CN117850384A - Unmanned vehicle control signal real-time diagnosis method and device, electronic equipment and unmanned vehicle - Google Patents

Abstract

The application provides a real-time diagnosis method and device for unmanned vehicle control signals, electronic equipment and an unmanned vehicle. The method is applied to an unmanned vehicle, unmanned equipment or automatic driving equipment and comprises the following steps: a control message is sent to a controller of the unmanned vehicle through a control end of the unmanned vehicle; executing corresponding vehicle operation by using the controller according to the received control message, and generating a state message; the method comprises the steps of monitoring a control message and a state message in real time by using a preset message recording device, and comparing a heartbeat signal of the control message with a heartbeat signal of the state message; when the heartbeat signal of the control message is inconsistent with the heartbeat signal of the state message, triggering a preset diagnosis program, wherein the diagnosis program is used for diagnosing the fault reason of the message loss according to the time of the message loss and the real-time data of the unmanned vehicle. The method and the device improve timeliness and low accuracy of fault diagnosis, and improve operation safety and reliability of the unmanned vehicle.

Description

Unmanned vehicle control signal real-time diagnosis method and device, electronic equipment and unmanned vehicle

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a real-time diagnosis method and device for unmanned vehicle control signals, electronic equipment and an unmanned vehicle.

Background

In the development of unmanned vehicles, the transmission and reception of control signals is a key element to ensure that the vehicle responds correctly to operating instructions. Especially in unmanned vehicles using Controller Area Network (CAN) communication systems, accurate and timely signal transmission is of paramount importance. However, the prior art has significant drawbacks in monitoring and handling message loss in control signal transmission.

Conventional unmanned control systems typically determine a message loss event when processing a control signal after detecting no change or message loss for 10 consecutive message periods. The method not only causes delay in monitoring the message loss, but also can not detect the loss when the number of the lost messages is less than 10 cycles, so that all control messages can not be monitored in real time. This delay and monitoring imperfection increases the risk of the drone in actual travel, as even brief communication interruptions may lead to errors in vehicle operation.

Furthermore, the prior art fails to provide a mechanism that enables real-time monitoring and analysis of the status of the transmission and reception of control messages in a variety of driving modes, which limits the ability to diagnose faults and respond in time. This is particularly important in the increasingly complex operating environment of unmanned vehicles, as the vehicle may need to switch between different modes of autonomous driving, remote driving and near-field driving, each of which may have its own unique control signals and response requirements.

Disclosure of Invention

In view of this, the embodiment of the application provides a real-time diagnosis method, device, electronic equipment and unmanned vehicle for unmanned vehicle control signals, so as to solve the problems that the message monitoring in the prior art is delayed, the message abnormality cannot be effectively monitored, and the timeliness and accuracy of fault diagnosis are low.

In a first aspect of an embodiment of the present application, a method for real-time diagnosis of an unmanned vehicle control signal is provided, where the method includes: transmitting control messages to a controller of the unmanned vehicle through a control end of the unmanned vehicle, wherein each control message comprises a heartbeat signal, and the value of the heartbeat signal of the control message increases with the transmission times of the control message; executing corresponding vehicle operation by using the controller according to the received control message, and generating a state message, wherein the state message comprises a heartbeat signal corresponding to the control message; the method comprises the steps of utilizing a preset message recording device to monitor a control message and a state message in real time, and comparing a heartbeat signal of the control message with a heartbeat signal of the state message, wherein the comparison result is used for indicating message communication conditions under different driving modes; when the heartbeat signal of the control message is inconsistent with the heartbeat signal of the state message, triggering a preset diagnosis program, wherein the diagnosis program is used for diagnosing the fault reason of the message loss according to the time of the message loss and the real-time data of the unmanned vehicle.

In a second aspect of the embodiments of the present application, there is provided a real-time diagnosis device for unmanned vehicle control signals, including: the transmission module is configured to transmit control messages to a controller of the unmanned vehicle through a control end of the unmanned vehicle, wherein each control message comprises a heartbeat signal, and the value of the heartbeat signal of the control message increases with the transmission times of the control message; the generation module is configured to execute corresponding vehicle operation according to the received control message by using the controller, and generate a state message, wherein the state message comprises a heartbeat signal corresponding to the control message; the comparison module is configured to monitor the control message and the state message in real time by utilizing a preset message recording device, and compare the heartbeat signal of the control message with the heartbeat signal of the state message, wherein the comparison result is used for indicating the message communication conditions under different driving modes; the diagnosis module is configured to trigger a preset diagnosis program when the heartbeat signal of the control message is inconsistent with the heartbeat signal of the state message, and the diagnosis program is used for diagnosing the fault reason of the message loss according to the time of the message loss and the real-time data of the unmanned vehicle.

In a third aspect of the embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present application, an unmanned vehicle is provided, which includes a control end, a controller, and a message recording device, where the message recording device is configured to implement the steps of the method described above, so as to perform real-time diagnosis on control signals of the unmanned vehicle.

The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect:

transmitting control messages to a controller of the unmanned vehicle through a control end of the unmanned vehicle, wherein each control message comprises a heartbeat signal, and the value of the heartbeat signal of the control message increases with the transmission times of the control message; executing corresponding vehicle operation by using the controller according to the received control message, and generating a state message, wherein the state message comprises a heartbeat signal corresponding to the control message; the method comprises the steps of utilizing a preset message recording device to monitor a control message and a state message in real time, and comparing a heartbeat signal of the control message with a heartbeat signal of the state message, wherein the comparison result is used for indicating message communication conditions under different driving modes; when the heartbeat signal of the control message is inconsistent with the heartbeat signal of the state message, triggering a preset diagnosis program, wherein the diagnosis program is used for diagnosing the fault reason of the message loss according to the time of the message loss and the real-time data of the unmanned vehicle. The method and the device can realize real-time monitoring of the control message in all driving modes, and can rapidly and accurately locate faults when faults or communication anomalies occur.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a method for real-time diagnosis of control signals of an unmanned vehicle according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a CAN packet provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a real-time diagnosis device for control signals of an unmanned vehicle according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

Unmanned vehicles, also called autonomous vehicles, unmanned vehicles or wheeled mobile robots, are the new technology products of integration and intellectualization integrating multiple elements such as environment perception, path planning, state identification, vehicle control and the like. The unmanned vehicle automatic driving system mainly comprises a sensor drive system, a sensing system, a positioning fusion system, a decision system, a planning system, a control system and the like.

In the automated driving technology, an unmanned vehicle transmits control signals through a Controller Area Network (CAN), which is a standard widely used for communication inside the vehicle. While the CAN communication protocol provides an efficient means of communication for a variety of control devices of a vehicle, the prior art suffers from significant drawbacks in monitoring and processing the transmission of control signals.

In the current monitoring system, if the control message is not changed or lost in 10 continuous message periods, the system can judge that the message is lost. Such a mechanism causes two main problems:

first, monitor delay: the prior art has to wait a relatively long period of time (i.e. 10 message periods) to acknowledge the message loss, thereby creating an unacceptable monitoring delay. In unmanned vehicle operation, even brief communication interruptions can have a serious impact on the safe operation of the vehicle.

Second, monitoring blind spots: for those loss events that occur in less than 10 message cycles, existing monitoring systems cannot detect them. This means that in some critical situations the system may not recognize a communication failure, resulting in a mistake in vehicle control.

In addition, a mechanism is not provided in the prior art, and all control messages can be monitored in real time. In various driving modes of unmanned vehicles, real-time monitoring and diagnosing of control signal integrity and accuracy is critical.

In order to overcome the defects in the prior art, the application provides an improved unmanned vehicle control signal real-time monitoring and diagnosing method. The core of the technical scheme is to realize a real-time monitoring mechanism without delay and blind spots and real-time diagnosis of control signals in various driving modes. The technical scheme of the application comprises the following key components:

monitoring a real-time heartbeat signal: the heartbeat signal is introduced as a basis for monitoring the transmission of control signals, and each control message contains an incremental heartbeat signal. By continuously tracking the heartbeat signal, the system can identify whether the message is updated or not in real time, so that real-time monitoring of each message period is realized.

Diagnosis of driving pattern sensitivity: according to different driving modes (such as near-field driving, remote driving, automatic driving and the like) of the unmanned vehicle, the heartbeat signals of the control message and the status message are analyzed in real time through a specially designed algorithm, and faults or communication anomalies are timely identified and positioned.

And (3) comprehensive data analysis: by combining data such as GPS positioning information, speed, torque and computing platform load of the vehicle, the method and the device not only can monitor message loss, but also can analyze the cause of a loss event and judge the relevance of faults and specific vehicle states or positions.

The following describes a method, a device, an electronic device and an unmanned vehicle for diagnosing control signals of the unmanned vehicle in real time according to the embodiments of the present application in detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a flow chart of a real-time diagnosis method for an unmanned vehicle control signal according to an embodiment of the present application. The unmanned vehicle control signal real-time diagnosis method of fig. 1 may be performed by a control unit of the unmanned vehicle. As shown in fig. 1, the method for real-time diagnosis of unmanned vehicle control signals specifically includes:

s101, sending control messages to a controller of the unmanned vehicle through a control end of the unmanned vehicle, wherein each control message comprises a heartbeat signal, and the value of the heartbeat signal of the control message increases with the sending times of the control message;

S102, executing corresponding vehicle operation by using a controller according to the received control message, and generating a state message which contains a heartbeat signal corresponding to the control message;

s103, monitoring the control message and the state message in real time by using a preset message recording device, and comparing the heartbeat signal of the control message with the heartbeat signal of the state message, wherein the comparison result is used for indicating the message communication conditions under different driving modes;

and S104, triggering a preset diagnosis program when the heartbeat signal of the control message is inconsistent with the heartbeat signal of the state message, wherein the diagnosis program is used for diagnosing the fault reason of the message loss according to the time of the message loss and the real-time data of the unmanned vehicle.

First, before describing the technical solution of the present application in detail, the message structure of the control message and the status message of the present application will be described in detail with reference to the accompanying drawings and specific embodiments. Fig. 2 is a schematic structural diagram of a CAN packet according to an embodiment of the present application. As shown in fig. 2, the CAN packet may specifically include the following:

the CAN message comprises a control message and a state message, wherein each control message and each state message comprise a heartbeat signal.

Firstly, a control message is a series of signals sent by an unmanned vehicle control end, and the signals comprise heartbeat signals; the control message is used for indicating the unmanned vehicle to execute various operations, such as forward, steering, braking, parking and the like; the heartbeat signal is used for indicating the active state of the control message and indicating whether the control end works normally or not; under different driving modes, the control end can send different control messages so as to adapt to different driving conditions and requirements.

Secondly, the state messages are signals fed back to the control end by the chassis system of the unmanned vehicle, and comprise actual running states of the vehicle, such as forward running, steering, braking, parking and the like, and the state messages also comprise a heartbeat signal. The status messages provide feedback of the real-time status of the vehicle to the control end, so that the control end can verify whether the control command is executed correctly.

Finally, the heartbeat signal is a special signal used for monitoring whether the control message or the status message is updated; if the heartbeat signal remains unchanged, this indicates that the sender (i.e., the controller or the vehicle chassis system) has encountered a problem, such as a card machine or other malfunction.

In the CAN message example shown in fig. 2, 0xABC is the Identifier (ID) of the message that uniquely identifies the message. HeartBaat is a field in the message that indicates the HeartBeat status of the sender. Based on the structure of the CAN message, the following functions are to be realized according to the technical scheme:

Real-time monitoring and diagnosis: the heartbeat signal allows the system to monitor the update of the control signal in real time to identify faults in time. Fault location: by analyzing the change of the message and the state of the heartbeat signal, the fault can be more accurately positioned. Flexible control: according to different driving modes, the system can flexibly switch the monitored control messages, and the reaction and operation of the unmanned vehicle are optimized. The system improves the safety and reliability of the unmanned vehicle in operation, reduces the risk caused by monitoring delay, and improves the response speed to faults.

In some embodiments, a control message is sent to a controller of the unmanned vehicle through a control end of the unmanned vehicle, where each control message includes a heartbeat signal, and the method includes: determining a current driving mode of the unmanned vehicle, and transmitting a control message corresponding to the current driving mode to a controller by using a control end of the current driving mode, wherein a heartbeat signal of the control message is used for indicating the transmission sequence of the control message.

Specifically, in embodiments of the present application, an unmanned vehicle system includes a control terminal and a controller, wherein the controller may be mounted on a vehicle chassis. The control end is responsible for determining the current driving mode of the unmanned vehicle and sending a corresponding control message according to the determined driving mode. Each control message contains a HeartBeat signal (HeartBeat) whose value is automatically increased by 1 every time the message is sent, so as to indicate the sending sequence of the control message and be used for subsequent real-time monitoring and diagnosis. The following details of the process of sending a control message to a controller by a control terminal are described in connection with specific embodiments, and may specifically include the following:

Firstly, the control end monitors the operation state of the unmanned vehicle in real time and determines the driving mode of the unmanned vehicle. For example, upon start-up of the drone, the system is first set to near-field driving mode; when the vehicle enters the highway and meets the automatic driving condition, the system automatically switches to the automatic driving mode. Once the driving mode is determined, the control end generates a control message of the corresponding mode. These messages are sent to the controller via the CAN bus, wherein the value of the headblock of each message is 1 higher than the value of the previously sent message.

And secondly, after receiving the control message, the controller immediately executes corresponding vehicle operation such as advancing, steering, braking and the like, and feeds back an execution result to the control end through the state message. The control end monitors the HeartBuat signal in the status message in real time to confirm whether the control message is executed correctly according to the preset sequence.

In addition, if the control end detects that the HeartBuat signal is abnormal (such as discontinuous or not increased as expected), the diagnosis program is started immediately, possible fault reasons are analyzed, and appropriate response measures are taken, such as switching to a backup communication path or prompting a driver to perform manual control.

In some embodiments, generating the status message includes: when the controller receives a control message corresponding to the current driving mode sent by the control end, the state message is automatically generated by using the bottom layer drive of the controller, and the value of the heartbeat signal of the control message is forwarded to the heartbeat signal of the state message so as to update the value of the heartbeat signal of the state message.

Specifically, in the embodiment of the application, after receiving the control message sent by the control end, the controller can timely generate and send the status message. The process is carried out by using the bottom layer drive of the controller, so that the real-time update of the heartbeat signal is ensured, and the real-time response capability of the unmanned vehicle control system is further ensured. The following details of the process of generating a status message by using the underlying driver of the controller are described in conjunction with the specific embodiments, and may specifically include the following:

the controller monitors and receives control messages from the control end in real time. Each message contains a specific HeartBeat signal (HeartBeat) whose value automatically increases with each transmission. The bottom layer driving software immediately processes the received control message, directly generates a state message in the bottom layer driving without passing through the application layer software of the vehicle, and copies the heartbeat signal value in the control message into the heartbeat signal field of the state message.

By the mechanism, the heartbeat signal of the state message always reflects the latest control signal transmission state, so that the signal is updated in real time. The real-time nature of this process is critical, as any delay can affect the response time and safe operation of the drone. The direct processing mechanism of the underlying driver ensures that the delay from receiving the control message to sending the status message is minimized.

In some embodiments, the method further comprises: the vehicle control state corresponding to each control message has a corresponding state message, and the transmission period of the control message is the same as that of the state message, so that the control message and the state message are monitored on the same frequency.

Specifically, the control message and the status message in the embodiment of the application also have a one-to-one correspondence and consistency requirements so as to ensure the communication quality and reliability of the unmanned vehicle system. The following description is provided for a one-to-one correspondence and a consistency requirement with reference to specific embodiments, and may specifically include the following:

the one-to-one correspondence refers to that each vehicle control state (such as driving, steering, braking, parking, light control) is represented by a unique control message and a corresponding state message. The control message is sent by the control terminal, and the status message is generated and sent by the controller. The design ensures that each operation command of the control end has an explicit response message, thereby realizing one-to-one correspondence between the control signal and the feedback signal.

The consistency requirement means that the transmission periods of the control message and the status message are strictly the same. That is, if the period of the control message is set to once every 10 milliseconds, the transmission period of the status message must also be once every 10 milliseconds. The consistency of the period ensures that each control instruction and the feedback thereof in the unmanned vehicle system are monitored on the same time scale, thereby detecting any communication delay or message loss in real time.

In order to realize the real-time monitoring of the CAN bus report, a monitoring module in the system CAN continuously track the sending and receiving conditions of the control message and the status message. Once the monitoring module finds that the heartbeat signal of the control message does not appear or is abnormal in the corresponding state message as expected, the monitoring module immediately marks potential communication problems and starts a fault diagnosis process according to a protocol preset by the system.

The system will perform detailed fault diagnosis upon detection of communication anomalies, including, but not limited to, analyzing changes in heartbeat signals, checking historical data for related control signals and status signals, evaluating the current operating environment of the vehicle, and the like. Based on the diagnostic results, the system may take a variety of emergency actions including resending control messages, switching alternate communication channels, or alerting the driver to take manual control.

In some embodiments, the diagnostic program is configured to diagnose a failure cause of a packet loss according to a time of the packet loss and real-time data of the unmanned vehicle, including: and counting the time of the message loss according to the comparison result, acquiring the geographic position corresponding to the unmanned vehicle when the message loss event occurs, calculating the probability of the message loss event when the unmanned vehicle is at different geographic positions, and judging the association degree between the message loss event and the geographic positions based on the probability.

Specifically, the message recording device at the vehicle end records the data on the CAN bus in real time, including the sending and receiving time stamps of each message. When the control end detects that the message is lost, the diagnostic program is activated, and firstly, the time statistics is carried out on the lost message according to the recorded time stamp so as to determine the frequency and the mode of the lost event. Meanwhile, the GPS module of the unmanned vehicle system provides accurate geographic position data. These data are recorded synchronously with the sending and receiving time stamps of the messages to facilitate subsequent analysis of the correlation between the message loss event and the geographic location.

Further, the message loss event is associated with the geographic location, and the diagnostic program uses a statistical method to analyze the occurrence probability of the message loss event at different geographic locations. In one example, a probabilistic model is constructed that accounts for the communication conditions of a vehicle at a particular geographic location, such as whether building shadows, electromagnetic interference, or other location-specific factors are present.

Further, based on the results of the statistical model, the diagnostic program will evaluate the degree of association between the message loss event and the geographic location of the vehicle. If the probability of a message loss event occurs at a particular location or region is significantly higher than in other regions, the diagnostic program will mark those locations as potentially high risk regions and further analyze the sources of interference that may be present in those regions.

In some embodiments, the diagnostic program is configured to diagnose a failure cause of a packet loss according to a time of the packet loss and real-time data of the unmanned vehicle, including: and counting the time of the message loss according to the comparison result, acquiring the motion parameters of the unmanned vehicle when the message loss event occurs, calculating the probability of the message loss event when the motion parameters of the unmanned vehicle change, and judging the association degree between the message loss event and the motion parameter change based on the probability.

Specifically, the plurality of sensors of the unmanned vehicle monitor in real time the motion parameters of the vehicle, such as vehicle speed, acceleration, steering angle and torque. Real-time data of these parameters are recorded along with a time stamp for subsequent failure analysis. The diagnostic program is connected to the communication system of the vehicle, especially the CAN bus, to record and count the sending and receiving conditions of the control message and the status message in real time. When the loss of the message is detected, the program records the occurrence time and triggers a further fault diagnosis process.

Further, the diagnostic program analyzes the correlation of the message loss time and the vehicle motion parameter record. Through comparison and analysis of historical data, the program calculates the probability of message loss when the vehicle motion parameters change significantly. Based on the results of the probabilistic analysis, the diagnostic program evaluates the degree of association between the message loss event and the change in the vehicle motion parameter. If the frequency of message loss increases abnormally under a specific motion parameter change, the program identifies the message as a potential cause of a fault and performs further analysis.

Further, once the cause of the fault is determined, the diagnostic program will provide relevant repair advice or automatically trigger predetermined countermeasures, such as adjusting communication protocol parameters, enhancing signal strength, or switching to an alternate communication path.

In some embodiments, the diagnostic program is configured to diagnose a failure cause of a packet loss according to a time of the packet loss and real-time data of the unmanned vehicle, including: and counting the time of the message loss according to the comparison result, acquiring the load of the computing platform of the unmanned vehicle when the message loss event occurs, calculating the probability of the message loss event when the load of the computing platform of the unmanned vehicle changes, and judging the association degree between the message loss event and the load change of the computing platform based on the probability.

Specifically, the diagnostic program of the embodiment of the application is further used for analyzing the relation between the message loss event and the load of the computing platform. The unmanned vehicle computing platform is responsible for processing various sensor inputs and control instruction outputs. The computing platform monitors own processing load in real time and records load data and time stamps thereof.

Furthermore, the detection and recording of the message loss event are also carried out, and the sending and receiving states of the control message are monitored and controlled in real time by the diagnosis program through the communication system of the vehicle, particularly the CAN bus. If a message loss occurs, the event and its timestamp are recorded. When the message loss event is detected, the diagnostic program starts an analysis process to compare and analyze the time point of the message loss with the load data of the computing platform so as to calculate the probability of the message loss under different load levels.

Further, based on the results of the probabilistic analysis, the diagnostic program evaluates the degree of association between the message loss event and the computing platform load change. If the probability of a message loss event occurring at high load increases significantly, the program will identify it as a potential system performance bottleneck problem.

In some embodiments, the diagnostic program is configured to diagnose a failure cause of a packet loss according to a time of the packet loss and real-time data of the unmanned vehicle, including: counting the number of times of occurrence of the message loss event in a preset time period according to the comparison result, evaluating the communication quality in the preset time period based on the number of times of occurrence of the message loss event in the preset time period, and judging the association degree between the message loss event and the communication quality based on the evaluation result.

Specifically, the diagnostic program in the embodiment of the application monitors communication data of the unmanned vehicle through the CAN bus in real time, records the sending and receiving conditions of all messages, and marks a message loss event in real time. The diagnostic program sets a preset time period, such as every minute, hour, or driving cycle, and counts the number of message losses during these time periods. The statistics for each time period include the number of frames of the message that are lost, such as 1 frame, 2 frames, 3 frames, etc., lost in a single time period.

Further, based on the packet loss statistics over a preset period of time, the diagnostic program evaluates the quality of the communication. For example, if a multi-frame message loss event frequently occurs within one hour, the communication quality is determined to be low. The diagnostic program analyzes the pattern and frequency of message loss to determine the cause and severity of the fault. If the message loss event increases during a period of poor communication quality, the program correlates this information and diagnoses that the communication link may be problematic, i.e., the message loss may be due to poor communication quality.

In some embodiments, the embodiments of the present application further provide a method for processing a communication message loss problem in a remote driving mode and an automatic driving mode, a message monitoring method and a takeover mechanism, which are described in detail below with reference to specific embodiments, and may specifically include the following:

first, the monitoring mechanism in the remote driving mode is that the chassis controller is responsible for monitoring the communication quality with the remote control center when the unmanned vehicle is in the remote driving mode. This monitoring includes real-time tracking of the status of the message transmissions and receptions on the CAN bus. To ensure stability of the remote drive, the chassis controller presets a message loss threshold, e.g., more than 10 frames of messages are lost within any 5 seconds. Upon detecting a message loss event exceeding this threshold, the chassis controller takes action.

Further, the take-over mechanism of the automatic driving system is that the chassis controller immediately sends a notification to the automatic driving system after detecting that the message loss exceeds a threshold value. The autopilot system responds to the notification and issues a take over command to take over vehicle control from the remote operator to ensure vehicle safety and continuity of communication.

The embodiment of the application also provides an early warning mechanism for intermittent message loss, and the chassis controller also has the capability of detecting frequent intermittent message loss, for example, if messages are lost twice in a 1 second period, the chassis controller recognizes that the intermittent message is an intermittent communication problem. At this time, the chassis controller may send an early warning signal to the remote driving control center. When the remote driving control center receives the early warning signal, an operator at the cockpit end can be informed to improve the alertness and prepare to take over the vehicle or take other emergency measures to prevent the accident of the vehicle.

According to the technical scheme provided by the embodiment of the application, the real-time monitoring mechanism is introduced into the control system of the unmanned vehicle, so that the potential faults or communication problems can be timely found and diagnosed, and the time for fault diagnosis and related risks are obviously reduced. According to the technical scheme, the control system is allowed to dynamically switch the monitored control messages according to the current driving mode, so that the monitoring flexibility and pertinence are improved. The unmanned vehicle can adjust the monitoring strategy according to different driving requirements and environmental conditions, and the monitoring efficiency and accuracy are ensured. The heartbeat signal is added in the control message and the state message, a real-time feedback mechanism is provided for the unmanned vehicle control system, and the sending and receiving states of the message are indicated in real time. This is critical to maintaining the communication reliability of the system, especially in high risk or critical operations. According to the technical scheme, when the unmanned vehicle detects that the key message is lost or communication is abnormal, the unmanned vehicle can respond quickly, such as timely taking over of an automatic driving system, and the safety of the vehicle and the robustness of the system are greatly improved. Through real-time monitoring and heartbeat signal feedback, the technical scheme of the application promotes optimization of communication efficiency, can rapidly identify and solve redundancy or delay problems in data transmission, optimize data flow and improve overall performance of a system.

The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Fig. 3 is a schematic structural diagram of a real-time diagnosis device for unmanned vehicle control signals according to an embodiment of the present application.

As shown in fig. 3, the unmanned vehicle control signal real-time diagnosis apparatus includes:

the sending module 301 is configured to send control messages to a controller of the unmanned vehicle through a control end of the unmanned vehicle, wherein each control message comprises a heartbeat signal, and the value of the heartbeat signal of the control message increases with the sending times of the control message;

the generating module 302 is configured to execute corresponding vehicle operation according to the received control message by using the controller, and generate a status message, where the status message includes a heartbeat signal corresponding to the control message;

the comparison module 303 is configured to monitor the control message and the status message in real time by using a predetermined message recording device, and compare the heartbeat signal of the control message with the heartbeat signal of the status message, wherein the comparison result is used for indicating the message communication conditions under different driving modes;

the diagnosis module 304 is configured to trigger a predetermined diagnosis program when the heartbeat signal of the control message is inconsistent with the heartbeat signal of the status message, where the diagnosis program is configured to diagnose a failure cause of the message loss according to the time of the message loss and real-time data of the unmanned vehicle.

In some embodiments, the sending module 301 of fig. 3 determines a current driving mode of the unmanned vehicle, and sends a control message corresponding to the current driving mode to the controller by using a control end of the current driving mode, where a heartbeat signal of the control message is used to indicate a sending sequence of the control message.

In some embodiments, the generating module 302 of fig. 3 automatically generates the status message by using the bottom driver of the controller after the controller receives the control message corresponding to the current driving mode sent by the control end, and forwards the value of the heartbeat signal of the control message to the heartbeat signal of the status message, so as to update the value of the heartbeat signal of the status message.

In some embodiments, the vehicle control state corresponding to each control message has a corresponding state message, and the transmission period of the control message is the same as the transmission period of the state message, so that the control message and the state message are monitored on the same frequency.

In some embodiments, the diagnostic module 304 of fig. 3 counts the time of the message loss according to the comparison result, obtains the geographic position corresponding to the unmanned vehicle when the message loss event occurs, calculates the probability of the occurrence of the message loss event when the unmanned vehicle is at different geographic positions, and determines the degree of association between the message loss event and the geographic position based on the probability.

In some embodiments, the diagnostic module 304 of fig. 3 counts the time of the message loss according to the comparison result, obtains the motion parameters of the unmanned vehicle when the message loss event occurs, calculates the probability of the occurrence of the message loss event when the motion parameters of the unmanned vehicle change, and determines the degree of association between the message loss event and the motion parameter change based on the probability.

In some embodiments, the diagnostic module 304 of fig. 3 counts the time of the message loss according to the comparison result, and obtains the load of the computing platform of the unmanned vehicle when the message loss event occurs, calculates the probability of the occurrence of the message loss event when the load of the computing platform of the unmanned vehicle changes, and determines the degree of association between the message loss event and the load change of the computing platform based on the probability.

In some embodiments, the diagnostic module 304 of fig. 3 counts the number of times of occurrence of the message loss event in the preset time period according to the comparison result, evaluates the communication quality in the preset time period based on the number of times of occurrence of the message loss event in the preset time period, and determines the degree of association between the message loss event and the communication quality based on the evaluation result.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

The embodiment of the application also provides the unmanned vehicle, which comprises a control end, a controller and a message recording device, wherein the message recording device is used for realizing the steps of the unmanned vehicle control signal real-time diagnosis method so as to diagnose the unmanned vehicle control signal in real time.

Fig. 4 is a schematic structural diagram of the electronic device 4 provided in the embodiment of the present application. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps of the various method embodiments described above are implemented by processor 401 when executing computer program 403. Alternatively, the processor 401, when executing the computer program 403, performs the functions of the modules/units in the above-described apparatus embodiments.

Illustratively, the computer program 403 may be partitioned into one or more modules/units, which are stored in the memory 402 and executed by the processor 401 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 403 in the electronic device 4.

The electronic device 4 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the electronic device 4 and is not meant to be limiting of the electronic device 4, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may also include an input-output device, a network access device, a bus, etc.

The processor 401 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 4. Further, the memory 402 may also include both internal storage units and external storage devices of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device. The memory 402 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other ways. For example, the apparatus/computer device embodiments described above are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions of actual implementations, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow in the methods of the above embodiments, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program may implement the steps of the respective method embodiments described above when executed by a processor. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (11)

1. A method for real-time diagnosis of unmanned vehicle control signals, comprising:

transmitting control messages to a controller of the unmanned vehicle through a control end of the unmanned vehicle, wherein each control message comprises a heartbeat signal, and the value of the heartbeat signal of the control message increases with the transmission times of the control message;

executing corresponding vehicle operation according to the received control message by using the controller, and generating a state message, wherein the state message comprises a heartbeat signal corresponding to the control message;

the control message and the state message are monitored in real time by using a preset message recording device, and the heartbeat signal of the control message is compared with the heartbeat signal of the state message, wherein the comparison result is used for indicating message communication conditions under different driving modes;

When the heartbeat signal of the control message is inconsistent with the heartbeat signal of the state message, triggering a preset diagnosis program, wherein the diagnosis program is used for diagnosing the fault reason of the message loss according to the time of the message loss and the real-time data of the unmanned vehicle.

2. The method of claim 1, wherein the sending, by the control terminal of the drone, control messages to the controller of the drone, wherein each control message includes a heartbeat signal, includes:

determining a current driving mode of the unmanned vehicle, and transmitting a control message corresponding to the current driving mode to the controller by using a control end of the current driving mode, wherein a heartbeat signal of the control message is used for indicating the transmission sequence of the control message.

3. The method of claim 2, wherein generating the status message comprises:

and after the controller receives the control message corresponding to the current driving mode sent by the control end, automatically generating the state message by using the bottom layer drive of the controller, and forwarding the value of the heartbeat signal of the control message to the heartbeat signal of the state message so as to update the value of the heartbeat signal of the state message.

4. The method according to claim 1, wherein the method further comprises:

each vehicle control state corresponding to the control message is provided with a corresponding state message, and the transmission period of the control message is the same as that of the state message, so that the control message and the state message are monitored on the same frequency.

5. The method of claim 1, wherein the diagnosing the cause of the failure of the message loss based on the time of the message loss and real-time data of the unmanned vehicle comprises:

and counting the time of the message loss according to the comparison result, acquiring the geographic position corresponding to the unmanned vehicle when the message loss event occurs, calculating the probability of the message loss event when the unmanned vehicle is at different geographic positions, and judging the association degree between the message loss event and the geographic positions based on the probability.

6. The method of claim 1, wherein the diagnosing the cause of the failure of the message loss based on the time of the message loss and real-time data of the unmanned vehicle comprises:

And counting the time of the message loss according to the comparison result, acquiring the motion parameters of the unmanned vehicle when the message loss event occurs, calculating the probability of the message loss event when the motion parameters of the unmanned vehicle change, and judging the association degree between the message loss event and the motion parameter change based on the probability.

7. The method of claim 1, wherein the diagnosing the cause of the failure of the message loss based on the time of the message loss and real-time data of the unmanned vehicle comprises:

and counting the time of the message loss according to the comparison result, acquiring the load of the computing platform of the unmanned vehicle when the message loss event occurs, calculating the probability of the message loss event when the load of the computing platform of the unmanned vehicle changes, and judging the association degree between the message loss event and the load change of the computing platform based on the probability.

8. The method of claim 1, wherein the diagnosing the cause of the failure of the message loss based on the time of the message loss and real-time data of the unmanned vehicle comprises:

Counting the number of times of occurrence of the message loss event in a preset time period according to the comparison result, evaluating the communication quality in the preset time period based on the number of times of occurrence of the message loss event in the preset time period, and judging the association degree between the message loss event and the communication quality based on the evaluation result.

9. An unmanned vehicle control signal real-time diagnostic device, comprising:

the system comprises a sending module, a control module and a control module, wherein the sending module is configured to send control messages to a controller of an unmanned vehicle through a control end of the unmanned vehicle, each control message comprises a heartbeat signal, and the value of the heartbeat signal of the control message increases with the sending times of the control message;

the generation module is configured to execute corresponding vehicle operation according to the received control message by using the controller, and generate a state message, wherein the state message comprises a heartbeat signal corresponding to the control message;

the comparison module is configured to monitor the control message and the state message in real time by utilizing a preset message recording device, and compare the heartbeat signal of the control message with the heartbeat signal of the state message, wherein the comparison result is used for indicating message communication conditions under different driving modes;

The diagnosis module is configured to trigger a preset diagnosis program when the heartbeat signal of the control message is inconsistent with the heartbeat signal of the state message, and the diagnosis program is used for diagnosing the failure cause of the message loss according to the time of the message loss and the real-time data of the unmanned vehicle.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 8 when executing the computer program.

11. An unmanned vehicle comprising a control terminal, a controller and a message recording device for implementing the method of any one of claims 1 to 8 for real-time diagnosis of unmanned vehicle control signals.