vehicle control unit VCU, OBD module, perception system, with the first SOC module that perception system is connected, if break down, then will correspond the fault information of functional component and gather to second SOC module, include: if the FPGA module fails, sending fault information of a corresponding functional component in the FPGA module to a second SOC module through Ethernet; and/or if the MCU module fails, sending the failure information of the functional component corresponding to the MCU module to a second SOC module through the Ethernet; and/or if the vehicle control unit VCU has a fault, collecting fault information of a functional component corresponding to the vehicle control unit VCU to the MCU module by the CAN communication bus and then sending the fault information to the second SOC module; and/or if the OBD module fails, collecting fault information of the functional components corresponding to the OBD module to the MCU module by using a CAN communication bus and then sending the fault information to the second SOC module; and/or if the first SOC module has a fault, sending fault information of a corresponding functional component in a sensing system corresponding to the first SOC module to the second SOC module; and/or sending fault information in decision control to the second SOC module under the condition that the second SOC module is used as a decision control module; the uploading the grading result of the fault information by the second SOC module to a cloud platform comprises: and uploading the grading result of the fault information by the second SOC module to the cloud platform through a wireless communication network.

In specific implementation, the functional components include, but are not limited to, an FPGA module, an MCU module, a vehicle control unit VCU, an OBD module, a sensing system, and a first SOC module connected to the sensing system.

Illustratively, after the FPGA module performs fault diagnosis, the fault diagnosis information is synchronized to the second SOC module for fault diagnosis and processing. And after the MCU module carries out fault diagnosis, synchronizing the fault diagnosis information of the MCU module to the second SOC module for fault diagnosis and processing. And synchronizing the fault information of the OBD module to the second SOC module for fault diagnosis and processing. If any one of millimeter wave radar, laser radar, ultrasonic radar and camera in the sensing system has a fault, fault information is subjected to fault diagnosis and processing on the second SOC module through the first SOC module. It should be noted that the failure of the sensing system needs to be diagnosed in the first SOC module, since the relevant sensing information is transmitted to the first SOC module, and the first SOC module is mainly used for sensing planning.

Furthermore, the fault information of the OBD module and the fault information of the VCU module are firstly collected to the MCU, and then the MCU collects faults. Meanwhile, the MCU needs to perform self-checking on self faults. In addition, if the VCU of the vehicle control unit fails, the fault information of the functional component corresponding to the VCU of the vehicle control unit is collected to the MCU module by the CAN communication bus and then sent to the second SOC module. And similarly, if the OBD module breaks down, the fault information of the corresponding functional component of the OBD module is collected to the MCU module by the CAN communication bus and then is sent to the second SOC module.

In an embodiment of the application, if it is determined that the second SOC module can process according to the determination information, issuing a corresponding fault processing instruction according to a preset fault processing measure through the second SOC module includes: if the judgment information is processable by the second SOC module, issuing a corresponding fault processing instruction to the MCU module through the second SOC module according to a preset fault processing measure; if the second SOC module is judged to be not processable according to the judgment information, issuing a corresponding fault processing instruction according to a preset fault processing measure through the cloud platform, wherein the fault processing instruction comprises the following steps: and if the judgment information is that the second SOC module is not processable, receiving the corresponding fault processing instruction issued by the cloud platform according to the preset fault processing measure.

In specific implementation, if the judgment information is that the second SOC module can process the judgment information, a corresponding fault processing instruction is issued to the MCU module through the second SOC module according to a preset fault processing measure. Namely, if the second SOC module can process (including some MCU module self failures, VCU module failures, and OBD module failures), the second SOC module can directly issue a related failure processing instruction to the MCU module.

Meanwhile, if the judgment information is that the second SOC module is not processable, the corresponding fault processing instruction issued by the cloud platform according to the preset fault processing measure is received. The fault handling instruction issued by the cloud platform may be used to handle a system including, but not limited to, the first SOC module, the FPGA module, and the like.

In some embodiments, the fault information is uploaded to the cloud server mainly through a 5G/4G communication protocol, and then the cloud server evaluates at the background client according to the uploading result and synchronizes to the cloud server to issue the fault processing instruction.

In an embodiment of the application, the issuing, based on the classification result, a fault handling instruction through the second SOC module and/or the cloud platform to enable an automatic driving domain controller to handle a fault in the functional component according to the fault handling instruction includes: and under the condition that the grading result of the fault information is judged to be processable by the second SOC module according to a first fault preset processing measure, issuing a fault processing instruction to a target functional component with a fault through the second SOC module so that an automatic driving domain controller processes the fault in the functional component according to the fault processing instruction, wherein the first fault preset processing measure comprises a processing measure of the fault according to a first preset influence degree on an automatic driving function.

In specific implementation, different modes of issuing fault processing instructions through the second SOC module can be adopted for different influence programs of faults on the automatic driving function.

And under the condition that the grading result of the fault information is judged to be processable by the second SOC module according to a first fault preset processing measure, issuing a fault processing instruction to a target functional component with a fault through the second SOC module, wherein the first fault preset processing measure comprises a processing measure of the fault according to a preset first influence degree on the automatic driving function. That is to say, by defining the fault level and the processing measure corresponding to the fault in advance, the cloud server or the second SOC module can be selected to issue the fault processing instruction when the fault actually occurs.

In an embodiment of the application, the issuing, by the second SOC module and/or the cloud platform, a fault processing instruction based on a classification result of the fault information, so that an automatic driving domain controller processes a fault in the functional component according to the fault processing instruction includes: and under the condition that the grading result of the fault information is judged to be processable by the cloud platform according to a second fault preset processing measure, issuing a fault processing instruction to a target functional component with a fault through the cloud platform so that an automatic driving domain controller processes the fault in the functional component according to the fault processing instruction, wherein the second fault preset processing measure comprises a processing measure for the fault according to a preset first influence degree on the automatic driving function, and the second influence degree on the automatic driving function is greater than the first influence degree on the automatic driving function.

In specific implementation, different modes of issuing fault processing instructions through the cloud server can be adopted for different influence programs of faults on the automatic driving function. It can be understood that, for a fault with a large fault level and a large influence on the automatic driving function, issuing of a fault instruction by the cloud server may be configured in advance.

And under the condition that the grading result of the fault information is judged to be processable by the cloud platform according to a second fault preset processing measure, issuing a fault processing instruction to the faulted target function component through the cloud platform, wherein the second fault preset processing measure comprises a fault processing measure according to a preset first influence degree on the automatic driving function, and the second influence degree on the automatic driving function is greater than the first influence degree on the automatic driving function. That is to say, the second fault preset processing measure has a higher fault level, and is required to be issued by the cloud server for a fault with a larger influence on automatic driving.

In an embodiment of the application, the issuing, by the second SOC module and/or the cloud platform, a fault processing instruction based on the classification result of the fault information to enable an automatic driving domain controller to process the fault in the functional component according to the fault processing instruction includes: based on the grading result of the fault information, parallelly issuing a fault processing instruction through the second SOC module and the cloud platform so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction; and based on the grading result of the fault information, issuing a synchronous issuing fault processing instruction through the second SOC module, or issuing the fault processing instruction asynchronously or synchronously through the cloud platform, so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction.

In specific implementation, in consideration of different real-time performance and stability of fault processing, the fault processing instruction may be issued in parallel by the second SOC module and the cloud platform based on the classification result of the fault information, and the fault processing instruction may be issued synchronously by the second SOC module or issued asynchronously or synchronously by the cloud platform based on the classification result of the fault information, so as to meet different requirements of real-time performance and stability of fault processing.

As shown in fig. 3, it is a schematic flow chart of the fault diagnosis method for an automatic driving domain controller in the embodiment of the present application, specifically including the following steps:

and S1, diagnosing faults of all modules of the domain controller.

The fault diagnosis of the functional component in the automatic driving domain controller may include, but is not limited to, the SOC1 perception planning module, the FPGA module, the MCU module, and the SOC2 decision module. The OBD module, the VCU module and the perception system can be further included. That is, fault diagnosis is required for both the fault of the functional component in the automatic driving domain controller and the fault of the functional component communicatively connected to the automatic driving domain controller.

S2, whether a fault exists or not is judged, and if yes, the process goes to S3.

If the faults occur, the fault information of the functional components corresponding to the faults is collected and is collected into the second SOC module. It can be understood that the second SOC module employs an on-board level chip, and specific functions can be used for decision control. But of course can be used to handle other autonomous driving functions.

It can be understood that the fault diagnosis information of the SOC1 perception planning module, the fault diagnosis information of the FPGA module, the fault diagnosis information of the MCU module, and the SOC2 decision module (self fault diagnosis information) are all collected to the SOC2 decision module. Similarly, the faults of the OBD module, the VCU module and the sensing system are all collected to the SOC2 decision module. But the communication channels used when summarizing the fault information are different.

And S3, transmitting the fault information to the SOC2 decision module for summary processing.

And S4, the SOC2 fault classification and uploading platform.

And S5, judging whether the SOC2 can be processed, if so, entering S6, and if not, entering S7.

And S6, the SOC2 sends a processing instruction according to the fault processing measures.

If the judgment information is processable by the second SOC module, a corresponding fault processing instruction is issued to the MCU module through the second SOC module according to preset fault processing measures

And S7, the cloud platform issues a processing instruction according to the fault processing measure.

And if the judgment information is that the second SOC module is not processable, receiving the corresponding fault processing instruction issued by the cloud platform according to the preset fault processing measure.

And S8, the executing mechanism completes the fault processing command action.

The execution mechanism includes, but is not limited to, a hardware or software execution mechanism to perform fault handling according to the fault handling instruction.

The embodiment of the present application further provides an automatic driving area controller fault diagnosis apparatus 400, as shown in fig. 4, which provides a schematic structural diagram of the automatic driving area controller fault diagnosis apparatus in the embodiment of the present application, where the automatic driving area controller fault diagnosis apparatus 400 at least includes: the system comprises a diagnosis module 410, a fault summary module 420, an upload module 430 and a delivery module 440, wherein:

in an embodiment of the present application, the diagnostic module 410 is specifically configured to: and carrying out fault diagnosis on the functional components in the automatic driving domain controller.

Based on the above hardware structure, the fault diagnosis of the functional component in the automatic driving area controller may include, but is not limited to, the SOC1 perception planning module, the FPGA module, the MCU module, and the SOC2 decision module. The OBD module, the VCU module and the sensing system can be further included. That is, fault diagnosis is required for both the fault of the functional component in the automatic driving domain controller and the fault of the functional component communicatively connected to the automatic driving domain controller.

In an embodiment of the present application, the fault summary module 420 is specifically configured to: and if the fault occurs, summarizing the fault information of the functional component corresponding to the fault to a second SOC module.

It can be understood that the fault diagnosis information of the SOC1 perception planning module, the fault diagnosis information of the FPGA module, the fault diagnosis information of the MCU module, and the SOC2 decision module (self fault diagnosis information) are all collected to the SOC2 decision module. Similarly, the faults of the OBD module, the VCU module and the sensing system are all collected to the SOC2 decision module. But the communication channels used for fault information aggregation are not the same.

It should be noted that, generally, self-fault diagnosis is performed in each module, and it is not necessary to contact other modules, and each module is summarized to the second SOC module according to its fault diagnosis result. And the second SOC module can synchronously receive the self fault.

In an embodiment of the present application, the uploading module 430 is specifically configured to: and uploading the summarized fault information and the grading result of the fault information by the second SOC module to a cloud platform.

It can be understood that the cloud platform can determine whether the SOC2 decision module in the automatic driving area controller has the processing capability after comprehensive judgment according to the grading result of the fault information and the collected fault information, and if not, cloud delivery is required, and if yes, the corresponding fault processing instruction can be delivered directly at the SOC2 decision module without cloud delivery. In this way, it is possible to perform necessary vehicle control for different failures to improve the safety of the operation of the autonomous vehicle.

In an embodiment of the present application, the issuing module 440 is specifically configured to: and issuing a fault processing instruction through the second SOC module and/or the cloud platform based on the grading result of the fault information so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction.

It can be understood that the above-mentioned fault diagnosis device for an automatic driving area controller can implement each step of the fault diagnosis method for an automatic driving area controller provided in the foregoing embodiment, and the relevant explanations about the fault diagnosis method for an automatic driving area controller are applicable to the fault diagnosis device for an automatic driving area controller, and are not described herein again.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 5, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.

The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not indicate only one bus or one type of bus.

And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.

And the processor reads a corresponding computer program from the nonvolatile memory into the memory and runs the computer program to form the automatic driving area controller fault diagnosis device on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:

if the fault occurs, collecting fault information of the functional component corresponding to the fault to a second SOC module;

The method executed by the automatic driving domain controller fault diagnosis device disclosed in the embodiment of fig. 2 of the present application can be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

The electronic device may further execute the method executed by the automatic driving domain controller fault diagnosis apparatus in fig. 2, and implement the functions of the automatic driving domain controller fault diagnosis apparatus in the embodiment shown in fig. 2, which are not described herein again in this embodiment of the present application.

An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including multiple application programs, enable the electronic device to perform the method performed by the automatic driving domain controller fault diagnosis apparatus in the embodiment shown in fig. 2, and are specifically configured to perform:

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises that element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An autonomous drive domain controller fault diagnostic method for an autonomous drive domain controller, wherein the method comprises:

2. The method of claim 1, wherein said issuing fault handling instructions by said second SOC module and/or said cloud platform based on said ranking results comprises:

receiving judgment information issued by the cloud platform based on the grading result;

if the second SOC module is judged to be capable of processing according to the judgment information, a corresponding fault processing instruction is issued through the second SOC module according to a preset fault processing measure;

and if the second SOC module is judged to be not processable according to the judgment information, issuing a corresponding fault processing instruction according to a preset fault processing measure through the cloud platform.

3. The method of claim 2, wherein the functional components include at least one of: an FPGA module, an MCU module, a vehicle control unit VCU, an OBD module, a sensing system, and a first SOC module connected with the sensing system,

if the fault occurs, the fault information of the corresponding functional component is gathered to the second SOC module, and the method comprises the following steps:

if the FPGA module fails, sending fault information of a corresponding functional component in the FPGA module to a second SOC module through Ethernet;

and/or if the MCU module fails, sending the failure information of the functional component corresponding to the MCU module to a second SOC module through the Ethernet;

and/or if the VCU of the vehicle control unit fails, summarizing the fault information of the functional component corresponding to the VCU of the vehicle control unit to the MCU module by using the CAN communication bus and then sending the fault information to the second SOC module;

and/or if the OBD module breaks down, collecting fault information of the functional components corresponding to the OBD module to the MCU module through the CAN communication bus and then sending the fault information to the second SOC module;

and/or if the first SOC module has a fault, sending fault information of a corresponding functional component in a sensing system corresponding to the first SOC module to the second SOC module;

and/or sending fault information in decision control to the second SOC module under the condition that the second SOC module is used as a decision control module;

the uploading the grading result of the fault information by the second SOC module to a cloud platform comprises:

and uploading the grading result of the fault information by the second SOC module to the cloud platform through a wireless communication network.

4. The method of claim 2, wherein:

if the second SOC module is judged to be capable of processing according to the judgment information, issuing a corresponding fault processing instruction according to a preset fault processing measure through the second SOC module comprises the following steps:

if the judgment information is processable by the second SOC module, issuing a corresponding fault processing instruction to the MCU module through the second SOC module according to a preset fault processing measure;

if the second SOC module is judged to be not processable according to the judgment information, issuing a corresponding fault processing instruction according to a preset fault processing measure through the cloud platform, wherein the fault processing instruction comprises the following steps:

5. The method of claim 1, wherein the issuing, based on the grading result, a fault handling instruction through the second SOC module and/or the cloud platform to cause an automatic driving domain controller to handle the fault in the functional component according to the fault handling instruction comprises:

and under the condition that the grading result of the fault information is judged to be processable by the second SOC module according to a first fault preset processing measure, issuing a fault processing instruction to a target functional component with a fault through the second SOC module so that an automatic driving domain controller processes the fault in the functional component according to the fault processing instruction, wherein the first fault preset processing measure comprises a processing measure of the fault according to a first preset influence degree on an automatic driving function.

6. The method of claim 5, wherein the issuing, by the second SOC module and/or the cloud platform, a fault handling instruction based on the grading result of the fault information to enable an automatic driving domain controller to handle the fault in the functional component according to the fault handling instruction comprises:

and under the condition that the grading result of the fault information is judged to be processable by the cloud platform according to a second fault preset processing measure, issuing a fault processing instruction to a target functional component with a fault through the cloud platform so that an automatic driving domain controller processes the fault in the functional component according to the fault processing instruction, wherein the second fault preset processing measure comprises a processing measure according to the fault with a first preset influence degree on the automatic driving function, and the second influence degree on the automatic driving function is greater than the first influence degree on the automatic driving function.

7. The method of claim 1, wherein the issuing, by the second SOC module and/or the cloud platform, a fault handling instruction based on the grading result of the fault information to cause an automatic driving domain controller to handle the fault in the functional component according to the fault handling instruction comprises:

based on the grading result of the fault information, parallelly issuing a fault processing instruction through the second SOC module and the cloud platform so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction;

and based on the grading result of the fault information, issuing a synchronous issuing fault processing instruction through the second SOC module, or issuing the fault processing instruction asynchronously or synchronously through the cloud platform, so that the automatic driving domain controller processes the fault in the functional component according to the fault processing instruction.

8. An automatic driving domain controller fault diagnosis apparatus, wherein the apparatus comprises:

the fault collecting module is used for collecting fault information of the functional component corresponding to the fault to the second SOC module if the fault occurs;

9. An electronic device, comprising:

a processor; and

a memory arranged to store computer executable instructions that when executed cause the processor to perform the method of any one of claims 1 to 7.

10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-7.

11. An automatic driving domain controller fault diagnosis system, wherein the system comprises: the automatic driving area controller ACU and perception system, perception system with automatic driving area controller ACU module communication is connected, the inside of automatic driving area controller includes: an SOC1 perception planning module, an FPGA module, an MCU module and an SOC2 decision module,