Vehicle-mounted battery status monitoring system, method and device

Abstract

This specification discloses a vehicle battery status monitoring system, method and device, which uses a monitoring device electrically connected to the vehicle battery and processor on the unmanned driving device to monitor the charging status of the vehicle battery. The processor determines whether the vehicle battery of the current unmanned driving device has a short circuit risk based on the monitored charging status of the vehicle battery. If it is determined that the current vehicle battery has a short circuit risk, an early warning is issued, and the unmanned driving device is controlled according to a pre-set degradation control strategy. This method adds a device for monitoring the vehicle battery status between the vehicle battery and the processor on the unmanned driving device. When it is determined that the vehicle battery has a short circuit risk, a degradation control strategy is used to control the unmanned driving device to avoid emergency braking of the unmanned driving device when the vehicle battery is short-circuited.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a vehicle-mounted battery status monitoring system, method and device. Background Art

[0002] With the development of science and technology, driverless cars and drones are becoming more and more popular. In order to prevent the processor used to control the driverless car from malfunctioning and causing the driverless car to lose control, the driverless car is usually equipped with a backup processor with the same function as the processor.

[0003] The power supply system on unmanned equipment is divided into high-voltage power supply system and low-voltage power supply system, such as Figure 1 As shown in the figure, during the actual driving process of the unmanned driving equipment, the high-voltage power supply system on the unmanned driving equipment usually outputs low voltage through the transformer to power the processor. In addition, the high-voltage power supply system outputs low voltage through the transformer to charge the vehicle battery. In this way, when the processor fails due to a fault in the high-voltage power supply system, the vehicle battery can power the backup processor, so that the backup processor continues to control the unmanned driving equipment.

[0004] In the prior art, in order to avoid the impact of vehicle batteries on the high-voltage power supply system or transformer failure, such as Figure 1 As shown in the figure, an isolator is installed between the transformer and the vehicle battery. During the driving process of the unmanned vehicle, the isolator monitors the charging voltage of the vehicle battery in real time. When the charging voltage exceeds the preset threshold, it is determined that the transformer is damaged. In order to prevent the vehicle battery from being broken down by high voltage electricity, the isolator will be disconnected immediately to isolate the vehicle battery from the transformer. After that, the vehicle battery is used to power the backup processor, which controls the unmanned driving equipment to drive to a safe area and wait for the staff to inspect it.

[0005] However, there is no equipment or device on the unmanned driving device to monitor the status of the vehicle battery. When the vehicle battery also has a short circuit or other faults at this time, there is no power supply system to power the backup processor. The unmanned vehicle can only take emergency braking. If the unmanned vehicle is on the actual road, it may cause traffic safety problems. Summary of the invention

[0006] This specification provides a vehicle-mounted battery status monitoring system and method to partially solve the above-mentioned problems existing in the prior art.

[0007] This manual adopts the following technical solutions:

[0008] This specification provides a detection system for unmanned driving equipment, wherein the monitoring device is electrically connected to a vehicle-mounted battery and a processor on the unmanned driving equipment, and the vehicle-mounted battery is used to power the processor, including:

[0009] The monitoring device is used to monitor the charging state of the vehicle battery and send the charging state of the vehicle battery to the processor;

[0010] The processor is used to determine whether the on-board battery of the current unmanned driving device has a short-circuit risk based on the charging status of the on-board battery sent by the monitoring device. If it is determined that the on-board battery of the current unmanned driving device has a short-circuit risk, a warning message is issued, and based on a pre-set degradation control strategy, the driving of the unmanned driving device is controlled.

[0011] Optionally, the monitoring device is further used to monitor the life of the vehicle-mounted battery and send the life to the processor;

[0012] The processor is also used to determine whether the life of the vehicle battery is not greater than a specified threshold based on the life of the vehicle battery sent by the monitoring device, and if the life of the vehicle battery is not greater than the specified threshold, issue a warning message.

[0013] Optionally, the monitoring device includes: a sensor;

[0014] The charging state of the vehicle-mounted battery includes the state of charge and the charging current of the vehicle-mounted battery.

[0015] Optionally, the processor includes a main processor and a backup processor;

[0016] The monitoring device is electrically connected to a main processor and a backup processor on the unmanned driving device;

[0017] When the main processor is the processor currently controlling the unmanned driving device, the main processor determines whether the on-board battery of the current unmanned driving device has a short circuit risk according to the charging status of the on-board battery sent by the monitoring device, and if it is determined that the on-board battery of the current unmanned driving device has a short circuit risk, issues a warning message, and controls the driving of the unmanned driving device based on a preset degradation control strategy;

[0018] When the backup processor is the processor currently controlling the unmanned driving device, the backup processor determines whether the on-board battery on the current unmanned driving device has a short-circuit risk based on the charging status of the on-board battery sent by the monitoring device. If it is determined that the on-board battery on the current unmanned driving device has a short-circuit risk, a warning message is issued, and the driving of the unmanned driving device is controlled based on a pre-set degradation control strategy.

[0019] This specification provides a vehicle battery status monitoring method, including:

[0020] During the movement of the unmanned driving device, obtaining the charging status of the vehicle battery mounted on the unmanned driving device;

[0021] Determining whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery;

[0022] If it is determined that the vehicle-mounted battery has a short circuit risk, a warning message is issued, and based on a pre-set degradation control strategy, the driving of the unmanned driving device is controlled.

[0023] Optionally, obtaining the life of the vehicle battery, and determining whether a parameter value corresponding to the life is lower than a specified threshold;

[0024] If so, issue a warning message.

[0025] Optionally, the charging status of the vehicle battery includes a state of charge and a charging current of the vehicle battery.

[0026] Optionally, judging whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery specifically includes:

[0027] Obtaining a pre-established correspondence between the state of charge and the normal charging current range;

[0028] According to the current state of charge of the vehicle-mounted battery and the corresponding relationship between the state of charge and the charging current range, determine a normal charging current range corresponding to the current state of charge as the designated charging current range;

[0029] Determining whether the current charging current of the vehicle-mounted battery is within the specified charging current range;

[0030] If yes, it is determined that there is no short circuit risk in the vehicle battery;

[0031] If not, it is determined that the vehicle-mounted battery has a short circuit risk.

[0032] This specification provides a vehicle-mounted battery status monitoring device, including:

[0033] A charging status acquisition module, used to acquire the charging status of a vehicle battery mounted on the unmanned driving device during the movement of the unmanned driving device;

[0034] A risk assessment module, used to determine whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery;

[0035] The risk warning module is used to issue a warning message if it is determined that the vehicle-mounted battery has a short circuit risk, and control the driving of the unmanned driving device based on a pre-set degradation control strategy.

[0036] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned vehicle-mounted battery status monitoring method is implemented.

[0037] This specification provides an unmanned driving device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned vehicle battery status monitoring method when executing the program.

[0038] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0039] In the vehicle battery status monitoring method provided in this specification, a monitoring device electrically connected to the vehicle battery and processor on the unmanned driving device is used to monitor the charging status of the vehicle battery. The processor determines whether the vehicle battery of the current unmanned driving device has a short circuit risk based on the monitored charging status of the vehicle battery. If it is determined that the current vehicle battery has a short circuit risk, a warning is issued and the unmanned driving device is controlled according to a pre-set degradation control strategy.

[0040] It can be seen from the above method that this method adds a device for monitoring the status of the on-board battery between the on-board battery and the processor on the unmanned driving device. When it is determined that there is a short-circuit risk in the on-board battery, a degradation control strategy will be used to control the unmanned driving device to avoid emergency braking of the unmanned driving device when the on-board battery is short-circuited. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0042] Figure 1 A schematic diagram of a power supply system for an unmanned driving device in this specification;

[0043] Figure 2 It is a structural schematic diagram of a monitoring system in this specification;

[0044] Figure 3 A schematic diagram of a vehicle battery status monitoring method in this specification;

[0045] Figure 4 A schematic diagram of a vehicle-mounted battery monitoring device provided in this specification;

[0046] Figure 5 The corresponding Figure 1 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0048] The power supply system on unmanned driving equipment is usually divided into a high-voltage power supply system and a low-voltage power supply system. The high-voltage power supply system can provide power for the unmanned driving equipment so that the unmanned driving equipment can drive normally. Since the electronic control unit (ECU) of the unmanned driving system installed on the unmanned driving equipment, that is, the processor of the unmanned driving equipment, requires low-voltage electricity, a transformer is installed between the high-voltage power supply system and the processor. The transformer will convert the high voltage output by the high-voltage power supply system into a low voltage input to the processor.

[0049] like Figure 1 As shown, when the unmanned driving device is driving, the transformer converts the high voltage input from the high-voltage power supply system into a low voltage output to the processor, so that the unmanned driving system on the processor can obtain sufficient power to work. Furthermore, in order to avoid that no device or apparatus can control the unmanned driving device when there is a problem with the processor, the unmanned driving device is usually equipped with a backup processor with the same function as the processor, and an on-board battery capable of providing low-voltage electricity to the backup processor is installed on the unmanned driving device. In this way, when there is a problem with the main processor, the on-board battery can power the backup processor, and the backup processor can replace the main processor to control the unmanned driving device.

[0050] In actual operation, when the unmanned driving device is driving, the high-voltage power supply system on the unmanned driving device not only powers the main processor, but also charges the vehicle battery through the low-voltage power output of the transformer. In the prior art, in order to avoid problems with the high-voltage power supply system or transformer, which may damage the vehicle battery and the backup processor, such as Figure 1 As shown, an isolator is installed between the transformer and the vehicle battery. During the driving of the unmanned driving device, the isolator will monitor the charging voltage input from the transformer to the vehicle battery in real time. When the isolator detects that the charging voltage exceeds the preset threshold, it is determined that the transformer is faulty, and the isolator will be disconnected immediately to isolate the high-voltage power supply system, the transformer from the vehicle system and the backup processor. After that, the vehicle battery can power the backup processor, allowing the backup battery to control the driving of the unmanned driving device.

[0051] It can be seen from the above description that after the high-voltage power supply system of the unmanned driving device fails, the on-board battery that can power the backup processor on the unmanned driving device plays an important role. Therefore, it is necessary to ensure that the on-board battery on the unmanned driving device can work normally. However, in the prior art, there is no device for monitoring the status of the on-board battery. When the high-voltage power supply system and the main processor fail, and the on-board battery is required to power the backup processor, if the on-board battery is in a poor state at this time, for example, the on-board battery is low, the on-board battery cannot provide sufficient power for the backup processor, and the unmanned driving system of the backup processor has reduced control over the unmanned driving device, resulting in the unmanned driving device being out of control. If the on-board battery is short-circuited at this time, the on-board battery cannot be used and will not power the backup processor. The unmanned driving system in the backup processor cannot obtain power and cannot control the unmanned driving device, and the unmanned driving device can only take emergency braking.

[0052] This specification provides a monitoring system for unmanned driving equipment, which determines whether the current on-board battery has a short circuit risk by monitoring the charging status of the on-board battery. When the on-board battery has a short circuit risk, the on-board battery is replaced in time to avoid the loss of control of the unmanned driving equipment when the on-board battery actually has a short circuit fault.

[0053] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0054] Figure 2 A schematic diagram of the structure of a monitoring system for an unmanned driving device provided for this description, wherein the monitoring device is electrically connected to an on-board battery and a processor on the unmanned driving device, and the on-board battery is used to power the processor.

[0055] Specifically, the monitoring device is used to monitor the charging status of the vehicle battery and send the charging status of the vehicle battery to the processor. The processor is used to determine whether the vehicle battery on the current unmanned driving device has a short circuit risk based on the charging status of the vehicle battery sent by the monitoring device. If it is determined that the current vehicle battery has a short circuit risk, a warning message is issued, and the unmanned driving device is controlled based on a preset degradation control strategy.

[0056] Among them, the processor may include a main processor and a backup processor. When the main processor is a processor for controlling an unmanned driving device, the main processor determines whether the on-board battery of the current unmanned driving device has a short-circuit risk based on the charging status of the on-board battery sent by the monitoring device. If it is determined that the on-board battery of the current unmanned driving device has a short-circuit risk, a warning message is issued, and, based on a pre-set degradation control strategy, the unmanned driving device is controlled to travel. When the backup processor is a processor for controlling an unmanned driving device, the backup processor determines whether the on-board battery of the current unmanned driving device has a short-circuit risk based on the charging status of the on-board battery sent by the monitoring device. If it is determined that the on-board battery of the current unmanned driving device has a short-circuit risk, a warning message is issued, and, based on a pre-set degradation control strategy, the unmanned driving device is controlled to travel.

[0057] Among them, the monitoring device includes a sensor, which can be a battery status sensor or other device capable of monitoring the status of the vehicle battery, and this specification does not limit this. The charging status of the vehicle battery monitored by the monitoring device includes the charge status and charging current of the vehicle battery, and can also monitor other states of the vehicle battery, such as the charging voltage, and this specification does not limit this. Since the monitoring device is electrically connected to the processor, the monitoring device can send the monitored charging status of the vehicle battery to the processor through the communication circuit, so that the processor can determine whether the vehicle battery has a short circuit risk based on the charging status of the vehicle battery sent through the communication circuit.

[0058] Figure 3 This is a flow chart of a vehicle battery monitoring method in this specification, which specifically includes the following steps:

[0059] S300: During the movement of the unmanned driving device, obtaining a charging status of a vehicle battery mounted on the unmanned driving device.

[0060] In actual operation, the on-board battery mounted on the unmanned driving equipment is usually a lead-acid battery, which has the following charging characteristics: as the battery power of the lead-acid battery increases, the charging current of the lead-acid battery decreases, and when the battery power of the lead-acid battery approaches 100%, the charging current of the lead-acid battery approaches 0. Therefore, based on the charging characteristics of the lead-acid battery, the core idea of ​​the on-board battery status monitoring method provided in this specification is: using the charging characteristics of the lead-acid battery, during the movement of the unmanned driving equipment, monitor the charging status of the on-board battery (lead-acid battery), when it is determined that the battery power of the on-board current is high (high state of charge), and the charging current of the on-board battery is still high, it means that there is a problem with the on-board battery, and there may be a short circuit trend, it is determined that the on-board battery has a short circuit risk, and an early warning message is issued.

[0061] Based on the core idea of ​​the above description, during the movement of the unmanned driving device, the charging status of the vehicle battery mounted on the unmanned driving device can be obtained in real time, wherein the charging status of the vehicle battery is monitored by the monitoring device, and the charging status of the vehicle battery mainly includes the state of charge and charging current of the vehicle battery, and the charging status may also include the charging voltage, which is not limited in this manual. The unmanned driving device can be an unmanned vehicle or an unmanned driving device such as a drone, which is not limited in this manual.

[0062] The unmanned driving equipment mentioned in this specification may refer to unmanned aerial vehicles, unmanned vehicles, robots, automatic delivery equipment and other equipment that can realize automatic driving. Based on this, the unmanned driving equipment using the vehicle battery status monitoring method provided in this specification can be used to perform delivery tasks in the delivery field, such as using unmanned driving equipment for express delivery, logistics, take-out and other delivery business scenarios.

[0063] S302: Determine whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery.

[0064] It is worth noting that when the vehicle battery is in a low state of charge, it is normal for the charging current of the vehicle battery to be high. Only when the vehicle battery is in a high state of charge and the charging current of the vehicle battery is still high, it indicates that there is a short circuit risk in the vehicle battery. In order to avoid misjudgment of the monitoring system, the corresponding relationship between the state of charge of the vehicle battery and the normal charging current range can be established in advance.

[0065] The processor may determine the normal charging current range corresponding to the current state of charge of the vehicle battery as the designated charging current range based on the acquired state of charge of the current vehicle battery and the correspondence between the state of charge and the normal charging current range.

[0066] Afterwards, the processor can determine whether the current charging current of the vehicle battery is within the specified charging current range. If the current charging current is within the specified charging range, it is determined that there is no short circuit risk in the vehicle battery. If the current charging current is not within the specified charging range, it is determined that there is a short circuit risk in the vehicle battery.

[0067] S304: If it is determined that the vehicle-mounted battery has a short circuit risk, a warning message is issued, and the driving of the unmanned driving device is controlled based on a pre-set degradation control strategy.

[0068] As can be seen from step S302, when the charging current of the on-board battery is not within the specified charging current range, it is determined that the on-board battery has a short circuit risk. In order to avoid the emergency braking of the unmanned driving device caused by the failure of the high-voltage power supply system and the on-board battery at the same time, the processor can switch the unmanned driving system currently controlling the unmanned driving device to a pre-set degradation control strategy to control the driving of the unmanned driving device, and at the same time, issue a warning message to remind the staff that the on-board battery of the unmanned driving device has a short circuit risk.

[0069] The downgrade control strategy includes controlling the unmanned driving device to a safe location, for example, controlling the unmanned driving device to pull over and slow down to a stop. After that, the staff can replace the onboard battery of the unmanned driving device based on the warning information issued by the processor.

[0070] In addition, if the current charging current of the vehicle battery is within the specified charging current range, it is determined that there is no short circuit risk in the vehicle battery, and the unmanned driving equipment can continue to drive normally.

[0071] It is worth noting that when the charging current of the vehicle battery is abnormal, it means that the risk of short-circuit failure inside the vehicle battery is high, that is, when the vehicle battery is detected to be in a high state of charge and the charging current of the vehicle battery is high, there is a high possibility of a short circuit inside the vehicle battery, but it does not mean that the vehicle battery is unusable at the current moment. On the contrary, at this time, the vehicle battery can still supply power to the backup processor for a period of time, and the backup processor can also control the unmanned driving device to drive normally. However, in order to avoid the situation where the vehicle battery with a short-circuit risk is completely unusable when powering the backup processor, the unmanned driving system in the backup processor can control the unmanned driving device based on a preset degradation control strategy, that is, control the unmanned driving device to drive to the nearest safe area to stop.

[0072] based on Figure 2 The vehicle battery status monitoring method shown in the prior art usually uses a circuit breaker as an isolator. The circuit breaker can only monitor the charging voltage of the vehicle battery output by the transformer. When the voltage passing through the isolator (circuit breaker), that is, the charging voltage of the vehicle battery, exceeds the preset voltage threshold, the isolator will be disconnected immediately. The unmanned driving device will no longer use a high-voltage power supply system, nor will it use a main processor to control the unmanned driving device. Instead, a backup processor powered by a vehicle battery will be used to control the unmanned driving device. Since there is no device for monitoring the status of the vehicle battery in the prior art, it is impossible to know whether the current vehicle battery has a short circuit risk or any fault. If the vehicle battery is also in a faulty state at this time, the backup processor cannot obtain sufficient power and cannot effectively control the unmanned driving device, causing the unmanned driving device to lose control or emergency braking.

[0073] In this manual, the monitoring device mainly monitors the charge state and charging current of the vehicle battery. When the charging current is abnormal, it issues a warning message that the vehicle battery has a short circuit risk, thereby avoiding emergency braking or loss of control of the unmanned driving device due to a short circuit in the vehicle battery.

[0074] Furthermore, when the life of the on-board battery is low, it means that the amount of electricity that the on-board battery can release is low and it cannot provide sufficient power for the backup processor. In actual operation, the backup processor that cannot obtain sufficient power often has poor control over the unmanned driving equipment, which will cause the unmanned driving equipment to lose control and easily cause traffic safety problems. In order to avoid the above problems, in this specification, the monitoring device can also monitor the life of the on-board battery. Specifically, during the movement of the unmanned driving device and / or before the movement of the unmanned driving device, the monitoring device can monitor the life of the on-board battery and send the monitored life of the on-board battery to the processor. When the life of the on-board battery is lower than the preset threshold, it means that the on-board battery is in poor condition and there may be a short circuit or other faults. The processor can also issue a warning message to remind the staff to replace the on-board battery in time.

[0075] The above is a vehicle-mounted battery status monitoring method provided by one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding vehicle-mounted battery status monitoring device, such as Figure 4 shown.

[0076] Figure 4 A schematic diagram of a vehicle-mounted battery status monitoring device provided in this specification specifically includes:

[0077] Charging status acquisition module 401, risk assessment module 402, risk warning module 403, wherein:

[0078] The charging status acquisition module 401 is used to acquire the charging status of the vehicle battery mounted on the unmanned driving device during the movement of the unmanned driving device;

[0079] A risk assessment module 402 is used to determine whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery;

[0080] The risk warning module 403 is used to issue a warning message if it is determined that the vehicle-mounted battery has a short circuit risk, and control the driving of the unmanned driving device based on a pre-set degradation control strategy.

[0081] Optionally, the risk assessment module 402 is further used to obtain the life of the vehicle-mounted battery and determine whether a parameter value corresponding to the life is lower than a specified threshold; if so, issue a warning message.

[0082] Optionally, the charging status of the vehicle battery includes a state of charge and a charging current of the vehicle battery.

[0083] Optionally, the risk assessment module 402 is specifically used to obtain a pre-established correspondence between the state of charge and the normal charging current range; determine the normal charging current range corresponding to the current state of charge according to the current state of charge of the vehicle battery and the correspondence between the state of charge and the charging current range, as the designated charging current range; determine whether the current charging current of the vehicle battery is within the designated charging current range; if so, determine that the vehicle battery does not have a short circuit risk; if not, determine that the vehicle battery has a short circuit risk.

[0084] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 Provided is a vehicle-mounted battery monitoring method.

[0085] This manual also provides Figure 5 The schematic structure diagram of the electronic device shown in FIG. Figure 5 As mentioned above, at the hardware level, the unmanned driving device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 The vehicle battery status monitoring method. Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0086] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0087] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0088] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0089] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0090] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0092] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0096] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0098] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0100] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0101] The above description is only an embodiment of the present specification and is not intended to limit the present specification. For those skilled in the art, the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of the claims of the present specification.

Claims

1. A monitoring system for unmanned driving equipment, characterized in that: The monitoring device is electrically connected to a vehicle-mounted battery and a processor on the unmanned driving device. The processor includes a main processor and a backup processor. The vehicle-mounted battery is used to power the backup processor. The monitoring device is electrically connected to both the main processor and the backup processor on the unmanned driving device. The monitoring device is used to monitor the charging status of the vehicle battery and send the charging status of the vehicle battery to the main processor and the backup processor; When the main processor is the processor currently controlling the unmanned driving device, the main processor determines whether the on-board battery of the current unmanned driving device has a short circuit risk according to the charging status of the on-board battery sent by the monitoring device, and if it is determined that the on-board battery of the current unmanned driving device has a short circuit risk, issues a warning message, and controls the driving of the unmanned driving device based on a preset degradation control strategy; When the backup processor is the processor currently controlling the unmanned driving device, the backup processor determines whether the on-board battery of the current unmanned driving device has a short circuit risk according to the charging status of the on-board battery sent by the monitoring device, and if it is determined that the on-board battery of the current unmanned driving device has a short circuit risk, issues a warning message, and controls the driving of the unmanned driving device based on a preset degradation control strategy; The charging state of the vehicle-mounted battery includes the state of charge and the charging current of the vehicle-mounted battery; Judging whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery includes: Obtaining a pre-established correspondence between the state of charge and the normal charging current range; According to the current state of charge of the vehicle-mounted battery and the corresponding relationship between the state of charge and the charging current range, determine a normal charging current range corresponding to the current state of charge as the designated charging current range; Determining whether the current charging current of the vehicle-mounted battery is within the specified charging current range; If yes, it is determined that there is no short circuit risk in the vehicle battery; If not, it is determined that the vehicle-mounted battery has a short circuit risk.

2. The monitoring system according to claim 1, characterized in that: The monitoring device is also used to monitor the life of the vehicle battery and send the information to the processor; The processor is also used to determine whether the life of the vehicle battery is less than a specified threshold based on the life of the vehicle battery sent by the monitoring device, and if the life of the vehicle battery is less than the specified threshold, issue a warning message.

3. The monitoring system according to claim 1, characterized in that: The monitoring device comprises: a sensor for monitoring the battery status.

4. A vehicle-mounted battery status monitoring method, characterized in that: The method is applied to the monitoring system of any one of claims 1 to 3, comprising: During the movement of the unmanned driving device, obtaining the charging status of the vehicle battery mounted on the unmanned driving device; Determining whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery; If it is determined that the vehicle-mounted battery has a short circuit risk, a warning message is issued, and based on a pre-set degradation control strategy, the driving of the unmanned driving device is controlled.

5. The method according to claim 4, characterized in that The method further comprises: Obtaining the life of the vehicle battery, and determining whether a parameter value corresponding to the life is less than a specified threshold; If so, issue a warning message.

6. The method according to claim 5, characterized in that The charging state of the vehicle-mounted battery includes the state of charge and the charging current of the vehicle-mounted battery.

7. A vehicle-mounted battery status monitoring device, the device being applied to the monitoring system of any one of claims 1 to 3, characterized in that: include: A charging status acquisition module, used to acquire the charging status of a vehicle battery mounted on the unmanned driving device during the movement of the unmanned driving device; A risk assessment module, used to determine whether the vehicle battery has a short circuit risk according to the current charging state of the vehicle battery; The risk warning module is used to issue a warning message if it is determined that the vehicle-mounted battery has a short circuit risk, and control the driving of the unmanned driving device based on a pre-set degradation control strategy.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 4 to 6 is implemented.

9. An unmanned driving device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 4 to 6 is implemented.

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