CN115993811A - Fault degradation simulation test method based on L4-level intelligent driving algorithm - Google Patents
Fault degradation simulation test method based on L4-level intelligent driving algorithm Download PDFInfo
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Abstract
According to fault diagnosis, degradation strategy function definition and function decomposition, the fault type to be tested is divided into a bottom layer communication related fault, an actuator failure related fault, an original vehicle positioning related fault and a software breakdown related fault; setting a corresponding fault injection scene according to each fault type to be detected; when a fault is suddenly generated in the intelligent driving process, the diagnosis module monitors the fault, reports the fault in the form of a fault code and transmits the fault to the execution layer, and the execution layer defines the fault level according to the fault and adopts a fault degradation strategy. The valve is used for L4-level intelligent driving algorithm, comprises fault injection scene library management, fault injection test execution, fault code and fault level monitoring and fault degradation behavior monitoring, and can be used for efficiently developing fault degradation function tests based on the L4-level intelligent driving algorithm.
Description
Technical Field
The invention belongs to the technical field of simulation tests, and particularly relates to a fault degradation simulation test method based on an L4-level intelligent driving algorithm.
Background
The L4-level intelligent driving algorithm developed by the current host factory or intelligent driving company is applied and adapted based on unmanned intelligent driving vehicles, so that the real landing application is realized in order to properly cope with sudden faults or breakdown situations of some original vehicle actuators, sensors, intelligent driving algorithms, intelligent driving environments and the like in the intelligent driving process, and corresponding fault degradation coping mechanisms are designed aiming at a plurality of typical fault working conditions so as to maintain stable running or braking waiting of the intelligent driving vehicles.
The L4-level intelligent driving test, especially the fault degradation test, is limited by the limitation of test regulations, the limitation of test sites, the limitation of test environments, the limitation of test equipment or the limitation of test safety, is often difficult to develop or fully test in a real vehicle environment, so that in order to fully test the fault degradation function of the L4-level intelligent driving algorithm, the test problem is back-fed to develop to accelerate the iterative speed of the development of the intelligent driving algorithm so as to accelerate the floor application of the L4-level intelligent driving algorithm, and a set of simulation test methods for marking the state of a real intelligent driving vehicle is very necessary to develop the fault degradation simulation test of the L4-level intelligent driving algorithm.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a fault degradation simulation test method based on an L4-level intelligent driving algorithm, which comprises fault injection scene library management, fault injection test execution, fault code and fault level monitoring and fault degradation behavior monitoring, and can be used for efficiently carrying out fault degradation function test based on the L4-level intelligent driving algorithm.
The invention provides a fault degradation simulation test method based on an L4-level intelligent driving algorithm, which is used for dividing fault types to be tested into a bottom layer communication related fault, an actuator failure related fault, an original vehicle positioning related fault and a software breakdown related fault according to fault diagnosis, degradation strategy function definition and function decomposition; the method comprises the steps that the mode of a bottom layer communication related fault injection scene is set to be in a corresponding CAN message interrupt fixed time length, the mode of an actuator failure related fault injection scene is set to be in a corresponding CAN signal continuous transmitting abnormal specific value, the mode of an original vehicle positioning related fault injection scene is set to be in a positioning CAN signal interrupt abnormal value, and the mode of a software breakdown related fault injection scene is a corresponding upstream software module which is stopped; setting a corresponding fault injection scene according to each fault type to be detected; when a fault is suddenly generated in the intelligent driving process, the diagnosis module monitors the fault, reports the fault in the form of a fault code and transmits the fault to the execution layer, and the execution layer defines the fault level according to the fault and adopts a fault degradation strategy.
As a further technical scheme of the invention, the bottom communication fault adopts a method of sending a value which is not 0 to a message break interface corresponding to the CAN message to be tested to form a message break with fixed duration; the bottom communication faults comprise steering related CAN message overtime faults, braking related CAN message overtime faults and power related CAN message overtime faults; the method for injecting the overtime fault of the steering related CAN message is to set the communication interruption of the steering related CAN message, the method for injecting the overtime fault of the braking related CAN message is to set the communication interruption of the braking related CAN message, and the method for injecting the overtime fault of the power related CAN message is to set the communication interruption of the power related CAN message.
Further, the failure related fault of the actuator adopts to send a target abnormal value to a corresponding interface of the CAN signal to be tested; the failure related faults of the actuator comprise failure of steering function, failure of braking function, failure of power function, failure of parking function, failure of gear control function and failure of vehicle body function; the injection mode of the steering function failure is to send a target abnormal value to the steering related CAN signal, the injection mode of the braking function failure is to send a target abnormal value to the braking related CAN signal, the injection mode of the power function failure is to send a target abnormal value to the power related CAN signal, the injection mode of the parking function failure is to send a target abnormal value to the parking related CAN signal, the injection mode of the gear control function failure is to send a target abnormal value to the gear control related CAN signal, and the injection mode of the vehicle body function failure is to send a target abnormal value to the vehicle body related CAN signal.
Furthermore, the fault that the speed exceeds a reasonable range and the fault that the positioning data jump in the original vehicle positioning related faults adopts a CAN signal corresponding interface to be detected to send a target abnormal value, and the fault that the positioning module does not receive the original data adopts the original data input of the interrupt positioning module; the original vehicle positioning related faults comprise that the vehicle speed exceeds a reasonable range, the positioning module does not receive original data and positioning data jump, the injection mode of the vehicle speed exceeding the reasonable range is to send an abnormal large value to a CAN signal corresponding to the vehicle speed, the injection mode of the positioning module not receiving the original data is to interrupt the original data input of the positioning module, and the injection mode of the positioning data jump is to send an abnormal jump value to the CAN signal corresponding to the positioning module.
Furthermore, the software breakdown related faults adopt a stopping intelligent driving software module, and the software breakdown related faults comprise a task management module breakdown, a positioning module breakdown, a map module breakdown, a fusion module, a vision module breakdown, a laser module breakdown, a planning module breakdown, a control module breakdown and a diagnosis module breakdown.
Further, the fault code is error_level, if no fault occurs, the fault level is constant at 0, i.e. n=0, and if the fault level is 1, i.e. n=1, the fault is slight fault, and the alarm is given; if the fault level is 2 when the fault occurs, namely N=2, the fault is a serious fault, the alarm is given, the vehicle is stopped at a reduced speed, and the intelligent driving mode is exited.
The present invention has the advantage that,
1. the simulation test method comprises fault injection scenes, fault injection realization, fault code and fault grade monitoring and fault degradation behavior monitoring, and has the advantages of high test efficiency, good repeatability and good safety.
2. The fault injection scene library covering each functional block of the intelligent driving algorithm is designed, various faults possibly encountered in the L4-level intelligent driving process are parameterized and structured, and compared with a fault injection test scene in an open road real vehicle test environment, the fault injection scene library is wider in coverage and clearer and more definite in scene details.
3. Corresponding fault injection realization forms are designed aiming at different types of fault injection scenes, specific fault injection realization steps are defined aiming at each fault scene, and therefore, all scenes in a fault injection scene library are ensured to have corresponding simulation test means, and compared with real vehicle tests, fault degradation test capability is more comprehensive and deeper.
4. The fault code and the fault grade reported by the diagnosis module can be monitored in real time, and meanwhile, the original vehicle parameters and the vehicle behavior of the simulated vehicle can be monitored in real time, so that the test and evaluation of the fault degradation test can be accurately and fully completed. Meanwhile, the simulation vehicle replaces a real vehicle, and the test stability, convenience and test result repeatability are better.
Drawings
FIG. 1 is a workflow diagram of the present invention;
FIG. 2 is a flow chart of the operation of the fault code & fault level monitoring of the present invention;
FIG. 3 is a workflow diagram of fault degradation behavior monitoring of the present invention.
Detailed Description
The fault degradation simulation test system is used for serving an L4-level intelligent driving algorithm, and the L4-level intelligent driving algorithm is used for carrying out application adaptation based on an unmanned intelligent driving vehicle and is required to design and develop corresponding fault degradation mechanisms for all fault types possibly happened by the unmanned intelligent driving vehicle, so that the fault degradation simulation test system is required to have test capability for all intelligent driving algorithm fault types and corresponding fault degradation strategies as much as possible.
Referring to fig. 1, the present embodiment provides a fault degradation simulation test method based on an L4 level intelligent driving algorithm, which divides the types of faults to be tested into a bottom layer flux related fault, an actuator failure related fault, an original vehicle positioning related fault and a software crash related fault according to fault diagnosis, degradation strategy function definition and function decomposition; the method comprises the steps that the mode of a bottom layer communication related fault injection scene is set to be in a corresponding CAN message interrupt fixed time length, the mode of an actuator failure related fault injection scene is set to be in a corresponding CAN signal continuous transmitting abnormal specific value, the mode of an original vehicle positioning related fault injection scene is set to be in a positioning CAN signal interrupt abnormal value, and the mode of a software breakdown related fault injection scene is a corresponding upstream software module which is stopped; setting a corresponding fault injection scene according to each fault type to be detected; when a fault is suddenly generated in the intelligent driving process, the diagnosis module monitors the fault, reports the fault in the form of a fault code and transmits the fault to the execution layer, and the execution layer defines the fault level according to the fault and adopts a fault degradation strategy.
In order to realize various faults possibly occurring in the L4-level intelligent driving algorithm in the running process of the unmanned vehicle, and further verify a fault degradation mechanism which is correspondingly triggered by the faults, the fault degradation triggering is realized by injecting corresponding faults based on a fault degradation simulation test system.
The fault injection implementation forms and implementation methods adopted by the fault degradation simulation test system are different corresponding to different types of fault injection scenes, as shown in table 1.
TABLE 1
The bottom communication fault CAN be realized by sending a value which is not 0 to a message break interface corresponding to the CAN message to be detected to form a message break with fixed duration.
As shown in table 2, the fault injection scenario of the bottom communication fault and the corresponding fault injection implementation steps are as follows.
| Sequence number | Fault injection scenario | Fault injection step |
| 1 | Overtime fault of steering related CAN message | Setting steering related CAN message communication interrupt |
| 2 | Overtime fault of brake related CAN message | Setting brake related CAN message communication interrupt |
| 3 | Power related CAN message overtime fault | Setting power-related CAN message communication interruption |
TABLE 2
The failure fault of the actuator CAN be simulated by sending a target abnormal value to a corresponding interface of the CAN signal to be tested,
as shown in table 3, the fault injection scenario of the actuator failure fault and the corresponding fault injection implementation steps are as follows.
| Sequence number | Fault injection scenario | Fault injection step |
| 1 | Failure of steering function | Transmitting a target outlier to a steering-related CAN signal |
| 2 | Failure of braking function | Transmitting a target outlier to a brake-related CAN signal |
| 3 | Failure of power function | Transmitting a target outlier to a power-related CAN signal |
| 4 | Failure of parking function | Transmitting a target outlier to a parking-related CAN signal |
| 5 | Failure of gear control function | Transmitting a target outlier to a gear control related CAN signal |
| 6 | Failure of vehicle body function | Transmitting target outliers to body-related CAN signals |
TABLE 3 Table 3
The implementation form of the fault that the speed exceeds a reasonable range and the fault that the positioning data jumps in the original vehicle positioning faults is similar to the failure fault of the actuator, and the fault that the positioning module does not receive the original data can be realized by interrupting the original data input of the positioning module.
As shown in table 4, the fault injection scenario of the original vehicle positioning fault and the corresponding fault injection implementation steps are as follows.
| Sequence number | Description of faults | Test procedure |
| 1 | Vehicle speed exceeding reasonable range | Transmitting abnormal large value to CAN signal corresponding to vehicle speed |
| 2 | The positioning module does not receive the original data | Interrupt positioning module raw data input |
| 3 | Positioning data hopping | Transmitting abnormal jump value to corresponding CAN signal of given bit |
TABLE 4 Table 4
The software crash fault can be realized by killing and stopping the corresponding intelligent driving software module.
As shown in table 5, the fault injection scenario of the software crash fault and the corresponding fault injection implementation steps are as follows.
| Sequence number | Fault injection scenario | Fault injection step |
| 1 | Task management module crashes | Killing and stopping task management module |
| 2 | Locating module crashes | Positioning module for killing and stopping |
| 3 | Map module crashes | Map module for killing parking |
| 4 | Fusion module | Killing and stopping fusion module |
| 5 | Visual module collapse | Killing and stopping vision module |
| 6 | Laser module breakdown | Stop laser module |
| 7 | Planning module crashes | Killing and stopping planning module |
| 8 | Control module crashes | Killing and stopping control module |
| 9 | Diagnosing module crashes | Disinfection diagnostic module |
TABLE 5
According to the software function definition and function decomposition of fault diagnosis and degradation strategy, when a certain fault is suddenly generated in the intelligent driving process, the diagnosis module monitors the fault occurrence and reports the fault in the form of a certain specific fault code and issues the fault to an execution layer. At the same time, the fault code corresponds to a predefined fault level (e.g., fault level is constant 0 when no fault occurs, fault level is 1-mild fault, 2-severe fault when a fault occurs), and the execution layer defines the severity of the fault according to the fault level and adopts a corresponding fault degradation policy, as shown in table 6.
| Sequence number | Failure level | Failure degradation strategy |
| 1 | Level 0 | No failure occurs and no alarm/degradation is required |
| 2 | Level 1 | Slight failure, alarm |
| 3 | Level 2 | Serious fault, alarm, deceleration and parking, and exit from intelligent driving mode |
TABLE 6
The fault degradation simulation test system can monitor the fault codes and the fault grades reported by the diagnosis module in real time, and formulate corresponding fault code and fault grade test evaluation indexes for all fault scenes to be tested based on the function definition, so that fault diagnosis function test verification for specific fault injection is realized, as shown in fig. 2.
After the diagnosis module monitors the fault and issues the fault code and the fault grade, the control can adopt a corresponding fault degradation strategy according to the received fault grade, so that the fault degradation function is realized. The fault degradation simulation test system is provided with corresponding original chassis environments to realize the response to the drive, brake and steering requests issued by control and the feedback of necessary original vehicle signals. Therefore, the vehicle behavior (acceleration, deceleration, parking and the like) and the original vehicle parameters (speed, acceleration, steering wheel rotation angle and the like) in the simulation test system can be monitored, and corresponding fault degradation test evaluation indexes are formulated for all fault scenes to be tested based on function definition, so that fault degradation function test verification for specific fault injection is realized.
The workflow of fault degradation behavior monitoring is shown in fig. 3.
The method comprises fault injection scene library management, fault injection test execution, fault code and fault grade monitoring and fault degradation behavior monitoring, and can be used for efficiently developing fault degradation function tests based on an L4 grade intelligent driving algorithm.
The fault injection scene library for the L4-level intelligent driving algorithm fault degradation test is constructed, and the fault injection scene library comprises 21 fault scenes corresponding to 4 fault types, such as a bottom layer communication type, an actuator failure type, an original vehicle positioning type, a software breakdown type and the like.
Corresponding fault injection realization forms are designed aiming at different types of fault injection scenes, and the injection of the fault scene is realized through a specific means, so that the fault injection test execution of the full-field Jing Ku is realized.
The fault code and the fault grade reported by the diagnosis module are monitored in real time, so that the fault diagnosis function test verification aiming at the specific fault injection scene is realized.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the specific embodiments described above, and that the above specific embodiments and descriptions are provided for further illustration of the principles of the present invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the claims and their equivalents.
Claims (6)
1. The fault degradation simulation test method based on the L4-level intelligent driving algorithm is characterized in that the fault types to be tested are divided into a bottom layer communication related fault, an actuator failure related fault, an original vehicle positioning related fault and a software breakdown related fault according to fault diagnosis, degradation strategy function definition and function decomposition; the method comprises the steps that the form of a bottom layer communication related fault injection scene is that a corresponding CAN message interrupt fixed time length is set, the form of an actuator failure related fault injection scene is that a corresponding CAN signal continuous sending abnormal specific value is set, the form of an original vehicle positioning related fault injection scene is that a positioning CAN signal interrupt and an abnormal value are set, and the form of a software breakdown related fault injection scene is that a corresponding upstream software module is killed and stopped; setting a corresponding fault injection scene according to each fault type to be detected; when a fault is suddenly generated in the intelligent driving process, the diagnosis module monitors the fault, reports the fault in the form of a fault code and transmits the fault to the execution layer, and the execution layer defines the fault level according to the fault and adopts a fault degradation strategy.
2. The fault degradation simulation test method based on the L4 level intelligent driving algorithm according to claim 1, wherein the bottom communication fault adopts a method of sending a value which is not 0 to a message break interface corresponding to a CAN message to be tested to form a message break with fixed duration; the bottom communication faults comprise steering related CAN message overtime faults, braking related CAN message overtime faults and power related CAN message overtime faults; the method for injecting the overtime fault of the steering related CAN message is to set the communication interruption of the steering related CAN message, the method for injecting the overtime fault of the braking related CAN message is to set the communication interruption of the braking related CAN message, and the method for injecting the overtime fault of the power related CAN message is to set the communication interruption of the power related CAN message.
3. The fault degradation simulation test method based on the L4-level intelligent driving algorithm of claim 1, wherein the failure related fault of the actuator adopts a method of sending a target abnormal value to a corresponding interface of a CAN signal to be tested; the related faults of the actuator failure comprise steering function failure, braking function failure, power function failure, parking function failure, gear control function failure and vehicle body function failure; the injection mode of the failure of the steering function is to send a target abnormal value to a steering related CAN signal, the injection mode of the failure of the braking function is to send a target abnormal value to a braking related CAN signal, the injection mode of the failure of the power function is to send a target abnormal value to a power related CAN signal, the injection mode of the failure of the parking function is to send a target abnormal value to a parking related CAN signal, the injection mode of the failure of the gear control function is to send a target abnormal value to a gear control related CAN signal, and the injection mode of the failure of the vehicle body function is to send a target abnormal value to a vehicle body related CAN signal.
4. The fault degradation simulation test method based on the L4-level intelligent driving algorithm is characterized in that a fault with the speed exceeding a reasonable range and a fault with the jump of positioning data in the original vehicle positioning related faults adopt a CAN signal corresponding interface to be tested to send a target abnormal value, and a fault with the positioning module not receiving the original data adopts an interrupt positioning module original data input; the original vehicle positioning related faults comprise that the vehicle speed exceeds a reasonable range, the positioning module does not receive original data and positioning data jump, the injection mode of the vehicle speed exceeding the reasonable range is to send an abnormal large value to a CAN signal corresponding to the vehicle speed, the injection mode of the positioning module not receiving the original data is to interrupt the original data input of the positioning module, and the injection mode of the positioning data jump is to send the abnormal jump value to the CAN signal corresponding to the positioning module.
5. The fault degradation simulation test method based on the L4 level intelligent driving algorithm according to claim 1, wherein the software breakdown related faults adopt a stopping intelligent driving software module, and the software breakdown related faults comprise a task management module breakdown, a positioning module breakdown, a map module breakdown, a fusion module, a vision module breakdown, a laser module breakdown, a planning module breakdown, a control module breakdown and a diagnosis module breakdown.
6. The fault degradation simulation test method based on the L4 level intelligent driving algorithm according to claim 1, wherein the fault code is error_level, if no fault occurs, the fault level is constantly 0, i.e. n=0, and if the fault level is 1, i.e. n=1, the fault is slight fault, and the alarm is given; if the fault level is 2 when the fault occurs, namely N=2, the fault is a serious fault, the alarm is given, the vehicle is stopped at a reduced speed, and the intelligent driving mode is exited.
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| CN117485356A (en) * | 2023-12-29 | 2024-02-02 | 合众新能源汽车股份有限公司 | High-precision positioning fault diagnosis method and system based on risk level evaluation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117485356A (en) * | 2023-12-29 | 2024-02-02 | 合众新能源汽车股份有限公司 | High-precision positioning fault diagnosis method and system based on risk level evaluation |
| CN117485356B (en) * | 2023-12-29 | 2024-04-05 | 合众新能源汽车股份有限公司 | High-precision positioning fault diagnosis method and system based on risk level evaluation |
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