CN117968935A - Automatic driving torque verification method, automatic driving monitoring system, vehicle and medium - Google Patents
Automatic driving torque verification method, automatic driving monitoring system, vehicle and medium Download PDFInfo
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- CN117968935A CN117968935A CN202410377592.2A CN202410377592A CN117968935A CN 117968935 A CN117968935 A CN 117968935A CN 202410377592 A CN202410377592 A CN 202410377592A CN 117968935 A CN117968935 A CN 117968935A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The embodiment of the application is suitable for the technical field of vehicles, and provides an automatic driving torque verification method, an automatic driving monitoring system, a vehicle and a medium, wherein the automatic driving monitoring system comprises a signal input module, a zone bit monitoring module and a torque verification module, and the method comprises the following steps: when the control signal input module acquires the automatic driving signal, adjusting a torque zone bit and monitoring torque in the automatic driving signal according to a verification signal in the automatic driving signal, and transmitting the adjusted torque zone bit and the adjusted monitoring torque to the zone bit monitoring module; when the control flag bit monitoring module determines that the torque flag bit is an activation flag bit, the control flag bit monitoring module sends monitoring torque to the torque checking module; and the control torque verification module verifies the current automatic driving torque according to the monitoring torque to obtain a torque verification result. By adopting the method, the safety monitoring of the automatic driving torque monitoring can be ensured to be flexible and reliable, and the risk existing during automatic driving torque verification is reduced.
Description
Technical Field
The application belongs to the technical field of vehicles, and particularly relates to an automatic driving torque verification method, an automatic driving monitoring system, a vehicle and a medium.
Background
With the development of vehicle intellectualization and automation, for a vehicle with an automatic driving function, prevention of unexpected acceleration/deceleration of a power system is critical to the driving safety of the whole vehicle.
When the vehicle is automatically driven, the vehicle controller usually checks the generated automatic driving torque, and the motor controller responds to the automatic driving torque which is sent by the vehicle controller and contains the check. Furthermore, the automatic driving of the whole vehicle layer is realized through the cooperation among the controllers. Based on this, it can be considered that whether the whole vehicle controller correctly checks the automatic driving torque is important.
However, as technology is increasingly complex, software and mechatronic applications continue to increase, the risk from systematic failure increases gradually, so that a vehicle controller based on functional integration has a certain risk in performing torque verification.
Disclosure of Invention
The embodiment of the application provides an automatic driving torque verification method, an automatic driving monitoring system, a vehicle and a medium, which can solve the problem that a certain risk exists when automatic driving torque in the automatic driving process is verified in the prior art.
In a first aspect, an embodiment of the present application provides an autopilot torque calibration method, applied to an autopilot monitoring system, where the autopilot monitoring system includes a signal input module, a flag bit monitoring module, and a torque calibration module, the method includes:
when the control signal input module acquires the automatic driving signal, adjusting a torque zone bit and monitoring torque in the automatic driving signal according to a verification signal in the automatic driving signal, and transmitting the adjusted torque zone bit and the adjusted monitoring torque to the zone bit monitoring module;
When the control flag bit monitoring module determines that the torque flag bit is an activation flag bit, the control flag bit monitoring module sends monitoring torque to the torque checking module;
And the control torque verification module verifies the current automatic driving torque according to the monitoring torque to obtain a torque verification result.
In a second aspect, an embodiment of the present application provides an autopilot monitoring system, where the autopilot monitoring system includes a signal input module, a flag bit monitoring module, and a torque verification module:
the signal input module is used for adjusting the torque zone bit and monitoring torque in the automatic driving signal according to the verification signal in the automatic driving signal when the automatic driving signal is acquired, and sending the adjusted torque zone bit and monitoring torque to the zone bit monitoring module;
the zone bit monitoring module is used for sending monitoring torque to the torque checking module when the torque zone bit is determined to be the activated zone bit;
And the torque verification module is used for verifying the current automatic driving torque according to the monitoring torque to obtain a torque verification result.
In a third aspect, an embodiment of the present application provides a vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing a method according to the first aspect as described above when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which when executed by a processor performs a method as in the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product for causing a vehicle to carry out the method of the first aspect described above when the computer program product is run on the vehicle.
In a sixth aspect, an embodiment of the present application provides another autopilot monitoring system, where the autopilot monitoring system includes an independently packaged signal input module, a flag bit monitoring module, and a torque verification module: the zone bit monitoring module is respectively in data connection with the signal input module and the torque verification module;
The signal input module acquires an automatic driving signal and sends a torque zone bit and monitoring torque to the zone bit monitoring module; the zone bit monitoring module sends the monitoring torque to the torque checking module; the torque verification module generates a torque verification result.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the automatic driving monitoring system is arranged in the whole vehicle controller so as to carry out safety check on automatic driving torque generated in the automatic driving process. In addition, in order to ensure the reliability of the automatic driving monitoring system, the automatic driving monitoring system is divided into a plurality of independent modules to process the automatic driving signals. Specifically, when the signal input module obtains the automatic driving signal, the signal input module can adjust the torque zone bit and the monitoring torque in the automatic driving signal according to the verification signal in the automatic driving signal, and send the adjusted torque zone bit and the monitoring torque to the zone bit monitoring module. That is, the signal input module only needs to acquire and adjust the autopilot signal. And the zone bit monitoring module sends monitoring torque to the torque checking module when determining that the torque zone bit is an activated zone bit. That is, the bit monitoring module only needs to perform monitoring torque transmission based on the torque bit. And the torque verification module verifies the current automatic driving torque according to the monitoring torque to obtain a torque verification result. That is, the torque verification module performs verification of the autopilot torque. Based on the above, the automatic driving monitoring system is functionally layered by processing the automatic driving signal when executing automatic driving torque verification, and the automatic driving monitoring system is divided into a plurality of independent functional modules to execute the functions, so that the automatic driving torque monitoring system can be beneficial to the safety monitoring flexibility and reliability. That is, when a certain module in the automatic driving monitoring system fails systematically, normal operation of other independent modules is not affected, and risks existing in automatic driving torque verification are reduced. In addition, the automatic driving monitoring system is divided into the plurality of independent modules, and when the automatic driving monitoring system is designed, the function code of one module is not affected by the change of the function codes of other modules. Furthermore, the error rate of the automatic driving monitoring system in design can be reduced by reducing the influence range of codes in design, so that the correctness of the automatic driving monitoring system is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an autopilot monitoring system according to one embodiment of the present application;
FIG. 2 is a flowchart illustrating an implementation of an automatic driving torque verification method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an autopilot monitoring system according to another embodiment of the present application;
FIG. 4 is a schematic diagram of an autopilot monitoring system according to yet another embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle 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 the particular system architecture, 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.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
With the development of vehicle intellectualization and automation, for a vehicle with an automatic driving function, prevention of unexpected acceleration/deceleration of a power system is critical to the driving safety of the whole vehicle. Currently, according to the current global widely adopted automatic driving grade classification standard, automatic driving is currently classified into six incremental grades from low to high.
L0 level, manual driving, which is fully driven by the driver according to the international Society of Automotive Engineers (SAE) definition. The L1 level assists driving, can help the driver to finish some driving tasks, the driver needs to monitor the driving environment of the vehicle, and prepare to take over at any time to carry on manual driving. And the L2 level is partially automatic, and can simultaneously perform acceleration, deceleration and steering operations, but still a driver is required to monitor the driving environment and prepare to take over at any time for manual driving. L3 level, condition is automatic, and in specific driving environment, the vehicle can realize automatic acceleration and deceleration and turn to, does not need the driver to monitor driving environment, still need the driver to prepare to take over at any time and carry out manual driving. L4 level, high automation can realize whole driving. Typically, driver control is not required. However, when the vehicle running condition reaches the preset limit condition, the automatic driving will still be exited. For example, when the vehicle speed exceeds a preset vehicle speed, the automatic driving is exited. L5 level, full automation, the vehicle can be completely self-adaptive driving, adaptation any driving environment.
When the vehicle is automatically driven, the vehicle controller usually checks the generated automatic driving torque, and the motor controller responds to the automatic driving torque which is sent by the vehicle controller and contains the check. Furthermore, the automatic driving of the whole vehicle layer is realized through the cooperation among the controllers. Based on this, it can be considered that whether the whole vehicle controller correctly checks the automatic driving torque is important.
However, as technology is increasingly complex, software and mechatronic applications continue to increase, the risk from systematic failure increases gradually, so that a vehicle controller based on functional integration has a certain risk in performing torque verification.
Based on the above, in order to reduce the risk of the whole vehicle controller during torque verification, the embodiment of the application provides an automatic driving monitoring system. Referring to fig. 1, fig. 1 is a schematic structural diagram of an autopilot monitoring system according to an embodiment of the present application. The automatic driving monitoring system comprises an independently packaged signal input module, a marker bit monitoring module and a torque verification module. And the zone bit monitoring module is respectively in data connection with the signal input module and the torque verification module.
Specifically, a signal input module acquires an automatic driving signal and sends a torque zone bit and monitoring torque to a zone bit monitoring module; the zone bit monitoring module sends the monitoring torque to the torque checking module; the torque verification module generates a torque verification result.
It should be noted that, each module is packaged independently, and only data receiving and transmitting are needed between modules. And the zone bit monitoring module is respectively in data connection with the signal input module and the torque verification module. Based on the above, it can be determined that, during the data transmission process, the data sequentially passes through the signal input module, the flag bit monitoring module and the torque verification module to generate a torque verification result.
Therefore, when a certain module in the automatic driving monitoring system fails systematically, the normal operation of other independent modules cannot be influenced, and the risk existing in automatic driving torque verification is reduced. In addition, the automatic driving monitoring system is divided into the plurality of independent modules, and when the automatic driving monitoring system is designed, the function code of one module is not affected by the change of the function codes of other modules. Furthermore, the error rate of the automatic driving monitoring system in design can be reduced by reducing the influence range of codes in design, so that the correctness of the automatic driving monitoring system is ensured.
The process of processing the input data (the above signals) by the respective modules may refer to the embodiments shown in fig. 2 below.
Referring to fig. 2, fig. 2 shows a flowchart of an implementation of an automatic driving torque verification method according to an embodiment of the present application, where the method includes the following steps:
And S201, when the control signal input module acquires the automatic driving signal, adjusting a torque zone bit and monitoring torque in the automatic driving signal according to a verification signal in the automatic driving signal, and transmitting the adjusted torque zone bit and monitoring torque to the zone bit monitoring module.
The automatic driving torque verification method can be applied to a vehicle. For example, the method is applied to a whole vehicle controller or an automatic driving controller on a vehicle. The embodiment of the application does not limit the specific type of the vehicle. For ease of explanation, the above method may be applied to an overall vehicle controller as an example. The vehicle controller comprises an automatic driving monitoring system.
In one embodiment, the autopilot signal is a signal required when the vehicle is autopilot. In the vehicle, transmission may be performed by a CAN (Controller Area Network, control unit area network) bus, a LIN (Local Interconnect Network ) bus, or the like, which is not limited.
The automatic driving signal not only can include information such as a check signal, a torque zone bit, monitoring torque and the like, but also can include information such as a trust zone bit, a sensor zone bit, driving environment data and the like, and is not limited. In this embodiment, the automatic driving signal including the check signal, the torque flag bit, and the monitor torque is exemplified.
The check signal is used for checking the signal integrity of the automatic driving signal so as to determine whether the automatic driving signal is credible or not. Specifically, for the autopilot signal, each piece of information in the autopilot signal may be encrypted to generate encrypted information. At this time, the signal encapsulated with the encrypted information is the verification signal.
As an example, the Check signal may be Check Sum, rolling Counte, etc., which may be periodically changed according to the communication period to Check whether the autopilot signal is authentic.
The torque flag bit is used for identifying whether the monitoring torque is an activation flag bit. Wherein, when the torque flag is an activation flag, the monitored torque in the autopilot signal may be considered available. And when the torque flag bit is an inactive flag bit, the monitored torque in the autopilot signal may be deemed unavailable.
The monitoring torque is used for monitoring the automatic driving torque currently output by the automatic driving function in the whole vehicle controller so as to judge whether the automatic driving torque is abnormal or not.
The trust zone bit is used for identifying that the monitoring torque is not credible when the verification signal verifies that the automatic driving signal is not credible; and identifying that the monitoring torque is reliable when the verification signal verifies that the automatic driving signal is reliable.
The sensor zone bit is used for identifying whether a sensor for collecting the running environment data of the vehicle is normal or not in the automatic driving process of the vehicle. For example, when a sensor is abnormal, a sensor fault is identified; and, when the sensor is normal, identifying that the sensor is fault-free.
The driving environment data are data which are collected by the sensor and used for representing the current driving environment of the vehicle, and include, but are not limited to, laser radar data and camera shooting data.
When the signal input module acquires the automatic driving signal, the torque zone bit and the monitoring torque in the automatic driving signal can be adjusted according to the verification signal in the automatic driving signal, and then the torque zone bit and the monitoring torque are sent to the zone bit monitoring module.
For example, based on the above description, the verification signal may be used to verify the integrity of the autopilot signal to determine whether the autopilot signal is authentic. Therefore, the signal input module can generate a signal check result according to the check signal check automatic driving signal, and adjust the torque zone bit and monitor the torque according to the signal check result.
When the signal verification result is credible, the signal input module can consider that the monitoring torque can accurately verify the automatic driving torque in the follow-up process. Therefore, the signal input module can adjust the torque flag bit to be an activation flag bit and keep the monitoring torque unchanged. The purpose of adjusting the torque flag bit to be an activation flag bit is also to enable a subsequent module to determine that the monitoring torque is available.
Correspondingly, when the signal verification result is unreliable, the signal input module can consider that the monitoring torque cannot accurately verify the automatic driving torque at the subsequent time. Therefore, the signal input module can adjust the torque zone bit to be an unactivated zone bit and adjust the monitoring torque to be a preset torque value. The purpose of adjusting the torque flag bit to an inactive flag bit is also for the subsequent module to determine that the monitored torque is not available.
In an embodiment, the preset torque value may be set according to practical situations, which is not limited. For example, the preset torque value may be 0Nm.
It should be noted that, when the signal verification result is determined to be unavailable, it may be considered that there may be a fault in the automatic driving process of the vehicle at this time. Therefore, setting the monitored torque to 0N may enable the subsequent flag monitoring module to verify that the automatic driving torque is abnormal even if the subsequent flag monitoring module erroneously determines that the torque flag input by the signal input module is an activation flag (i.e., the erroneously determined monitored torque is available), by using the monitored torque of 0 Nm. Furthermore, the abnormal early warning can be accurately carried out, so that the safety in the automatic driving process is improved.
And S202, when the control zone bit monitoring module determines that the torque zone bit is an activation zone bit, the control zone bit monitoring module sends monitoring torque to the torque checking module.
In an embodiment, the flag bit monitoring module may send the available monitoring torque directly to the torque verification module when the torque flag bit is determined to be an active flag bit. In another embodiment, the flag monitoring module may also send an activation flag to the torque verification module at the same time to cause the torque verification module to determine that the monitored torque is available.
It should be noted that in a practical scenario, there are multiple paths for transmitting the autopilot signal, and each of the paths generally corresponds to one autopilot mode. Illustratively, the transmission path may be divided into a high-performance transmission path, a medium-performance transmission path, and a low-performance transmission path. Correspondingly, the automatic driving mode may be classified into a high-precision automatic driving mode, a medium-precision automatic driving mode, and a low-precision automatic driving mode. Wherein the priority of the high-performance transmission path is higher than the priority of the medium-performance transmission path, and the priority of the medium-performance transmission path is higher than the priority of the low-performance transmission path.
In general, in the automatic driving mode, the vehicle needs to collect surrounding driving environment data, and the collecting mode includes, but is not limited to, a laser radar sensor and a camera sensor. At this time, when both the laser radar sensor and the image pickup sensor are normal, the laser radar sensor and the image pickup sensor may be generally used to collect laser radar data and image pickup data, respectively. At this time, the acquired driving environment data may be considered to have the highest accuracy. Furthermore, the automatic driving function can be made to accurately control the automatic driving of the vehicle based on the high-precision running environment data. Among them, the automatic driving mode based on the high-precision running environment data may be regarded as a high-precision automatic driving mode. And when the laser radar sensor is normal and the image pickup sensor is abnormal, it can be considered that the driving environment data will be only laser radar data. That is, the accuracy of the running environment data is general. In this case, the automatic driving mode based on the accurate general driving environment data may be regarded as the medium-accuracy automatic driving mode. And when the laser radar sensor is abnormal and the image pickup sensor is normal, it can be considered that the driving environment data will be only image pickup data. That is, the accuracy of the running environment data is low. In this case, the automatic driving mode based on the accurate general driving environment data may be regarded as a low-accuracy automatic driving mode.
Based on the above description, the signal input module will typically receive multiple autopilot signals, and will perform the processing of step S201 above on the autopilot signals on each path. That is, the signal input module adjusts the torque flag bit and the monitoring torque on the corresponding path based on the verification signal on each path, and sends the adjusted torque flag bit and the monitoring torque on each path to the flag bit monitoring module.
It will be appreciated that the bit monitor module will also receive the torque bits and monitor torque for multiple paths at this time. Based on the above, the flag bit monitoring module can be controlled to judge the torque flag bit corresponding to each path in sequence according to the priorities of the paths, and when the torque flag bit is determined to be the activation flag bit, the activation flag bit and the monitoring torque on the same path with the activation flag bit are sent to the torque checking module.
Based on the above explanation of the automatic driving mode, it can be considered that the priority of the path for transmitting the automatic driving signal corresponding to the high-precision driving environment data is higher than the priority of the path for the automatic driving signal corresponding to the medium-precision driving environment data and higher than the priority of the path for the automatic driving signal corresponding to the low-precision driving environment data.
Based on this, the flag bit monitoring module may first determine whether the torque flag bit in the high priority path is an activation flag bit, and when it is determined that the flag bit is activated, send the monitored torque in the high priority path. Otherwise, when the torque flag bit in the path with the high priority is determined to be the unactivated flag bit, whether the torque flag bit in the path with the medium priority is the activated flag bit is determined. And repeating the judging steps until the torque zone bit is determined to be an activated zone bit or the zone bits on all paths are determined to be unactivated zone bits.
In summary, when facing the multipath transmission of the autopilot signal, the zone bit monitoring module can sequentially process the autopilot signal according to the priority corresponding to the path, so as to transmit the monitoring torque in the optimal autopilot signal to the torque checking module to perform torque checking, and the vehicle can run in a high-precision autopilot mode. And, even when the monitoring torque in the optimal automatic driving signal is not available, the monitoring torque on the paths of other priorities can be used for automatic driving in a degraded manner. Furthermore, on the basis of achieving the driving safety of the whole vehicle, unnecessary power interruption during the running of the vehicle caused by the unavailability of the monitoring torque of a certain path can be avoided.
The activated flag bit and the unactivated flag bit may be preset, which is not limited. Illustratively, the active flag bit may be "1" and the inactive flag bit may be "None".
In addition, when the autopilot signal further includes a trust flag bit and a sensor flag bit, at this time, the flag bit monitoring module needs to determine whether the torque flag bit is an activation flag bit, whether the trust flag bit is a beaconing flag bit, and whether the sensor flag bit is a fault-free flag bit. And then, when the torque flag bit is an activation flag bit, the trust flag bit is a bearable flag bit, and the sensor flag bit is a fault-free flag bit, determining that the monitoring torque on the path is available. Further, the monitored torque on the path is sent to a torque verification module. Otherwise, when the torque flag bit is an unactivated flag bit, or the trust flag bit is an unactivatable flag bit, or the sensor flag bit is a fault flag bit, determining that the monitoring torque on the path is unavailable. At this time, the zone bit monitoring module needs to execute the above-mentioned judgment process on the automatic driving signals on the remaining paths in sequence based on the priority.
For high-precision driving environment data, two types of acquisition data of a laser radar sensor and a camera sensor are needed, so that when any sensor fails, the sensor zone bit is the failure zone bit.
And S203, the control torque verification module verifies the current automatic driving torque according to the monitoring torque to obtain a torque verification result.
In an embodiment, the above-mentioned autopilot torque may be a functional module (autopilot functional module) in the vehicle controller, and the torque generated based on the driving environment data in the autopilot signal. When different precision autopilot modes are used, the resulting autopilot torque is typically different even in the same driving environment.
For example, for high-precision driving environment data, the driving environment of the vehicle can be accurately represented, so that the automatic driving function can control the vehicle to automatically drive based on the automatic driving torque generated by the high-precision driving environment data, and the driving danger is not generated. For example, no collision with the remaining vehicle occurs. However, for low-precision driving environment data, in order to avoid collision with other vehicles when the vehicles are automatically driven based on the automatic driving torque, it is generally necessary to reduce the driving speed of the vehicles to ensure driving safety on the basis of realizing the automatic driving. That is, the generated automatic driving torque will decrease.
Based on this, the autopilot signal, as described above, may also reflect whether the sensor is malfunctioning to determine whether monitoring torque is available. Therefore, in order to further improve driving safety, the torque verification module needs to further determine the current automatic driving torque based on the available monitoring torque.
For example, the torque verification module may calculate a difference between the monitored torque and the autopilot torque, and if the difference is less than or equal to a preset value, may consider the autopilot torque generated by the autopilot function to be a normal torque. That is, the torque check result is that the torque is normal. Otherwise, when the difference is greater than the preset value, the automatic driving torque generated by the automatic driving function can be considered as the abnormal torque. That is, the torque verification result is a torque anomaly. The preset value may be set according to actual situations, which is not limited.
In another embodiment, the torque verification module may further output a torque verification result as a torque anomaly when the autopilot torque is greater than the monitored torque. And outputting a torque verification result as a torque normal when the automatic driving torque is less than or equal to the monitoring torque.
In the present embodiment, the manner in which the automatic driving torque is verified is not limited.
When the torque verification result is that the torque is normal, the vehicle can be considered to run based on the automatic driving torque to ensure the running safety, so that the automatic driving monitoring system can control the vehicle to automatically drive based on the automatic driving torque. For example, the torque verification module may generate a torque request including the autopilot torque and input to the motor controller. The motor controller may respond to the torque request and provide an autopilot torque for vehicle travel.
And when the torque verification result is that the torque is abnormal, the vehicle can be considered that the running based on the automatic driving torque can not ensure the running safety. Therefore, in order to ensure driving safety, the automated driving monitoring system may execute a preset parking policy. For example, abnormality information is generated, and the vehicle is controlled to perform an automatic parking function to park alongside.
In addition, it should be noted that, in the step S202, the flag bit monitoring module sends the monitoring torque to the torque checking module when determining that the torque flag bit is the activation flag bit. And when the signal input module receives the automatic driving signals of the multiple paths, the torque zone bits corresponding to the multiple paths and the monitoring torque are input to the zone bit monitoring module. At this time, the flag bit monitoring module sequentially determines whether the torque flag bit is an unactivated flag bit based on the priority corresponding to the path.
However, when the flag bit monitoring module determines that the torque flag bits under all paths are inactive flag bits, the flag bit monitoring module may output the inactive flag bits and the monitoring torque of high priority to the torque verification module. And then, when the torque zone bit is determined to be the unactivated zone bit, the torque verification module can control the vehicle to execute a preset safe driving strategy.
The above-mentioned safe driving strategy may be, for example, an automatic parking, or a constant-speed cruising, or a strategy of exiting an automatic driving mode and being controlled by a driver, etc., which is not limited. For example, when the monitored torque is not available, the torque verification module will not be able to determine whether the current autopilot torque is normal. Based on this, in order to secure driving safety, the vehicle may be automatically parked to stop at the side, or driven at a fixed speed at a low speed, or driven according to the control of the driver.
In this embodiment, the automatic driving monitoring system is set in the whole vehicle controller, so as to perform safety check on the automatic driving torque generated in the automatic driving process. In addition, in order to ensure the reliability of the automatic driving monitoring system, the automatic driving monitoring system is divided into a plurality of independent modules to process the automatic driving signals. Specifically, when the signal input module obtains the automatic driving signal, the signal input module can adjust the torque zone bit and the monitoring torque in the automatic driving signal according to the verification signal in the automatic driving signal, and send the adjusted torque zone bit and the monitoring torque to the zone bit monitoring module. That is, the signal input module only needs to acquire and adjust the autopilot signal. And the zone bit monitoring module sends monitoring torque to the torque checking module when determining that the torque zone bit is an activated zone bit. That is, the bit monitoring module only needs to perform monitoring torque transmission based on the torque bit. And the torque verification module verifies the current automatic driving torque according to the monitoring torque to obtain a torque verification result. That is, the torque verification module performs verification of the autopilot torque. Based on the above, the automatic driving monitoring system is functionally layered by processing the automatic driving signal when executing automatic driving torque verification, and the automatic driving monitoring system is divided into a plurality of independent functional modules to execute the functions, so that the automatic driving torque monitoring system can be beneficial to the safety monitoring flexibility and reliability. That is, when a certain module in the automatic driving monitoring system fails systematically, normal operation of other independent modules is not affected, and risks existing in automatic driving torque verification are reduced. In addition, the automatic driving monitoring system is divided into the plurality of independent modules, and when the automatic driving monitoring system is designed, the function code of one module is not affected by the change of the function codes of other modules. Furthermore, the error rate of the automatic driving monitoring system in design can be reduced by reducing the influence range of codes in design, so that the correctness of the automatic driving monitoring system is ensured.
As an example, referring to fig. 3, fig. 3 is a schematic structural diagram of an autopilot monitoring system according to another embodiment of the present application. The CAN bus CAN respectively send multiple paths of automatic driving signals to the automatic driving function module and the signal input module. The autopilot function module may generate an autopilot torque that meets a current driving environment based on the multiple autopilot signals. The signal input module can verify the automatic driving signal based on the verification signal in the automatic driving signal of each path when the multipath automatic driving signals are obtained, and adjust the torque zone bit and the monitoring torque based on the verification result. And then, the torque zone bit and the monitoring torque corresponding to each path after adjustment can be uniformly transmitted to a zone bit monitoring module.
And then, the zone bit monitoring module can sequentially judge the torque zone bit corresponding to each path based on the priority of each path, and when the torque zone bit is determined to be the activation zone bit, the activation zone bit and the monitoring torque which is in the same path with the activation zone bit are sent to the torque verification module. That is, only the monitoring torque of one path and the activation flag bit are sent to the torque verification module, so that when the torque verification module determines that the monitoring torque is the available torque, the torque verification module verifies the automatic driving torque based on the available monitoring torque to obtain a torque verification result. And finally, when the torque verification result is that the torque is normal, generating a torque request containing the automatic driving torque to the motor controller so that the motor controller provides the automatic driving torque for the vehicle to automatically drive. Otherwise, when the torque verification result is that the torque is abnormal, the vehicle is controlled to execute a preset parking strategy.
Referring to fig. 4, fig. 4 is a block diagram illustrating an automatic driving monitoring system according to another embodiment of the present application. The autopilot monitoring system in this embodiment includes modules for executing the steps in the embodiments corresponding to fig. 2 and 3. Refer specifically to fig. 2 and 3 and the related descriptions in the embodiments corresponding to fig. 2 and 3. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 4, an autopilot monitoring system 400 may include: a signal input module 410, a flag bit monitoring module 420, and a torque verification module 430, wherein:
The signal input module 410 is configured to adjust a torque flag bit and a monitor torque in the automatic driving signal according to the verification signal in the automatic driving signal when the automatic driving signal is acquired, and send the adjusted torque flag bit and the monitor torque to the flag bit monitoring module.
The flag bit monitoring module 420 is configured to send a monitoring torque to the torque checking module when it is determined that the torque flag bit is an activation flag bit.
The torque verification module 430 is configured to verify the current automatic driving torque according to the monitored torque, so as to obtain a torque verification result.
In one embodiment, the signal input module 410 is further configured to:
and verifying the automatic driving signal according to the verification signal to generate a signal verification result, and adjusting the torque zone bit and monitoring the torque according to the signal verification result.
In one embodiment, the signal input module 410 is further configured to:
When the signal verification result is determined to be credible, adjusting the torque zone bit to be an activation zone bit, and keeping the monitoring torque unchanged; and when the signal checking result is determined to be unreliable, adjusting the torque zone bit to be an unactivated zone bit, and adjusting the monitoring torque to be a preset torque value.
In one embodiment, the torque verification module 430 is further configured to:
If the automatic driving torque is larger than the monitoring torque, outputting a torque checking result as a torque abnormality; and if the automatic driving torque is smaller than or equal to the monitoring torque, outputting a torque verification result to be that the torque is normal.
In one embodiment, autopilot monitoring system 400 further includes:
and the first control module is used for controlling the vehicle to execute a preset parking strategy if the torque verification result is that the torque is abnormal.
And the second control module is used for controlling the vehicle to automatically drive based on the monitored torque if the torque verification result is that the torque is normal.
In one embodiment, autopilot monitoring system 400 further includes:
and the output module is used for outputting the unactivated flag bit and monitoring the torque to the torque verification module when the torque flag bit is the unactivated flag bit.
And the third control module is used for controlling the torque verification module to control the vehicle to execute a preset safe driving strategy when the torque zone bit is determined to be the unactivated zone bit.
In one embodiment, the paths for transmitting the autopilot signals have a plurality of paths;
The signal input module is also used for: when an automatic driving signal on each path is obtained, respectively adjusting a torque zone bit and a monitoring torque on the corresponding path based on the verification signal on each path, and sending the adjusted torque zone bit and the adjusted monitoring torque on each path to a zone bit monitoring module;
The zone bit monitoring module is also used for: and according to the priorities of the paths, sequentially judging the torque zone bit corresponding to each path, and when the torque zone bit is determined to be the activation zone bit, sending the activation zone bit and the monitoring torque which is in the same path with the activation zone bit to a torque verification module.
It is to be understood that, in the block diagram of the autopilot monitoring system shown in fig. 4, each module is configured to perform each step in the embodiments corresponding to fig. 2 and 3, and each step in the embodiments corresponding to fig. 2 and 3 is explained in detail in the foregoing embodiments, and specific reference is made to fig. 2 and 3 and related descriptions in the embodiments corresponding to fig. 2 and 3, which are not repeated herein.
Fig. 5 is a block diagram of a vehicle according to an embodiment of the present application. As shown in fig. 5, the vehicle 500 of this embodiment includes: a processor 510, a memory 520, and a computer program 530 stored in the memory 520 and executable on the processor 510, such as a program for an automatic driving torque verification method. The steps of the various embodiments of the above-described automatic driving torque verification method are implemented when the processor 510 executes the computer program 530, such as S201 to S203 shown in fig. 2. Or the processor 510 may perform the functions of the modules in the embodiment corresponding to fig. 4, for example, the functions of the modules shown in fig. 4, when executing the computer program 530, refer to the related description in the embodiment corresponding to fig. 4.
For example, the computer program 530 may be partitioned into one or more modules that are stored in the memory 520 and executed by the processor 510 to implement the method of automatic driving torque verification provided by embodiments of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 530 in the vehicle 500. For example, the computer program 530 may implement the method for verifying the automatic driving torque provided by the embodiment of the present application.
The vehicle 500 may include, but is not limited to, a processor 510, a memory 520. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a vehicle 500 and is not intended to limit the vehicle 500, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the vehicle may further include input and output devices, network access devices, buses, etc.
The processor 510 may be a central processing unit, as well as other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, 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 520 may be an internal storage unit of the vehicle 500, such as a hard disk or a memory of the vehicle 500. The memory 520 may also be an external storage device of the vehicle 500, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the vehicle 500. Further, the memory 520 may also include both internal storage units and external storage devices of the vehicle 500.
Embodiments of the present application provide a computer readable storage medium comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of automatic driving torque verification as in the various embodiments described above when executing the computer program.
Embodiments of the present application provide a computer program product for causing a vehicle to perform the method of automatic driving torque verification in the respective embodiments described above when the computer program product is run on the vehicle.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will 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 (10)
1. An automatic driving torque verification method is characterized by being applied to an automatic driving monitoring system, wherein the automatic driving monitoring system comprises a signal input module, a zone bit monitoring module and a torque verification module, and the method comprises the following steps:
when the signal input module is controlled to acquire an automatic driving signal, adjusting a torque zone bit and monitoring torque in the automatic driving signal according to a verification signal in the automatic driving signal, and transmitting the adjusted torque zone bit and monitoring torque to the zone bit monitoring module;
Controlling the zone bit monitoring module to send the monitoring torque to the torque checking module when determining that the torque zone bit is an activated zone bit;
And controlling the torque verification module to verify the current automatic driving torque according to the monitoring torque to obtain a torque verification result.
2. The method of claim 1, wherein said adjusting a torque flag bit in said autopilot signal and monitoring torque in accordance with a verification signal in said autopilot signal comprises:
And controlling the signal input module to check the automatic driving signal according to the check signal to generate a signal check result, and adjusting the torque zone bit and the monitoring torque according to the signal check result.
3. The method of claim 2, wherein said adjusting the torque flag bit and the monitored torque according to the signal verification result comprises:
Controlling the signal input module to adjust the torque zone bit to be the activation zone bit when the signal verification result is determined to be credible, and keeping the monitoring torque unchanged;
and controlling the signal input module to adjust the torque zone bit to be an unactivated zone bit and adjust the monitoring torque to be a preset torque value when the signal verification result is determined to be unreliable.
4. The method of claim 1, wherein controlling the torque verification module to verify the current autopilot torque based on the monitored torque to obtain a torque verification result comprises:
if the automatic driving torque is larger than the monitoring torque, controlling the torque verification module to output the torque verification result as abnormal torque;
And if the automatic driving torque is smaller than or equal to the monitoring torque, controlling the torque verification module to output the torque verification result as the torque is normal.
5. The method of claim 4, further comprising, after said controlling said torque verification module to verify a current autopilot torque based on said monitored torque to obtain a torque verification result:
if the torque verification result is that the torque is abnormal, controlling the vehicle to execute a preset parking strategy;
And if the torque verification result is that the torque is normal, controlling the vehicle to automatically drive based on the monitoring torque.
6. The method according to claim 1, characterized in that the method further comprises:
outputting the unactivated flag bit and the monitoring torque to the torque verification module when the torque flag bit is the unactivated flag bit;
and controlling the torque verification module to control the vehicle to execute a preset safe driving strategy when determining that the torque zone bit is the unactivated zone bit.
7. The method of claim 1, wherein the path for transmitting the autopilot signal has a plurality of paths; the method further comprises the steps of:
When the signal input module is controlled to acquire the automatic driving signals on each path, adjusting the torque zone bit and the monitoring torque on the corresponding path based on the verification signals on each path, and sending the adjusted torque zone bit and the adjusted monitoring torque on each path to the zone bit monitoring module;
And controlling the zone bit monitoring module to sequentially judge the torque zone bit corresponding to each path according to the priorities of a plurality of paths, and sending the activation zone bit and the monitoring torque of the same path as the activation zone bit to the torque verification module when the torque zone bit is determined to be the activation zone bit.
8. The automatic driving monitoring system is characterized by comprising an independently packaged signal input module, a marker bit monitoring module and a torque verification module: the zone bit monitoring module is respectively in data connection with the signal input module and the torque verification module;
The signal input module acquires an automatic driving signal and sends a torque zone bit and monitoring torque to the zone bit monitoring module; the zone bit monitoring module sends the monitoring torque to the torque checking module; the torque verification module generates a torque verification result.
9. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 7.
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