CN118025210A

CN118025210A - System, method, vehicle and storage medium for diagnosing fault of domain controller in automatic parking process

Info

Publication number: CN118025210A
Application number: CN202410356234.3A
Authority: CN
Inventors: 陈少敏; 朱剑; 李翠
Original assignee: Huizhou Desay SV Automotive Co Ltd
Current assignee: Huizhou Desay SV Automotive Co Ltd
Priority date: 2024-03-27
Filing date: 2024-03-27
Publication date: 2024-05-14

Abstract

The embodiment of the invention discloses a fault diagnosis system and method for a domain controller in an automatic parking process, a vehicle and a storage medium. The system comprises: the fault detection module is used for detecting hardware faults, software faults and application function faults which are related in the automatic parking process, and sending corresponding fault information to the fault processing module; the fault processing module is used for performing fault processing according to the fault information to obtain a fault processing result; the control module is used for executing different safety actions according to the fault processing result; the watchdog module is used for triggering the system to execute the reset action when any one or both of the fault processing module and the car control module are in fault. According to the embodiment of the invention, through the technical scheme, when the function of the domain controller enters any fault in the automatic parking process, the vehicle control signal can be timely sent out to enable the domain controller to enter a safe state, so that the collision of vehicles is avoided, and the safe state and reliability of automatic parking are ensured.

Description

System, method, vehicle and storage medium for diagnosing fault of domain controller in automatic parking process

Technical Field

The invention relates to the technical field of functional safety of intelligent driving automatic parking, in particular to a fault diagnosis system and method for a domain controller in an automatic parking process, a vehicle and a storage medium.

Background

With the rapid development of the automobile industry, the intelligent popularity of automobiles is also higher and higher, and the potential safety hazards are also increased. In the automatic parking function, it is common for a vehicle to scratch and collide with an obstacle. In the conventional automatic parking technology, whether the domain controller is faulty is generally determined by some diagnostic DTCs, but the diagnostic DTCs cannot cover all faults of the domain controller, for example, when diagnostic functions and the like fail, the safety state of the domain controller cannot be guaranteed.

Disclosure of Invention

In view of the above, the present invention provides a fault diagnosis system, method, vehicle and storage medium for a domain controller in an automatic parking process, which can send out a control signal in time to make the domain controller enter a safe state when the function of the domain controller enters any fault in the automatic parking process, so as to avoid collision of the vehicle, and ensure the safe state and reliability of automatic parking.

According to an aspect of the present invention, an embodiment of the present invention provides a fault diagnosis system for a domain controller in an automatic parking process, the system including: the system comprises a fault detection module, a fault processing module, a car control module and a watchdog module;

the fault detection module is used for detecting associated hardware faults, software faults and application function faults in the automatic parking process, and sending fault information corresponding to the hardware faults, the software faults and the application function faults to the fault processing module;

The fault processing module is used for performing fault processing according to each piece of fault information to obtain a fault processing result;

The vehicle control module is used for executing different safety actions according to the fault processing result;

The watchdog module is used for monitoring the fault processing module and the car control module, and when any one or two modules of the fault processing module and the car control module fail, the watchdog module triggers the system to execute a reset action.

According to another aspect of the present invention, an embodiment of the present invention further provides a method for diagnosing a fault of a domain controller in an automatic parking process, where the system for diagnosing a fault of a domain controller in an automatic parking process according to any one of the embodiments of the present invention is used, and the method includes:

Detecting associated hardware faults, software faults and application function faults in an automatic parking process through a fault detection module, and sending fault information corresponding to the hardware faults, the software faults and the application function faults to a fault processing module;

Performing fault processing according to the fault information through a fault processing module to obtain a fault processing result;

executing different safety actions according to the fault processing result by a vehicle control module;

And monitoring the fault processing module and the car control module through a watchdog module, and triggering system reset by the watchdog module when any one or two modules of the fault processing module and the car control module fail.

According to another aspect of the present invention, an embodiment of the present invention further provides a vehicle, where the vehicle employs the fault diagnosis system for an in-process domain controller according to any one of the embodiments of the present invention.

According to another aspect of the present invention, an embodiment of the present invention further provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a processor to implement the steps of the method for diagnosing a fault in a domain controller during automatic parking according to any one of the embodiments of the present invention.

According to the technical scheme, the fault detection module is used for detecting the related hardware faults, software faults and application function faults, the fault processing module is used for determining the fault processing results corresponding to the faults, the car control module is used for executing different safety actions according to the fault processing results, and the watchdog module is used for monitoring the modules, so that after the functions of any module of the domain controller are faulty, the corresponding safety mechanism can be provided for guaranteeing the safety of parking, the modules with the safe functions are mutually connected in a loop, each fault failure is identified to the greatest extent, the probability of collision in automatic parking is greatly reduced, namely, when the functions of the domain controller enter any fault in the automatic parking process, the car control signal can be timely sent out to enable the domain controller to enter the safety state, the faults can be timely processed, the collision of the vehicle is avoided, and the safety state and reliability of automatic parking are guaranteed.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a fault diagnosis system of a domain controller in an automatic parking process according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a vehicle control module according to an embodiment of the present invention for executing a safety action;

FIG. 3 is a schematic diagram illustrating a fault diagnosis system of a domain controller during an automatic parking process according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method for diagnosing a fault of a domain controller during an automatic parking process according to an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In an embodiment, fig. 1 is a schematic structural diagram of a fault diagnosis system for a domain controller in an automatic parking process according to an embodiment of the present invention, where the embodiment is applicable to a case when a fault diagnosis is performed on a domain controller in an automatic parking process of a vehicle, and referring to fig. 1, the fault diagnosis system for a domain controller in an automatic parking process in the embodiment includes: a fault detection module 110, a fault handling module 120, a control module 130, and a watchdog module 140;

The fault detection module 110 is configured to detect a hardware fault, a software fault and an application function fault associated in the automatic parking process, and send fault information corresponding to the hardware fault, the software fault and the application function fault to the fault processing module 120;

the fault processing module 120 is configured to perform fault processing according to each fault information to obtain a fault processing result;

The control module 130 is configured to perform different safety actions according to the fault processing result;

The watchdog module 140 is configured to monitor the fault handling module 120 and the car control module 130, and trigger the system to execute a reset action by the watchdog module 140 when any one or both of the fault handling module 120 and the car control module 130 fail.

Wherein the hardware faults may include, but are not limited to, sensor faults, chip faults; software faults may include, but are not limited to; core dump failure; the application software malfunction may include, but is not limited to: function processing timeout, task scheduling inaccuracy, program logic sequential execution error.

In this embodiment, the hardware fault, the software fault and the application function fault correspond to corresponding fault information respectively, and each fault information includes a fault identifier corresponding to the current fault, where the fault identifier may also be referred to as a fault ID, and the fault ID is a unique fault identifier in the fault information. In this embodiment, each fault ID may correspond to a corresponding fault handling result, where the fault handling result includes a fault class corresponding to a fault, and in this embodiment, the fault class may include a plurality of fault classes, each fault class corresponds to a corresponding standard, and by way of example, the fault classes are classified into a class, where each fault class corresponds to a corresponding class standard, a first class fault, a second class fault, a third class fault, and a fourth class fault; wherein the first level of failure is greater than the second level of failure, the second level of failure is greater than the third level of failure, and the third level of failure is greater than the fourth level of failure.

In this embodiment, the fault detection module 110 may be configured to detect a hardware fault, a software fault and an application function fault associated with a vehicle in an automatic parking process, and send fault information corresponding to the hardware fault, the software fault and the application function fault to the fault processing module 120, where it may be understood that when the fault detection module 110 detects that the hardware has a fault, such as a sensor fault, a chip fault, etc., the fault information corresponding to the current fault may be, for example, a fault identifier, etc., so as to obtain what kind of fault the current fault is, and send a fault identifier identifying the fault to the fault processing module 120, so that the fault processing module 120 performs corresponding fault processing according to the fault identifier.

In this embodiment, the fault handling module 120 receives the fault information corresponding to the hardware fault, the software fault and the application function fault detected by the fault detecting module 110, and performs fault handling according to each fault information to obtain a fault handling result, specifically, each fault information and a pre-configured fault list may determine a corresponding fault level, and transmit the fault level to the vehicle control module 130, and the vehicle control module 130 may perform different safety actions according to the fault level, and control the vehicle to perform corresponding actions according to the safety actions. It should be noted that, the fault processing module 120 may only receive the fault information of the hardware fault detected by the fault detection module 110, may only receive the fault information of the software fault detected by the fault detection module 110, and may also receive the fault information corresponding to any two or three faults detected by the fault detection module 110, which is not limited herein.

In this embodiment, the watchdog module 140 may monitor the fault handling module 120 and the car control module 130, and when any one or both of the fault handling module 120 and the car control module 130 fail, the watchdog module 140 triggers the system to execute a reset action. It can be understood that, when the watchdog module 140 monitors the fault handling module 120 and the car control module 130 in real time and the fault handling module 120 fails, the watchdog module 140 triggers a system reset if the fault handling module 120 cannot receive and handle other errors; when the control module 130 fails, the control module 130 cannot execute corresponding control actions, and at this time, the watchdog module triggers the system to reset.

According to the technical scheme of the embodiment of the invention, the fault detection module is used for detecting the related hardware faults, software faults and application function faults, the fault processing module is used for determining the fault processing results corresponding to the faults, the car control module is used for executing different safety actions according to the fault processing results, and the watchdog module is used for monitoring the modules, so that after the functions of any one module of the domain controller are faulty, the corresponding safety mechanism can be used for guaranteeing the safety of parking, the modules with the safe functions are mutually monitored in a loop, each fault failure is identified to the greatest extent, and the probability of collision in automatic parking is greatly reduced.

In one embodiment, the fault detection module 120 includes: the system comprises a hardware fault detection unit, a software fault detection unit and an application software functional fault detection unit;

The hardware fault detection unit is used for acquiring first fault information of hardware faults from the register when the hardware related to the automatic parking process is detected to be faulty, and transmitting the first fault information to the fault processing module through a preset communication mode; the first fault information represents a state value of hardware fault, and the state value is set with a corresponding fault identifier;

the software fault detection unit is used for acquiring second fault information of the application software when detecting that the application software related to the parking function has faults, and transmitting the second fault information to the fault processing module through a preset communication mode; the second fault information comprises a process name corresponding to the application software, and the process name sets a corresponding fault identifier;

The application software function fault detection unit is used for acquiring third fault information of the application software function obtained by monitoring when detecting that the related application software function has a fault, and transmitting the third fault information to the fault processing module through a preset communication mode; the third fault information comprises a fault identifier corresponding to the application software function.

The preset communication manner may be understood as a communication manner between the hardware fault detection unit, the software fault detection unit, and the application software functional fault detection unit and the fault processing module 120, where the communication manner includes, but is not limited to, inter-process communication (IP-Process Communication), service-oriented extensible communication middleware protocol (Scalable service-Oriented MiddlewarE over IP, SOMEIP) based on IP protocol, and user datagram protocol (User Datagram Protoco, UDP).

In this embodiment, the hardware fault detection unit is configured to obtain, when a fault occurs in hardware associated with the automatic parking process, first fault information about the occurrence of a hardware fault from the register, and transmit the first fault information to the fault processing module through a preset communication manner; the first fault information represents a state value of a hardware fault, and the state value is set with a corresponding fault identifier, which can be understood as that when the hardware fault detection unit detects that the hardware is faulty, such as a sensor fault, a chip fault and the like. The hardware fault detection module reads the fault identifier of the hardware fault stored in the register, acquires the fault and transmits the fault information to the fault processing module 120 in any mode such as IPC, SOMEIP, UDP, so that the domain controller enters a safe state. In one embodiment, the method for obtaining the state value includes: the status value is obtained through any one or at least two of General-purpose input/output ports (GPIO), serial peripheral interfaces (SERIAL PERIPHERAL INTERFACE, SPI), inter-IC buses (Inter-INTEGRATED CIRCUIT, IIC). It can be understood that the first fault information of the hardware fault is obtained through GPIO, SPI, IIC or the like, that is, the state value.

In this embodiment, the software fault detection unit is configured to obtain second fault information of the application software itself when detecting that the application software itself related to the parking function has a fault, and transmit the second fault information to the fault processing module through a preset communication manner; the second fault information includes a process name corresponding to the application software, and the process name sets a corresponding fault identifier, which can be understood that when the software fault detection unit detects a software fault, such as overtime function processing, inaccurate task scheduling, and program logic sequential execution error, the fault information is transmitted to the fault collection and processing module in an IPC/SOMEIP/UDP mode, so that the domain control enters a safe state. In this embodiment, the software fault detection unit may detect that the software has a fault by monitoring, for example, cyclic redundancy check, and if the check is wrong, it indicates that the fault has occurred, and a corresponding error identifier may be defined to determine the fault identifier.

In this embodiment, the application software function fault detection unit is configured to obtain third fault information of an application software function obtained by monitoring when detecting that a related application software function has a fault, and transmit the third fault information to the fault processing module through a preset communication mode; the third fault information comprises a fault identifier corresponding to the application software function. It can be understood that when the application software function fails, that is, the application itself fails, for example, core dump, the application software function failure detection unit transmits error information to the failure collection and processing module in such ways as IPC/SOMEIP/UDP, so that the domain control enters a safe state. In this embodiment, the application fault may be an application strongly related to parking, for example, may be an avm fault. In this embodiment, the mode of detecting that the application software function has failed by the application software function failure detecting unit may be through a monitoring mechanism, and when the detecting mechanism detects that the application has failed, the process name of the application is given to the software, and then the failure ID is defined according to the process name.

In an embodiment, the hardware fault detection unit is further configured to send first heartbeat information to the fault processing module 120 according to a first preset time period;

The software fault detection unit is further configured to send second heartbeat information to the fault processing module 120 according to a second preset time period;

The application software function fault detection unit is further configured to send third heartbeat information to the fault processing module 120 according to a third preset time period;

accordingly, the fault handling module 120 is further configured to:

Receiving heartbeat information transmitted by a hardware fault detection unit, a software fault detection unit and an application software functional fault detection unit respectively, and determining whether the hardware fault detection unit, the software fault detection unit and the application software functional fault detection unit have faults or not according to the heartbeat information; the heartbeat information comprises a unique identification number corresponding to each unit;

If any one or at least two of the hardware fault detection unit, the software fault detection unit and the application software functional fault detection unit have faults, determining a corresponding fault grade, and transmitting the fault grade to a vehicle control module so that the vehicle control module executes different safety actions according to the fault grade.

The first preset time period, the second preset time period and the third preset time period may be the same time period or different time periods, and may be set by themselves according to requirements, which is not limited in this embodiment.

In this embodiment, the first heartbeat information refers to heartbeat packet information corresponding to the hardware fault detection unit, where the heartbeat packet includes unique identification information corresponding to the hardware fault detection unit; the second heartbeat information refers to heartbeat packet information corresponding to the software fault detection unit, and the heartbeat packet comprises unique identification information corresponding to the software fault detection unit; the third heartbeat information refers to heartbeat packet information corresponding to the application software function fault detection unit, and the heartbeat packet comprises unique identification information corresponding to the application software function fault detection unit; it can be understood that in this embodiment, each detection unit corresponds to unique heartbeat identification information, and the heartbeat identification information is sent to the fault processing module 120 along with the heartbeat information according to a period, so that the fault processing module 120 determines whether the hardware fault detection unit, the software fault detection unit and the application software function fault detection unit have faults according to the heartbeat information.

In this embodiment, the hardware fault detection unit, the software fault detection unit and the application software functional fault detection unit send corresponding heartbeat information to the fault processing module 120 according to a certain period respectively, the fault processing module 120 receives the heartbeat information sent by the hardware fault detection unit, the software fault detection unit and the application software functional fault detection unit respectively, and determines whether the hardware fault detection unit, the software fault detection unit and the application software functional fault detection unit have faults according to the heartbeat information; the heartbeat information comprises a unique identification number corresponding to each unit, and when any one unit or at least two units of the hardware fault detection unit, the software fault detection unit and the application software function fault detection unit are in fault, the corresponding fault grade is determined according to the unique identification number corresponding to each unit in the heartbeat information, and the fault grade is transmitted to the vehicle control module, so that the vehicle control module executes different safety actions according to the fault grade. It can be understood that when any one or more of the above hardware fault detection unit, software fault detection unit and application software functional fault detection unit fails, the fault is reported by the heartbeat detection mechanism of the fault processing module at this time, that is, all detection modules need to send heartbeat information to the fault collecting and processing module at regular time, and when the heartbeat information is not received for a certain time, an error is reported.

In an embodiment, the fault information includes a fault identifier corresponding to the current fault; the fault handling module is preconfigured with a fault list, wherein the fault list comprises: the target fault identification and the corresponding fault grade standard, wherein the fault processing result comprises a fault grade; correspondingly, performing fault processing according to each fault information to obtain a fault processing result, including:

determining a corresponding fault level according to each fault information and the fault list;

wherein determining the corresponding fault level according to each fault information and the fault list includes:

Matching the fault identification in the fault information with the target fault identification in the fault list to obtain a matching result; wherein, the target fault identification and the fault grade standard are in one-to-one correspondence;

And determining the corresponding fault level according to the matching result.

In this embodiment, the preconfigured fault list is a fault list faultlist preconfigured by the user, which is configured in the fault handling module 120, and may include, but is not limited to, a target fault identifier and a corresponding fault level criterion, and it may be understood that the fault list aultlist defines an id and a level of each specific fault; of course, the fault level criteria may be defined by the user, and the fault level may be classified according to whether the automatic parking normal operation is affected, and the vehicle driving safety and the user safety, or may be set by the user according to the requirements, which is not limited in this embodiment.

In this embodiment, the fault information includes a fault identifier corresponding to the current fault; the fault handling module is preconfigured with a fault list, wherein the fault list comprises: a target fault identifier and a corresponding fault level standard; the fault identification in the fault information can be matched with the target fault identification, and a matching result is obtained; the target fault identification and the fault grade standard are in one-to-one correspondence, and the corresponding fault grade is determined according to the matching result; specifically, traversing and searching a target fault identifier matched with the fault identifier in the fault list through the fault identifier in the fault information, wherein the target fault identifier and the fault grade standard are in one-to-one correspondence, so that the fault grade standard corresponding to the fault identifier in the fault information can be obtained.

In one embodiment, a state machine is added in the vehicle control module; the states in the state machine include: an initial state; a preparation state; a normal state; a safe state; the fault level includes: first, second, third, and fourth level faults; wherein the first level of failure is greater than the second level of failure, the second level of failure is greater than the third level of failure, and the third level of failure is greater than the fourth level of failure; correspondingly, different safety actions are executed according to the fault level, including:

when entering automatic parking, under the condition that the fault level is any one of the first level fault, the second level fault or the third level fault, the parking is not allowed to be activated, and the state machine waits in the initial state;

Determining that the state machine jumps to the preparation state under the condition that the fault level is not any one of the first level fault, the second level fault or the third level fault, and jumping back to the initial state if any one of the first level fault, the second level fault or the third level fault occurs in the preparation state; if any one of the first level fault, the second level fault or the third level fault does not occur in the preparation state, waiting for starting a parking signal, and jumping to a normal state by a state machine when the parking signal is received;

In a normal state, if a third-level fault occurs, determining whether to continue parking according to whether the third-level fault can be automatically recovered; if the fourth-level fault occurs, continuing parking;

In the normal state, if the second level fault occurs, the state machine jumps to a safe state, starts braking and exits parking;

in the normal state, if the first level fault occurs, the state machine jumps to a safe state, starts braking, exits parking, and resets the system.

In this embodiment, the first level fault is a fault that threatens the driving safety and the user safety of the vehicle; wherein, the first level fault is related to hardware and software faults with strong parking function; the second-level faults are faults which affect the normal operation of automatic parking and are unrecoverable; the third-level fault is a fault which affects the normal operation of automatic parking and can be recovered; the fourth level of faults are faults which do not affect the running safety and user safety of the vehicle and the normal operation of automatic parking.

In this embodiment, a state machine is added to the vehicle control module, and states in the state machine include: an initial state; a preparation state; a normal state; a safe state; the fault level includes: first, second, third, and fourth level faults; wherein the first level of failure is greater than the second level of failure, the second level of failure is greater than the third level of failure, and the third level of failure is greater than the fourth level of failure; in this embodiment, when entering automatic parking, if the failure level is any one of the first level failure, the second level failure, or the third level failure, then parking is not allowed to be activated, and the state machine waits in the initial state; determining that the state machine jumps to the preparation state under the condition that the fault level is not any one of the first level fault, the second level fault or the third level fault, and jumping back to the initial state if any one of the first level fault, the second level fault or the third level fault occurs in the preparation state; if any one of the first level fault, the second level fault or the third level fault does not occur in the preparation state, waiting for starting a parking signal, and jumping to a normal state by a state machine when the parking signal is received; in a normal state, if a third-level fault occurs, determining whether to continue parking according to whether the third-level fault can be automatically recovered; if the fourth-level fault occurs, the parking is continued, and it can be understood that if the third-level fault can be timely and automatically recovered, the parking can be continued, and if the third-level fault cannot be timely and automatically recovered, the parking cannot be continued; in the normal state, if the second level fault occurs, the state machine jumps to a safe state, starts braking and exits parking; in a normal state, if a first level fault occurs, the state machine jumps to a safe state, starts braking, exits parking, and resets the system; in this embodiment, after the functional safety scheme is applied to the intelligent driving domain controller, when the function of any module of the domain controller fails, a corresponding safety mechanism can be provided to ensure the safety of parking, and the modules with safe functions are mutually monitored in a loop, so that each failure is identified to the greatest extent, and the probability of collision in automatic parking is greatly reduced.

In an embodiment, in order to better understand the execution of the vehicle control module, fig. 2 is a schematic diagram of the vehicle control module executing a safety action according to an embodiment of the present invention, where in this embodiment, the type 1, 2, and 3 errors are a first level fault, a second level fault, and a third level fault in the above embodiment, and in this embodiment, the type 3 error may be automatically recovered, and parking may be continued for illustration; as shown in fig. 2, a state machine is added in the vehicle control module; the states in the state machine include: an initial state; a preparation state; a normal state; a safe state; 1) When the parking is not entered, when errors of types 1, 2 and 3 occur, the parking is not allowed to be activated, and the state machine waits in an initial state; when no error occurs, the state machine jumps to a ready state; 2) When the preparation state generates 1, 2 and 3 types of errors, the state machine jumps back to the initial state; waiting for a parking signal to be initiated when there is no error; when there is a park signal and there is no error, the state machine jumps to the normal park state. 3) If 3 kinds of errors and 4 kinds of errors occur in the parking state, parking can be continued; if the class 2 error occurs, the state machine jumps to a safe state, starts braking and exits parking; if the class 1 error occurs, the state machine jumps to a safe state, starts braking, exits parking, and resets the system.

In an embodiment, in order to better understand the fault diagnosis system of the domain controller in the automatic parking process, fig. 3 is a schematic structural diagram of another fault diagnosis system of the domain controller in the automatic parking process according to an embodiment of the present invention, and as shown in fig. 3, the fault diagnosis system of the domain controller in the automatic parking process may specifically include: the fault detection module 310, the fault processing module 320, the car control module 330 and the watchdog module 340, wherein the fault detection module comprises: a hardware failure detection unit 3101, a software failure detection unit 3102, and an application software functional failure detection unit 3103.

In this embodiment, the hardware fault detection unit 3101 is configured to, when detecting that a fault occurs in hardware associated with an automatic parking process, obtain first fault information about the occurrence of the hardware fault from a register, transmit the first fault information to the fault processing module 320 through a preset communication manner, and send first heartbeat information to the fault processing module 320 according to a first preset time period; the software fault detection unit 3102 is configured to, when detecting that the application software related to the parking function has a fault, obtain second fault information of the application software, transmit the second fault information to the fault processing module 320 through a preset communication manner, and send second heartbeat information to the fault processing module 320 according to a second preset time period; the application software function fault detection unit 3103 is configured to, when detecting that the associated application software function has a fault, obtain third fault information of the application software function obtained by monitoring, transmit the third fault information to the fault processing module 320 through a preset communication manner, and send third heartbeat information to the fault processing module 320 according to a third preset time period.

In this embodiment, the fault handling module 320 is configured to determine a corresponding fault level according to each fault information and a pre-configured fault list, determine whether the hardware fault detection unit 3101, the software fault detection unit 3102 and the application software function fault detection unit 3103 have faults according to the heartbeat information, determine the corresponding fault level, and transmit the corresponding fault level to the vehicle control module 330, so that the vehicle control module 330 performs different safety actions according to the fault level.

In this embodiment, the vehicle control module 330 is configured to perform different safety actions according to the fault level; the watchdog module 340 monitors the fault handling module 320 and the car control module 330, and when either or both of the fault handling module 320 and the car control module 330 fail, the watchdog module 340 triggers the system to perform a reset action.

The invention provides a functional safety scheme for automatic parking of an intelligent driving domain controller, which is characterized in that a hardware fault detection unit, a software fault detection unit and an application software functional fault detection unit in a fault detection module are used for respectively sending heartbeat information to a fault processing module, so that the fault processing module determines whether the hardware fault detection unit, the software fault detection unit and the application software functional fault detection unit have faults according to the heartbeat information, a vehicle control module executes different safety actions according to fault grades, when any one or two modules of the fault processing module and the vehicle control module have faults, the watchdog module triggers a system to execute reset actions, when the function of any one module of the domain controller has faults, a corresponding safety mechanism can be provided for guaranteeing the safety of parking, the modules with all the functions are mutually monitored in a loop, each fault failure is identified to the greatest extent, and the probability of collision in the automatic parking is greatly reduced.

In an embodiment, fig. 4 is a flowchart of a method for diagnosing a fault of a domain controller in an automatic parking process according to an embodiment of the present invention, where the method may be implemented by a system for diagnosing a fault of a domain controller in an automatic parking process of a vehicle, and the system for diagnosing a fault of a domain controller in an automatic parking process may be implemented in hardware and/or software.

As shown in fig. 4, the fault diagnosis method for the domain controller in the automatic parking process in the embodiment is applied to a fault diagnosis system for the domain controller in the automatic parking process, and specifically includes the following steps:

S410, detecting related hardware faults, software faults and application function faults in the automatic parking process through a fault detection module, and sending fault information corresponding to the hardware faults, the software faults and the application function faults to a fault processing module.

S420, performing fault processing according to the fault information through a fault processing module to obtain a fault processing result.

S430, executing different safety actions according to the fault processing result through the vehicle control module.

S440, the watchdog module is used for monitoring the fault processing module and the vehicle control module, and when any one or two modules of the fault processing module and the vehicle control module fail, the watchdog module triggers the system to reset.

In an embodiment, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a domain controller fault diagnosis method during automatic parking.

In some embodiments, the domain controller fault diagnosis method during automatic parking may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the domain controller fault diagnosis method in the automatic parking process described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the domain controller fault diagnosis method during auto-park by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a general purpose computer, special purpose computer, or other programmable vehicle processor of a cross-machine direction control parameter update adjustment device during parking, such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A domain controller fault diagnosis system in an automatic parking process, the domain controller fault diagnosis system comprising: the system comprises a fault detection module, a fault processing module, a car control module and a watchdog module;

2. The system of claim 1, wherein the fault detection module comprises: the system comprises a hardware fault detection unit, a software fault detection unit and an application software functional fault detection unit;

The hardware fault detection unit is used for acquiring first fault information of hardware faults from a register when the hardware related to the automatic parking process is detected to be faulty, and transmitting the first fault information to the fault processing module through a preset communication mode; the first fault information represents a state value of hardware fault, and the state value is set with a corresponding fault identifier;

The software fault detection unit is used for acquiring second fault information of the application software when detecting that the application software related to the parking function has faults, and transmitting the second fault information to the fault collection and processing module through the preset communication mode; the second fault information comprises a process name corresponding to the application software, and the process name sets a corresponding fault identifier;

The application software function fault detection unit is used for acquiring third fault information of the application software function obtained by monitoring when detecting that the related application software function has a fault, and transmitting the third fault information to the fault processing module through the preset communication mode; the third fault information comprises a fault identifier corresponding to the application software function.

3. The system of claim 2, wherein the means for obtaining the status value comprises: acquiring a state value through any one or at least two of a general purpose input/output port GPIO, a serial peripheral interface SPI and an inter-IC bus IIC;

the preset communication mode comprises the following steps: inter-process communication IPC, service oriented scalability communication middleware protocol SOMEIP based on IP protocol, user datagram protocol UDP.

4. The system of claim 2, wherein the hardware failure detection unit is further configured to send first heartbeat information to the failure processing module according to a first preset time period;

The software fault detection unit is further used for sending second heartbeat information to the fault processing module according to a second preset time period;

The application software function fault detection unit is further used for sending third heartbeat information to the fault processing module according to a third preset time period;

correspondingly, the fault processing module is further configured to:

Receiving heartbeat information transmitted by the hardware fault detection unit, the software fault detection unit and the application software function fault detection unit respectively, and determining whether the hardware fault detection unit, the software fault detection unit and the application software function fault detection unit have faults according to the heartbeat information; wherein the heartbeat information comprises a unique identification number corresponding to each unit;

If any one or at least two of the hardware fault detection unit, the software fault detection unit and the application software function fault detection unit have faults, determining a corresponding fault grade, and transmitting the fault grade to a vehicle control module so that the vehicle control module executes different safety actions according to the fault grade.

5. The system of claim 1, wherein the fault information includes a fault identifier corresponding to a current fault; a fault list is preconfigured in the fault processing module, and the fault list comprises: target fault identification and corresponding fault level criteria.

6. The system of claim 5, wherein the fault handling results comprise a fault level; correspondingly, performing fault processing according to each piece of fault information to obtain a fault processing result, including:

and determining the corresponding fault level according to the matching result.

7. The system of claim 1, wherein a state machine is added to the control module; the states in the state machine include: an initial state; a preparation state; a normal state; a safe state; the fault level includes: first, second, third, and fourth level faults; wherein the first level of failure is greater than the second level of failure, the second level of failure is greater than the third level of failure, and the third level of failure is greater than the fourth level of failure.

8. The system of claim 7, wherein performing different safety actions according to the fault level comprises:

When entering automatic parking, if the fault level is any one of the first level fault, the second level fault or the third level fault, parking is not allowed to be activated, and the state machine waits in the initial state;

Determining that the state machine jumps to the ready state if the failure level is not any one of the first level failure, the second level failure or the third level failure, and jumping back to the initial state if any one of the first level failure, the second level failure or the third level failure occurs in the ready state; if any one of the first-level fault, the second-level fault or the third-level fault does not occur in the preparation state, waiting for a parking signal to be started, and jumping to the normal state by the state machine when the parking signal is received;

In the normal state, if the third-level fault occurs, determining whether to continue parking according to whether the third-level fault can be automatically recovered; if the fourth-level fault occurs, parking is continued; the fourth-level fault does not influence the normal operation of automatic parking of the vehicle;

When the second level fault occurs in the normal state, the state machine jumps to the safe state, starts braking and exits parking;

And in the normal state, if the first level fault occurs, the state machine jumps to the safe state, starts braking, exits parking and resets the system.

9. The system of claim 8, wherein the first level fault is a fault that threatens vehicle traffic safety and user safety; wherein, the first level fault is related to hardware and software faults with strong parking function;

the second-level fault is a fault which affects normal operation of automatic parking and is unrecoverable;

The third-level fault is a fault which affects normal operation of automatic parking and can be recovered;

The fourth level fault is a fault which does not affect the running safety of the vehicle, the safety of a user and the normal work of automatic parking.

10. The fault diagnosis method for the domain controller in the automatic parking process is characterized by comprising the following steps of: an in-process domain controller fault diagnosis system employing any one of claims 1 to 9, the method comprising:

11. A vehicle, characterized in that: use of an in-car controller fault diagnosis system according to any one of claims 1 to 9.

12. A computer readable storage medium storing computer instructions for enabling a processor to perform the steps of the method for diagnosing a fault in a domain controller during automatic parking according to any one of claims 9.