CN117325888A - Vehicle automatic driving state monitoring method and device, vehicle machine system and storage medium - Google Patents
Vehicle automatic driving state monitoring method and device, vehicle machine system and storage medium Download PDFInfo
- Publication number
- CN117325888A CN117325888A CN202311508307.8A CN202311508307A CN117325888A CN 117325888 A CN117325888 A CN 117325888A CN 202311508307 A CN202311508307 A CN 202311508307A CN 117325888 A CN117325888 A CN 117325888A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- state
- state information
- monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 85
- 238000012544 monitoring process Methods 0.000 title claims abstract description 83
- 230000002159 abnormal effect Effects 0.000 claims abstract description 45
- 230000026676 system process Effects 0.000 claims abstract description 13
- 238000011112 process operation Methods 0.000 claims abstract description 11
- 230000006870 function Effects 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 20
- 230000005856 abnormality Effects 0.000 claims description 11
- 230000015654 memory Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 239000010410 layer Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
- B60W60/00259—Surveillance operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/021—Means for detecting failure or malfunction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The application discloses a vehicle automatic driving state monitoring method, a device, a vehicle machine system and a storage medium, and belongs to the technical field of automatic driving. The method comprises the steps of obtaining state information of a vehicle; the state information comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle-machine system process operation information and vehicle-machine function module state information; and determining whether the automatic driving running state of the vehicle is abnormal according to the state information. According to the method and the device, state monitoring can be conducted by integrating various state information in the automatic driving process of the vehicle, and the comprehensiveness of automatic driving state monitoring is improved.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a vehicle automatic driving state monitoring method, a device, a vehicle machine system and a storage medium.
Background
In the related art, in order to realize safe operation of an autopilot system, the autopilot system generally has a state monitoring function, but the state monitoring function is often single state monitoring such as abnormal state monitoring of a sensor, abnormal monitoring of a vehicle end or abnormal monitoring of a domain controller, and a state monitoring mode with relatively comprehensive coverage is lacking.
Disclosure of Invention
The main purpose of the application is to provide a method, a device, a vehicle machine system and a storage medium for monitoring the automatic driving state of a vehicle, and aims to realize comprehensive monitoring of the automatic driving state of the vehicle.
To achieve the above object, the present application provides a vehicle automatic driving state monitoring method, which includes the steps of:
acquiring state information of a vehicle; the state information comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle-machine system process operation information and vehicle-machine function module state information;
and determining whether the automatic driving running state of the vehicle is abnormal according to the state information.
Optionally, acquiring process operation information of a vehicle machine system of the vehicle includes:
the process monitoring instruction of the vehicle machine system is regulated, and the current running process information of the vehicle machine system of the vehicle is obtained;
and detecting the current running process information according to the pre-configured process configuration information to be monitored, and obtaining the running information of the vehicle-mounted system process.
Optionally, acquiring sensor state information of the vehicle includes:
reading sensor state information of each sensor through a preset state interface of each sensor; the sensor comprises at least one of a global navigation satellite sensor GNSS, a camera, a laser radar, a millimeter wave radar and an ultrasonic radar, and the sensor state information comprises sensor abnormality, incapability of opening the sensor or incapability of reading sensor data.
Optionally, the domain controller monitoring status information includes resource usage status information and communication status information;
acquiring domain controller monitoring state information of a vehicle, including:
acquiring resource use state information of the domain controller through an operating system instruction; the resource use state information comprises at least one of a CPU use state, a memory use state, a disk use state and a temperature state; and/or
And determining the communication state information of the domain controller and the whole vehicle controller by monitoring whether the domain controller receives heartbeat feedback information of the whole vehicle controller.
Optionally, acquiring vehicle component status information of the vehicle includes:
acquiring vehicle component state information forwarded by a vehicle controller; the vehicle component state information comprises at least one of braking information, steering information, electric door information, vehicle door information, hopper state information and fault code information.
Optionally, acquiring state information of a vehicle machine function module of the vehicle includes:
monitoring module theme information of each subscribed vehicle-mounted function module;
and obtaining the state information of the function module of the vehicle machine according to the module theme information.
Optionally, after acquiring the state information of the vehicle, the method further includes:
determining an abnormal level of the current abnormal state of the vehicle according to the state information;
and generating a corresponding vehicle control instruction according to the abnormal level.
In addition, in order to achieve the above object, the present application further provides a vehicle autopilot status monitoring apparatus, the apparatus comprising:
the state acquisition module is used for acquiring state information of the vehicle;
and the abnormality determining module is used for determining whether the automatic driving running state of the vehicle is abnormal according to the state information.
In addition, in order to achieve the purpose, the application further provides a vehicle-to-machine system, and the system comprises a vehicle and a cloud control end.
In addition, in order to achieve the above object, the present application further proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle autopilot status monitoring method as described above.
The vehicle automatic driving state monitoring method provided by the application can acquire the state information of the vehicle; the state information comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle-machine system process operation information and vehicle-machine function module state information; and determining whether the automatic driving running state of the vehicle is abnormal according to the state information. Therefore, state monitoring can be performed by integrating multiple aspects of state information in the automatic driving process of the vehicle, and the comprehensiveness of automatic driving state monitoring is improved.
Drawings
Fig. 1 is a schematic diagram of a vehicle-mounted system according to an embodiment of the present application;
FIG. 2 is a logic architecture diagram of a vehicle system according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a first embodiment of a method for monitoring an automatic driving state of a vehicle according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a second embodiment of a method for monitoring an automatic driving state of a vehicle according to an embodiment of the present application;
fig. 5 is a schematic flow chart of a third embodiment of a method for monitoring an automatic driving state of a vehicle according to an embodiment of the present application;
fig. 6 is a schematic diagram of functional modules of the vehicle autopilot status monitoring device of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The automatic driving system cannot guarantee 100% of stable operation, and has the failure conditions such as a sensor, an algorithm, communication and the like, and cannot guarantee that the vehicle can continue to stably operate under the condition, or can safely stop the vehicle under the condition of serious failure, so that the automatic driving vehicle needs to be subjected to abnormality diagnosis, and the operation safety is improved.
At present, in order to realize safe operation of an automatic driving system, the automatic driving system generally has a certain state monitoring function more or less, but the state monitoring function is often single state monitoring such as abnormal state monitoring of a sensor, abnormal monitoring of a vehicle end or abnormal monitoring of a domain controller, and a state monitoring mode with relatively comprehensive coverage is lacking.
In order to solve the problem, the vehicle automatic driving state monitoring method can acquire the state information of the vehicle; the state information comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle-machine system process operation information and vehicle-machine function module state information; therefore, whether the automatic driving running state of the vehicle is abnormal or not can be determined according to the state information, and state monitoring can be performed by integrating the state information in multiple aspects in the automatic driving process of the vehicle so as to improve the comprehensiveness of the automatic driving state monitoring.
The following description and description will be made with reference to various embodiments.
Referring to fig. 1, fig. 1 is a schematic diagram of a vehicle system according to an embodiment of the present application.
As shown in fig. 1, the vehicle-mounted system comprises a vehicle and a cloud control terminal.
The vehicle has an automatic driving function, can be in communication connection with the cloud control end, and can be in wireless network communication, satellite communication or local area network communication and the like. The cloud control end is used for carrying out remote monitoring and instruction scheduling on the vehicle through communication connection with the vehicle, and can be intelligent terminal equipment such as a computer and a mobile phone.
Referring to fig. 2, fig. 2 is a logic architecture diagram of an automotive system according to an embodiment of the present application. The hardware layers in fig. 2 are hardware parts of the vehicle, such as sensors of laser, camera, millimeter wave and ultrasonic, a vehicle end part and a domain controller part; the module layer is a software functional layer of the vehicle and comprises functional modules such as positioning, sensing, task, prediction, planning and control of the vehicle, a safety monitoring module and a whole vehicle control system VCS; the cloud control layer is a cloud control end of the vehicle-mounted system.
Based on the above-described vehicle-mounted system, but not limited to the above-described structure, the present application provides a first embodiment of a vehicle automatic driving state monitoring method. Referring to fig. 3, fig. 3 shows a schematic flow chart of a first embodiment of the vehicle autopilot status monitoring method of the present application.
It should be noted that although a logical order is depicted in the flowchart, in some cases the steps depicted or described may be performed in a different order than presented herein.
In this embodiment, the method for monitoring the automatic driving state of a vehicle includes the steps of:
step S100, status information of the vehicle is acquired.
The state information comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle machine system process operation information and vehicle machine function module state information.
In particular, the status information of the vehicle plays an important role in safe, reliable and efficient operation of the automatic driving system, and real-time decision support can be provided for the automatic driving system by acquiring different types of status information of the vehicle during automatic driving. The state information of the vehicle comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle machine system process operation information and vehicle machine function module state information.
For the sensor state information, the sensor state information of each sensor can be read through a preset state interface of each sensor to acquire the sensor state information of the vehicle. The sensor comprises at least one of a global navigation satellite sensor GNSS, a camera, a laser radar, a millimeter wave radar and an ultrasonic radar, and the sensor state information comprises sensor abnormality, incapability of opening the sensor or incapability of reading sensor data.
As in one example, the preset state interface settings for a typical sensor are shown in table 1.
TABLE 1
The real-time running state of each corresponding sensor can be read through the preset state interface in the table 1, and abnormal state information such as abnormal detected sensors, incapability of opening the sensors or incapability of reading sensor data and the like can be named in a mode of module_error for reporting the abnormal information. The information content template of module_error is as follows:
for the vehicle component state information, the vehicle component state information can be obtained by acquiring the vehicle component state information forwarded by the whole vehicle controller.
The vehicle component state information comprises at least one of braking information, steering information, electric door information, vehicle door information, hopper state information and fault code information. The braking information can be vehicle braking lamp signals, brake pedal state information and the like, the steering information can be steering wheel rotation angle, steering lamp signal information and the like, the electric door information comprises an ignition switch state, an accelerator pedal state and the like, the vehicle door information relates to a vehicle door opening and closing state, a vehicle window state, a vehicle door lock state and the like, the vehicle hopper state information comprises a trunk state, a vehicle roof state and the like, and the fault code information can be used for recording information such as fault codes, fault types, fault levels and the like of various parts of the vehicle. As in an example, through communication with the vehicle controller VCU, the method CAN focus and monitor whether the core signals of the components at the vehicle end are received and executed, and obtain the state information of the vehicle components, where the state information of the vehicle components CAN be read and fed back in a CAN signal manner.
The monitoring status information for the domain controller generally includes resource usage status information of the domain controller and communication status information of the domain controller.
The resource use state information of the domain controller can be obtained through an operating system instruction; the resource use state information comprises at least one of a CPU use state, a memory use state, a disk use state and a temperature state.
For example, the CPU resource usage of the current domain controller can be obtained by calling a Linux system self-carried command "/proc/stat"; the memory usage of the current domain controller can be obtained by calling a self-contained command "/proc/meinfo" of the Linux system; the disk usage of the current domain controller can be obtained by calling a self-contained command "/proc/disks" of the Linux system; the temperature state information of the current domain controller can also be obtained by calling the self-contained command "/sys/class/thermal/thermal_zone0/temp" of the Linux system.
And the communication state information of the domain controller and the whole vehicle controller can be determined by monitoring whether the domain controller receives heartbeat feedback information of the whole vehicle controller.
The domain controller and the whole vehicle controller VCU can establish communication connection through a heartbeat mechanism, the domain controller can send heartbeat information to the VCU, if the domain controller is monitored to not receive the heartbeat feedback information of the VCU, abnormal communication state information between the current domain controller and the VCU can be determined, and therefore the resource use state information and the communication connection state information of the domain controller are integrated to obtain the domain controller monitoring state information.
For the process operation information of the vehicle machine system of the vehicle, the information comprises the process state, the operation condition and the like of each software operated by the system, and the process operation information of the vehicle machine system of the vehicle can be determined by calling related process monitoring instructions. The problems in the running of the software can be found and processed in time by acquiring the process running information of the vehicle machine system, so that the automatic driving stability of the vehicle is ensured.
In addition, module theme information of each vehicle-mounted function module subscribed by the monitoring system can be also obtained; and obtaining the state information of the function module of the vehicle machine according to the module theme information.
Specifically, an operator can set a configuration file in advance before automatic driving starts, determine functional modules to be monitored, such as sensing, positioning, tasks, planning, prediction, control and the like, each functional module can generate and send module theme information containing named forms of module_error, module_topic and the like, abnormal conditions of the functional modules can be monitored through the module_error information, and the integrity of the theme message content of each functional module and the delay state of the message can be determined through monitoring effective information of the module_topic form generated by each functional module.
Step S200, determining whether the automatic driving operation state of the vehicle is abnormal according to the state information.
Specifically, through the acquired sensor state information, the domain controller monitoring state information, the vehicle component state information, the vehicle system process running information, the vehicle function module state information and other different types of state information, the automatic driving state of the vehicle can be comprehensively monitored and analyzed, and whether the vehicle runs abnormally or not and the abnormality cause can be timely determined. If the state information includes abnormal communication state information that the domain controller does not obtain the VCU heartbeat feedback information, it may determine that the vehicle is out of connection and the automatic driving state is abnormal.
In addition, the state information of the vehicle can be subjected to fusion processing after being acquired, and is uniformly transmitted to a Vehicle Control System (VCS) of the vehicle, and then uploaded to a cloud control terminal by the VCS, wherein the cloud control terminal can output the state information of the vehicle in a text form, and can also display the monitored abnormal information of the vehicle at the corresponding position of the vehicle directly on the basis of a rendering model of the vehicle. As an example, a status message of a vehicle may be packaged and named Monitorlnfo and sent to the cloud control terminal, and a template of the message content is as follows:
in addition, the state information of the vehicle can be stored as a log file in a standard log format, one row of table contents can be newly added in the error code coding specification of the system file, and a new error wharf is added for recording and storing the abnormal state information of the vehicle, so that a tester can directly search the log file to perform abnormality analysis and optimization.
It should be noted that, the cloud control end can also establish connection with the domain controller through a heartbeat mechanism, the cloud control end can directly send heartbeat information to the domain controller, and if the cloud control end does not receive the heartbeat feedback information of the domain controller, an operator can confirm that the vehicle is in an abnormal state and abnormal state of disconnection.
It is to be understood that, in this embodiment, the state information of the vehicle may be acquired; the state information comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle-machine system process operation information and vehicle-machine function module state information; therefore, whether the automatic driving running state of the vehicle is abnormal or not can be determined according to the state information, so that state monitoring can be performed by integrating the state information in multiple aspects in the automatic driving process of the vehicle, and the comprehensiveness of the automatic driving state monitoring is improved.
Further, based on the above embodiment, a second embodiment of the present application is provided, where step S100 includes step S101 and step S102, which are used to obtain running information of a vehicle system process of a vehicle. Referring to fig. 4, fig. 4 shows a flow chart of a second embodiment of a vehicle autopilot status monitoring method.
In this embodiment, step S100 includes:
step S101, calling a process monitoring instruction of the vehicle-mounted system to acquire the current running process information of the vehicle-mounted system of the vehicle.
Step S102, detecting the current running process information according to the pre-configured process configuration information to be monitored, and obtaining the running information of the vehicle-mounted system process.
Specifically, the process monitoring instruction of the system itself or the process monitoring instruction compiled in advance by an operator according to the system condition can be called to acquire the current running process information of the vehicle-mounted system, such as the current process state, running condition and the like of each software of the vehicle, so that the current running process of the system can be detected according to the configured process configuration information to be monitored, whether the current running process accords with expectations or not is determined, the process state information of the vehicle-mounted system is obtained, and the abnormal process can be found conveniently and corresponding measures can be taken timely. In an example, a configuration file of the vehicle-mounted system can be set in advance, a process name to be monitored is determined, then a process running in the current system is acquired by using a "/proc/pid/cmdline" command carried by the Linux system, whether the current running process name accords with a process name to be monitored of the configuration file is further detected, and if the current running process name does not accord with the process name to be monitored of the configuration file, abnormal state information of the running of the vehicle-mounted system process can be generated; if the process to be monitored is in a hanging-off state, a process restarting instruction can be used for restarting the process.
It is easy to understand that the current running process information of the vehicle machine system of the vehicle is obtained by adjusting the process monitoring instruction of the vehicle machine system. And detecting the current running process information according to the pre-configured process configuration information to be monitored, so as to obtain the process running information of the vehicle-mounted system, thereby knowing the process state of the vehicle-mounted system in real time, so as to discover and treat the abnormal process problem of the vehicle-mounted system in time and ensure the running stability of the system.
Further, based on the above embodiment, a third embodiment of the present application is provided, and in this embodiment, step S100 further includes step a100 and step a200 after step S100, for generating a vehicle control instruction. Referring to fig. 5, fig. 5 shows a flow chart of a third embodiment of a vehicle autopilot status monitoring method.
In this embodiment, the following steps are further included after step S100:
step A100, determining the abnormality level of the current abnormality state of the vehicle according to the state information.
And step A200, generating a corresponding vehicle control instruction according to the abnormal level.
Specifically, the possible abnormal states of the vehicle can be defined in advance, and different anomalies such as slight, medium or serious can be classified in level, which is helpful for quantitatively classifying the abnormal conditions of the vehicle and provides reference for subsequent emergency treatment. After the state information of the vehicle is acquired, the abnormal state level of the vehicle can be determined by referring to the predefined abnormal level, so that different control and processing modes such as emergency stop, slow stop, forced restarting and the like can be adopted according to the abnormal level, and necessary alarm reminding can be sent out. For example, for minor anomalies, a warning command may be issued; for severe anomalies, emergency control instructions such as scram may be required. In addition, the vehicle control command may be named monitor command, and the templates for the control commands are as follows:
it is easy to understand that the abnormal level of the current abnormal state of the vehicle is determined according to the state information, so that a corresponding vehicle control instruction can be generated according to a predefined processing strategy and rule, the current abnormal situation of the vehicle can be timely dealt with, and the safety of the automatic driving system of the vehicle can be improved.
Corresponding to the vehicle automatic driving state monitoring method, the application provides a vehicle automatic driving state monitoring device, as shown in fig. 6, which comprises:
the state acquisition module is used for acquiring state information of the vehicle;
and the abnormality determining module is used for determining whether the automatic driving running state of the vehicle is abnormal according to the state information.
It should be noted that, in this embodiment, each implementation manner of the vehicle automatic driving state monitoring device and the technical effects achieved by the implementation manner may refer to various implementation manners of the vehicle automatic driving state monitoring method in the foregoing embodiment, and are not repeated herein.
In addition, the embodiment of the application also provides a computer storage medium, wherein the storage medium stores a vehicle automatic driving state monitoring program, and the vehicle automatic driving state monitoring program realizes the steps of the vehicle automatic driving state monitoring method when being executed by a processor. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present application, please refer to the description of the method embodiments of the present application. As an example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a computer-readable storage medium, and which, when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random access Memory (Random AccessMemory, RAM), or the like.
It should be further noted that the above-described apparatus embodiments are merely illustrative, where elements described as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the application, the connection relation between the modules represents that the modules have communication connection therebetween, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented by means of software plus necessary general purpose hardware, or of course may be implemented by dedicated hardware including application specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions can be varied, such as analog circuits, digital circuits, or dedicated circuits. However, a software program implementation is a preferred embodiment in many cases for the present application. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-only memory (ROM), a random-access memory (RAM, randomAccessMemory), a magnetic disk or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method of the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (10)
1. A method for monitoring the automatic driving state of a vehicle, the method comprising:
acquiring state information of a vehicle; the state information comprises sensor state information, domain controller monitoring state information, vehicle component state information, vehicle machine system process operation information and vehicle machine function module state information;
and determining whether the automatic driving running state of the vehicle is abnormal according to the state information.
2. The method for monitoring the automatic driving state of a vehicle according to claim 1, wherein the acquiring the running information of the course of the vehicle system of the vehicle comprises:
invoking a process monitoring instruction of the vehicle-mounted system to acquire current running process information of the vehicle-mounted system of the vehicle;
and detecting the current running process information according to the pre-configured process configuration information to be monitored to obtain the process running information of the vehicle-mounted system.
3. The vehicle autopilot status monitoring method of claim 1 wherein said acquiring sensor status information of the vehicle includes:
reading sensor state information of each sensor through a preset state interface of each sensor; the sensor comprises at least one of a global navigation satellite sensor GNSS, a camera, a laser radar, a millimeter wave and an ultrasonic radar, and the sensor state information comprises sensor abnormality, incapability of opening the sensor or incapability of reading sensor data.
4. The method for monitoring the automatic driving state of a vehicle according to claim 1, wherein,
the domain controller monitoring state information comprises resource use state information and communication state information;
the acquiring the domain controller monitoring state information of the vehicle comprises the following steps:
acquiring the resource use state information of the domain controller through an operating system instruction; the resource use state information comprises at least one of a CPU use state, a memory use state, a disk use state and a temperature state; and/or
And determining the communication state information of the domain controller and the whole vehicle controller by monitoring whether the domain controller receives heartbeat feedback information of the whole vehicle controller.
5. The vehicle autopilot status monitoring method of claim 1 wherein said acquiring vehicle component status information of a vehicle includes:
acquiring vehicle component state information forwarded by a vehicle controller; wherein the vehicle component status information includes at least one of brake information, steering information, electric door information, hopper status information, and fault code information.
6. The method for monitoring the automatic driving state of a vehicle according to claim 1, wherein the acquiring the state information of the vehicle function module of the vehicle includes:
monitoring module theme information of each subscribed vehicle-mounted function module;
and obtaining the state information of the vehicle-mounted function module according to the module theme information.
7. The vehicle automatic driving state monitoring method according to claim 1, wherein after the acquiring of the state information of the vehicle, the method further comprises:
determining an abnormal level of the current abnormal state of the vehicle according to the state information;
and generating a corresponding vehicle control instruction according to the abnormal level.
8. An automatic driving state monitoring device for a vehicle, the device comprising:
the state acquisition module is used for acquiring state information of the vehicle;
and the abnormality determining module is used for determining whether the automatic driving running state of the vehicle is abnormal according to the state information.
9. The vehicle-machine system is characterized by comprising a vehicle and a cloud control end.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle autopilot status monitoring method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311508307.8A CN117325888A (en) | 2023-11-13 | 2023-11-13 | Vehicle automatic driving state monitoring method and device, vehicle machine system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311508307.8A CN117325888A (en) | 2023-11-13 | 2023-11-13 | Vehicle automatic driving state monitoring method and device, vehicle machine system and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117325888A true CN117325888A (en) | 2024-01-02 |
Family
ID=89279451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311508307.8A Pending CN117325888A (en) | 2023-11-13 | 2023-11-13 | Vehicle automatic driving state monitoring method and device, vehicle machine system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117325888A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117724693A (en) * | 2024-02-07 | 2024-03-19 | 深圳海星智驾科技有限公司 | Development method, system, computer equipment and storage medium of autopilot software |
| CN117785231A (en) * | 2024-02-26 | 2024-03-29 | 深圳海星智驾科技有限公司 | Vehicle-mounted operating system and vehicle |
| CN117785231B (en) * | 2024-02-26 | 2024-06-04 | 深圳海星智驾科技有限公司 | Vehicle-mounted operating system and vehicle |
-
2023
- 2023-11-13 CN CN202311508307.8A patent/CN117325888A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117724693A (en) * | 2024-02-07 | 2024-03-19 | 深圳海星智驾科技有限公司 | Development method, system, computer equipment and storage medium of autopilot software |
| CN117724693B (en) * | 2024-02-07 | 2024-05-24 | 深圳海星智驾科技有限公司 | Development method, system, computer equipment and storage medium of autopilot software |
| CN117785231A (en) * | 2024-02-26 | 2024-03-29 | 深圳海星智驾科技有限公司 | Vehicle-mounted operating system and vehicle |
| CN117785231B (en) * | 2024-02-26 | 2024-06-04 | 深圳海星智驾科技有限公司 | Vehicle-mounted operating system and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN117325888A (en) | Vehicle automatic driving state monitoring method and device, vehicle machine system and storage medium | |
| CN109459702B (en) | Battery state analysis method and device based on Internet of vehicles | |
| US20210295620A1 (en) | Method and system for real-time and reliable autonomous vehicle fault diagnosis and protection | |
| US20030204550A1 (en) | Method for multi-tasking multiple Java virtual machines in a secure environment | |
| US11945452B2 (en) | Determination of reliability of vehicle control commands via memory test | |
| CN111665849B (en) | Automatic driving system | |
| US20230229762A1 (en) | Anomaly detection device and anomaly detection method | |
| US20210089025A1 (en) | Method for controlling a motor vehicle remotely | |
| CN114839949A (en) | Vehicle fault online diagnosis method and system | |
| CN111897304B (en) | Method, apparatus and system for real-time diagnostics and fault monitoring in a machine system | |
| CN114684185A (en) | Vehicle safety response control hierarchy for automated vehicle safety control and corresponding method | |
| CN112118991A (en) | Sensor detection method and vehicle-mounted control terminal | |
| CN113670360B (en) | Monitoring method, system, device, vehicle, medium and product | |
| CN111505977B (en) | Function auxiliary debugging method, device, system and medium | |
| US20210114605A1 (en) | Enhanced vehicle activation | |
| CN116567584B (en) | Ship and shore-based communication method and system | |
| US11782702B2 (en) | Generation of code for a system | |
| US20230071569A1 (en) | Method and device for monitoring operations of an automated driving system of a vehicle | |
| CN110262522B (en) | Method and apparatus for controlling an autonomous vehicle | |
| CN111443682B (en) | Safety protection device and method based on vehicle CAN bus structure | |
| CN112951220B (en) | Voice redundancy braking method and system, computer equipment and readable storage medium thereof | |
| US20240051552A1 (en) | Control of at Least One Safety Function of a Motor Vehicle | |
| US20230166747A1 (en) | Method for executing a driving task in a decentralized control unit system, and decentralized control unit system | |
| CN118025217A (en) | Control method, system and device for intelligent auxiliary driving mode of vehicle | |
| CN115416627A (en) | Vehicle control method and device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |