A control method and device for unmanned driving equipment

Abstract

This specification discloses a control method and device for unmanned driving equipment, and specifically discloses that, for each functional module in the automatic driving system, the environmental parameters of the working environment in which the functional module is running and the operating parameters generated when the functional module is running are monitored, and then, based on the correspondence between different types of environmental parameters and different standard operating parameters, the standard operating parameters corresponding to the functional module when it is running in the working environment are queried, and then it is determined whether the functional module is in an abnormal working state, and finally, in response to the existence of a functional module in the automatic driving system in an abnormal working state, the automatic driving system is adjusted according to the adjustment strategy for each functional module, so as to control the unmanned driving equipment based on the adjusted automatic driving system. In this way, the stability of the automatic driving system can be improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a control method and device for unmanned driving equipment. Background Art

[0002] With the development of computer technology, unmanned driving equipment is increasingly used in people's daily lives. In practical applications, in order to ensure the driving safety of unmanned driving equipment, it is usually necessary to optimize the automatic driving system of unmanned driving equipment.

[0003] At present, when optimizing the automatic driving system of unmanned driving equipment, it is usually based on the faults that occur during the driving process of the unmanned driving equipment. For example, according to the driving trajectory of the unmanned driving equipment, the collected images, etc., it is determined that the unmanned driving equipment has a fault (such as a dragon drawing on the track). At this time, there are great safety hazards in the automatic driving of the unmanned driving equipment. The technicians take over the control of the unmanned driving equipment, and at the same time, based on the data when the unmanned driving equipment fails, they conduct troubleshooting, determine the corresponding fault point, and then optimize the automatic driving system. In this way, the automatic driving system will only be optimized in the event of a fault. When the unmanned driving equipment has a fault but does not show the corresponding phenomenon (such as a dragon drawing on the track), it is impossible to determine in time that the unmanned driving equipment has a fault, and it is impossible to optimize according to the fault, which makes the unmanned driving equipment have a great safety hazard.

[0004] Therefore, how to identify the abnormality of the autonomous driving system before the unmanned driving equipment fails but does not show corresponding symptoms is an urgent problem to be solved. Summary of the invention

[0005] This specification provides a control method and device for unmanned driving equipment to partially solve the above-mentioned problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This specification provides a control method for an unmanned driving device, which is applied to the field of unmanned driving. An automatic driving system is installed on the unmanned driving device, and the automatic driving system is composed of several functional modules, including:

[0008] During the driving process of the unmanned driving device, for each functional module in the automatic driving system, monitoring the environmental parameters of the working environment in which the functional module is running, and the operating parameters generated when the functional module is running;

[0009] According to the correspondence between different types of environmental parameters and different standard operating parameters, the standard operating parameters corresponding to the environmental parameters are queried as the standard operating parameters corresponding to the function module when it operates under the working environment;

[0010] Determine whether the functional module is in an abnormal working state according to the operating parameters and the standard operating parameters corresponding to the functional module when the functional module is operating under the working environment;

[0011] In response to the presence of a functional module in the autonomous driving system being in an abnormal working state, the autonomous driving system is adjusted according to an adjustment strategy for each functional module, so as to control the unmanned driving device based on the adjusted autonomous driving system.

[0012] Optionally, the operating parameters include at least one of the communication time taken for the functional module to communicate with other functional modules in the autonomous driving system and the time taken for the functional module to perform a task.

[0013] Optionally, the environmental parameters include at least one of the number of hardware resources configured on the unmanned driving device, the number of remaining unoccupied hardware resources at the current moment, the historical fluctuation value of the number of resources occupied by the functional module when it is running, and the ambient temperature of the environment in which the functional module is running at the current moment.

[0014] Optionally, the automatic driving system is adjusted according to the adjustment strategy for each functional module, specifically including:

[0015] According to the determined working status of each functional module, an abnormal module among the functional modules is determined as an abnormal functional module;

[0016] For each abnormal function module, determine whether the priority corresponding to the abnormal function module meets the preset priority condition;

[0017] If so, the abnormal function module is adjusted according to a preset adjustment strategy for the abnormal function module; if not, the abnormal function module is not adjusted.

[0018] Optionally, adjusting the abnormal function module according to an adjustment strategy for the abnormal function module specifically includes:

[0019] According to the preset working frequency adjustment rules, determine the adjustment strategy for the abnormal function module;

[0020] According to the adjustment strategy for the abnormal function module, the operating frequency of the abnormal function module is reduced.

[0021] Optionally, the method further comprises:

[0022] Generate a fault record for the functional module with the abnormality, and upload the fault record to the server.

[0023] Optionally, the method further comprises:

[0024] In response to the unmanned driving device completing the execution of the task, the driving data monitored during the driving of the unmanned driving device is uploaded to the server, so that the server analyzes the driving data based on the fault point record, determines the cause of the failure of the unmanned driving device, and determines an optimization strategy for the cause of the failure based on the cause of the failure, so as to optimize the automatic driving system through the optimization strategy.

[0025] This specification provides a control device for unmanned driving equipment, which is applied to the field of unmanned driving. An automatic driving system is installed on the unmanned driving equipment, and the automatic driving system is composed of several functional modules, including:

[0026] A monitoring module, used for monitoring, during the driving of the unmanned driving device, for each functional module in the automatic driving system, environmental parameters of the working environment in which the functional module is running, and operating parameters generated when the functional module is running;

[0027] A determination module, for querying the standard operating parameters corresponding to the environmental parameters according to the correspondence between different types of environmental parameters and different standard operating parameters, as the standard operating parameters corresponding to the function module when it is running in the working environment;

[0028] A judgment module, used to determine whether the functional module is in an abnormal working state according to the operating parameters and the standard operating parameters corresponding to the functional module when it is operating under the working environment;

[0029] An adjustment module is used to adjust the autonomous driving system in response to the presence of a functional module in an abnormal working state according to an adjustment strategy for each functional module, so as to control the unmanned driving device based on the adjusted autonomous driving system.

[0030] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the control method of the unmanned driving device described above is implemented.

[0031] 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 control method of the unmanned driving device when executing the program.

[0032] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0033] In the control method of an unmanned driving device provided in the present specification, during the driving process of the unmanned driving device, for each functional module in the automatic driving system, the environmental parameters of the working environment in which the functional module is running and the operating parameters generated when the functional module is running are monitored, and then, according to the correspondence between different types of environmental parameters and different standard operating parameters, the standard operating parameters corresponding to the environmental parameters are queried, as the standard operating parameters corresponding to the functional module when it runs in the working environment, and then, according to the operating parameters and the standard operating parameters corresponding to the functional module when it runs in the working environment, it is determined whether the functional module is in an abnormal working state. Finally, in response to the existence of a functional module in the automatic driving system that is in an abnormal working state, the automatic driving system is adjusted according to the adjustment strategy for each functional module, so as to control the unmanned driving device based on the adjusted automatic driving system.

[0034] It can be seen from the above method that this method can directly monitor the operating parameters of each functional module, thereby identifying the abnormality of the autonomous driving system before the unmanned driving equipment fails but does not show the corresponding symptoms. At the same time, different standard operating parameters are used for different types of environmental parameters to evaluate the operating parameters generated when the functional modules are running, which can reduce the impact of environmental factors on the stability of the autonomous driving system and improve the stability of the autonomous driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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:

[0036] Figure 1 A flowchart of a control method for an unmanned driving device in this specification;

[0037] Figure 2 A detailed flow chart of the control method for the unmanned driving device provided in this manual when executing;

[0038] Figure 3 A schematic diagram of a control device for an unmanned driving device provided in this specification;

[0039] Figure 4 The corresponding Figure 1 Schematic diagram of unmanned driving equipment. DETAILED DESCRIPTION

[0040] 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.

[0041] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0042] Figure 1 The following is a flow chart of a control method for an unmanned driving device in this specification, which specifically includes the following steps:

[0043] Step S100, during the driving process of the unmanned driving device, for each functional module in the automatic driving system, monitor the environmental parameters of the working environment in which the functional module is running, and the operating parameters generated when the functional module is running.

[0044] The control method of the unmanned driving equipment provided in this specification is used to control the unmanned driving equipment equipped with an automatic driving system. The automatic driving system is composed of several functional modules. The automatic driving system composed of these functional modules will make decisions during the driving process of the unmanned driving equipment, and control the unmanned driving equipment according to the decision results to realize unmanned driving of the unmanned driving equipment.

[0045] If an unmanned driving device fails during driving, it is often because there are time-consuming function modules in the automatic driving system. When the time taken by the function modules reaches a certain length, intuitive phenomena will appear, such as line crossing, body shaking, and track dragon drawing. It is difficult to identify the abnormality of the automatic driving system before the unmanned driving device fails but shows the corresponding phenomenon when optimizing the automatic driving system on the unmanned driving device based on the common intuitive faults that occur during the driving of the unmanned driving device.

[0046] Among them, the above-mentioned functional modules can be modules composed of hardware and software that can realize certain functions. For example, the functional modules of the autonomous driving system may include a central processing unit module, a power management module, a power monitoring module, a speed detection module, a path recognition module, a fault diagnosis module, an obstacle detection module, a motor drive module, a display module, a voice module, etc.

[0047] Based on this, this specification provides a control method for an unmanned driving device, in which the unmanned driving device can monitor the operating parameters generated by each functional module in the automatic driving system during the operation of the functional module, and determine whether the unmanned driving device has a fault based on the monitored operating parameters and the standard operating parameters corresponding to the functional module.

[0048] The above-mentioned operating parameters may include at least one of the communication time taken by the functional module to communicate with other modules in the autonomous driving system and the time taken by the module to perform tasks. The communication between the functional module and other modules may include: the functional module sends information to other modules, the functional module receives messages returned by other functional modules, other modules process messages sent by the functional module, and the functional module callback function. The tasks performed by the functional module may include processing the algorithm logic that the functional module itself can implement, input and output data, initiate network requests, apply for resources, and release resources.

[0049] Among them, when judging whether the unmanned driving equipment has a fault according to the standard operating parameters corresponding to the functional module, the standard operating parameters corresponding to each functional module are determined in advance.

[0050] For example, the operating parameters that intuitively enable the unmanned driving equipment to achieve normal driving can be obtained from the operating parameters that have been monitored historically for the unmanned driving equipment. For each functional module, the operating parameters corresponding to the functional module are clustered, and then the maximum value of the operating parameters in the cluster is used as the standard operating parameter corresponding to the functional module.

[0051] For another example, the operating parameters that intuitively enable the unmanned driving equipment to achieve normal driving can be obtained from the operating parameters that have been monitored historically for the unmanned driving equipment. For each functional module, a statistical analysis is performed on the operating parameters corresponding to the functional module to determine the mean and variance of the operating parameters. Then, based on the determined mean and variance, the standard operating parameters corresponding to the functional module are determined.

[0052] For another example, the operating parameters that intuitively enable the unmanned driving equipment to achieve normal driving can be obtained from the operating parameters monitored historically for the unmanned driving equipment. Then, for each functional module, according to the operating parameters corresponding to the functional module, the distribution of the operating parameters satisfied by the operating parameters corresponding to the functional module is fitted. Then, based on the distribution of the operating parameters and the preset proportion corresponding to the functional module when it is in an abnormal working state, the standard operating parameters corresponding to the functional module are determined.

[0053] Furthermore, when the unmanned driving device is driving, the working environment of each functional module in the automatic driving system is different, and the standard operating parameters corresponding to the functional module may be different. For example, the higher the temperature when the functional module is running, the standard operating parameters corresponding to the functional module can be reduced accordingly to avoid abnormal working state of the functional module due to the excessively high temperature of the functional module.

[0054] Therefore, in this specification, different standard operating parameters can be set for different types of environmental parameters. In this way, the standard operating parameters corresponding to the function module when it is running in the working environment corresponding to the environmental parameters can be determined according to the environmental parameters of the working environment in which the function module is running. Then, based on the operating parameters generated when the function module is running and the standard operating parameters corresponding to the function module when it is running in the working environment corresponding to the environmental parameters, it can be judged whether the unmanned driving equipment has a fault.

[0055] The environmental parameters of the working environment in which the above-mentioned functional module is running refer to the hardware resource configuration of the unmanned driving device where the autonomous driving system including the functional module is located (such as the number of CPU computing power resources installed on the unmanned driving device, the number of memory resources installed on the unmanned driving device, etc.), the usage of hardware resources on the unmanned driving device when the functional module is running (such as the number of remaining CPU computing power resources, the number of remaining memory resources, etc.), and the actual environment in which the functional module is running (such as the temperature when the functional module is running, the humidity when the functional module is running, etc.).

[0056] In addition, for each functional module, the number of resources occupied by the functional module during operation in history can be obtained, and then the difference between the maximum and minimum values ​​of the number of resources occupied by the functional module during operation can be determined, and the difference can be used as the fluctuation value of the number of resources occupied by the functional module during operation in history. In this way, after determining the fluctuation value of the number of resources occupied by each functional module during operation and the usage of hardware resources on the unmanned driving device, it can be determined whether the current number of remaining resources can meet the sudden change in the number of resources used by each functional module. In this way, the safety of the unmanned driving device can be guaranteed to a greater extent.

[0057] Specifically, when it comes to the correspondence between different types of environmental parameters and different standard operating parameters, the operating parameters that intuitively enable the unmanned driving equipment to achieve normal driving can be obtained from the operating parameters historically monitored for the unmanned driving equipment. Then, based on the environmental parameters, for each functional module, the operating parameters corresponding to each functional module are divided to obtain operating parameters under different types of environmental parameters. Then, under each type of environmental parameter, the method for determining the standard operating parameters described above is used to determine the standard operating parameters corresponding to the operation of the functional module under this type of environmental parameters, and save them.

[0058] There are many ways to divide different types of environmental parameters for unmanned driving equipment. For example, for each environmental parameter, the environmental parameter can be divided according to a preset interval, and then randomly combined to obtain different types of environmental parameters. Each operating parameter and the environmental parameters when each operating parameter is collected can be clustered to obtain different types of environmental parameters.

[0059] Step S102, according to the correspondence between different types of environmental parameters and different standard operating parameters, the standard operating parameters corresponding to the environmental parameters are queried as the standard operating parameters corresponding to the function module when it operates in the working environment.

[0060] Step S104: determining whether the functional module is in an abnormal working state according to the operating parameters and the standard operating parameters corresponding to the functional module when the functional module is operating under the working environment.

[0061] In a specific implementation, the unmanned driving device queries, for each functional module, the standard operating parameters corresponding to the functional module when the functional module is operating in the working environment corresponding to the environmental parameters, from the correspondence between different types of environmental parameters and different standard operating parameters determined in advance. Then, the unmanned driving device can compare the operating parameters generated by the monitored functional module when it is operating with the corresponding standard operating parameters. If the operating parameters are greater than the standard operating parameters, it is determined that the functional module is in an abnormal working state; otherwise, it is determined that the functional module is in a normal working state.

[0062] Step S106, in response to the presence of a functional module in the autonomous driving system being in an abnormal working state, the autonomous driving system is adjusted according to an adjustment strategy for each functional module, so as to control the unmanned driving device based on the adjusted autonomous driving system.

[0063] In a specific implementation, the unmanned driving device responds to the presence of a functional module in an abnormal working state in the automatic driving system, and determines the abnormal module in each functional module according to the determined working state of each functional module, as an abnormal functional module, and then, for each abnormal functional module, determines whether the priority corresponding to the abnormal functional module meets the preset priority condition. If so, the abnormal functional module is adjusted according to the adjustment strategy for the abnormal functional module; if not, the abnormal functional module is not adjusted.

[0064] In the above process, it is necessary to set the corresponding priority in advance according to the contribution of each functional module to the autonomous driving system to achieve autonomous driving. The higher the priority of the functional module, the more important the normal operation of the functional module is when the unmanned driving equipment realizes the unmanned driving function.

[0065] In a specific implementation, when the priority corresponding to the abnormal function module meets the following conditions, it can be determined that the priority corresponding to the abnormal function module meets the preset priority condition. For example, the unmanned driving device determines that there are no other function modules with a lower priority than the priority corresponding to the abnormal function module among the currently running function modules, then it is determined that the priority corresponding to the abnormal function module meets the preset priority condition. For another example, the unmanned driving device determines that when a set number of function modules are searched from the function module with the lowest priority step by step upwards for adjustment based on the priority corresponding to the abnormal function module, the abnormal function module is included, then it is determined that the priority corresponding to the abnormal function module meets the preset priority condition. Other examples will not be given one by one.

[0066] Furthermore, the functional modules included in the automatic driving system are not all core functional modules for realizing the automatic driving function. Therefore, when determining that there are functional modules in the automatic driving system that are in an abnormal working state, the functional modules can be further divided into three levels: core functional modules, sub-core functional modules, and ordinary modules, and the functions realized by the core functional modules are defined as the functions that are indispensable for realizing the automatic driving function. These core functional modules cannot be turned off, and the working frequency cannot be changed. The functions realized by the sub-core functional modules are relatively important. These sub-core functional modules cannot be turned off, and the working frequency has a minimum working frequency. When the working frequency of these functional modules drops to the set minimum working frequency, the control of the unmanned driving equipment needs to be handed over to the staff, who will remotely control the unmanned driving equipment, or the unmanned driving equipment will automatically drive to the roadside parking area to pull over to ensure the driving safety of the unmanned driving equipment.

[0067] The functions implemented by ordinary modules have low correlation with the functions of autonomous driving.

[0068] In this way, when the unmanned driving device adjusts the abnormal function module according to the adjustment strategy for the abnormal function module, it determines the adjustment strategy for the abnormal function module according to the preset working frequency adjustment rules, and then reduces the working frequency of the abnormal function module according to the adjustment strategy for the abnormal function module.

[0069] For example, the functional modules belonging to the first priority include functional module 1, functional module 2, and functional module 3; the functional modules belonging to the second priority include functional module 4 and functional module 5; and the functional modules belonging to the third priority include functional module 6, functional module 7, functional module 8, and functional module 9.

[0070] When the unmanned driving device detects that there are function modules 4, function module 7, and function module 8 in the automatic driving system that are in abnormal working state, the working frequency of function modules 7 and function modules 8 can be reduced according to the preset working frequency step value.

[0071] Then, when the unmanned driving device again detects that there are function modules 4, 7, and 8 in the automatic driving system that are in an abnormal working state, the working frequency of function modules 7 and 8 can be further reduced according to the preset working frequency step value (for example, the working frequency is reduced by 10% each time) until function modules 7 and 8 are shut down.

[0072] Subsequently, if the unmanned driving device detects that there is a functional module in the automatic driving system that is in an abnormal working state, namely, functional module 4, it can continue to reduce the working frequency of functional module 4 according to the preset working frequency step value (for example, the working frequency is reduced by 10% each time) until it is monitored that all functional modules in the automatic driving system are in normal working condition, or it is determined that the working frequency of functional module 4 is reduced to the minimum working frequency. The control of the unmanned driving device needs to be transferred to the staff, who remotely control the unmanned driving device, or the unmanned driving device automatically drives to a roadside parking area and pulls over to ensure the driving safety of the unmanned driving device.

[0073] Among them, the preset operating frequency step values ​​corresponding to function modules of different priorities may be the same or different. In actual business, the preset operating frequency step value corresponding to a high-priority function module may be smaller than the preset operating frequency step value corresponding to a low-priority function module.

[0074] In addition, in this specification, the unmanned driving equipment can also directly sort the functional modules in order from high to low according to the priority corresponding to each functional module, and then select the functional modules located after the set position as the functional modules that need to be adjusted, and reduce the operating frequencies of these functional modules according to the preset operating frequency step value.

[0075] Through the above method, the operating parameters of each functional module can be directly monitored, so that the abnormality of the autonomous driving system can be identified before the unmanned driving equipment fails but does not show the corresponding symptoms. At the same time, different standard operating parameters are used for different types of environmental parameters to evaluate the operating parameters generated when the functional modules are running, which can reduce the impact of environmental factors on the stability of the autonomous driving system and improve the stability of the autonomous driving system.

[0076] In a specific implementation, during the driving process of the unmanned driving device, if it is determined that there is a function module in the automatic driving system that is in an abnormal working state, the automatic driving system is adjusted according to the adjustment strategy for each function module, and a fault record for the function module with the abnormality can be generated and uploaded to the server. In this way, the abnormality detected by the unmanned driving device during the execution of the task can be obtained.

[0077] The fault record for the abnormal functional module may at least include the time when the abnormality occurred in the functional module, the processing measures taken, the standard operating parameters used, etc.

[0078] In actual business, the driving data monitored by the unmanned driving device during driving also needs to be uploaded to the server. The driving data may include what the unmanned driving device monitors during driving. Directly uploading it to the server at this time will occupy a large amount of communication resources. Therefore, the unmanned driving device uploads the monitored driving data to the server when it completes the task execution and is not in the driving process.

[0079] Specifically, the unmanned driving device responds to the completion of the task execution and uploads the driving data monitored during the driving process of the unmanned driving device to the server. Then, the server analyzes the driving data based on the fault record, determines the cause of the failure of the unmanned driving device, and determines the optimization strategy for the cause of the failure according to the cause of the failure, so as to optimize the automatic driving system through the optimization strategy.

[0080] After the server receives the fault record and driving data of the functional module with the abnormality, it generates a detailed status table of the operating parameters of each working module during the driving process of the unmanned driving equipment based on the uploaded driving data and fault record. The detailed status table of the operating parameters of the working module may include the distribution of the operating parameters corresponding to each functional module over time, the average value of the operating parameters corresponding to each functional module, the time when the abnormality occurred, the processing measures taken, the standard operating parameters used, etc.

[0081] The following is a detailed description of the execution process of controlling an unmanned driving device using the control method of an unmanned driving device provided in this specification. Figure 2 .

[0082] Step S200: During driving, the unmanned driving device monitors, for each functional module in the automatic driving system, environmental parameters of the working environment in which the functional module is running, as well as operating parameters generated when the functional module is running.

[0083] In step S202, the unmanned driving device queries the standard operating parameters corresponding to the function module when it operates in the working environment corresponding to the environmental parameters according to the corresponding relationship between different types of environmental parameters and different standard operating parameters.

[0084] Step S204: the unmanned driving device determines whether the functional module is in an abnormal working state based on the monitored operating parameters and the standard operating parameters.

[0085] Step S206: If the functional module is in an abnormal working state, the unmanned driving device determines that there is a functional module in the automatic driving system that is in an abnormal working state.

[0086] Step S208: The unmanned driving device determines an abnormal functional module among the functional modules according to the determined working status of each functional module.

[0087] In step S210, the unmanned driving device determines, for each abnormal functional module, whether the priority corresponding to the abnormal functional module meets a preset priority condition. If so, execute step S212; otherwise, return to execute step S200.

[0088] In step S212, the unmanned driving device determines an adjustment strategy for the abnormal function module according to a preset working frequency adjustment rule, and reduces the working frequency of the abnormal function module according to the adjustment strategy for the abnormal function module, so as to control the unmanned driving device based on the adjusted automatic driving system, and continue to return to execute step S200.

[0089] The above is a control method for an unmanned driving device provided in one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding control device for an unmanned driving device, such as Figure 3 shown.

[0090] Figure 3 This is a schematic diagram of a control device for an unmanned driving device provided in this specification. The device is applied to the field of unmanned driving. An automatic driving system is installed on the unmanned driving device. The automatic driving system is composed of several functional modules, specifically including:

[0091] The monitoring module 300 is used to monitor, during the driving process of the unmanned driving device, for each functional module in the automatic driving system, the environmental parameters of the working environment in which the functional module is running, and the operating parameters generated when the functional module is running;

[0092] The determination module 301 is used to query the standard operating parameters corresponding to the environmental parameters according to the corresponding relationship between different types of environmental parameters and different standard operating parameters, as the standard operating parameters corresponding to the function module when it runs under the working environment;

[0093] The judgment module 302 is used to determine whether the functional module is in an abnormal working state according to the operating parameters and the standard operating parameters corresponding to the functional module when it is operating under the working environment;

[0094] The adjustment module 303 is used to adjust the autonomous driving system in response to the existence of a functional module in an abnormal working state according to an adjustment strategy for each functional module, so as to control the unmanned driving device based on the adjusted autonomous driving system.

[0095] Optionally, the operating parameters include at least one of the communication time taken for the functional module to communicate with other functional modules in the autonomous driving system and the time taken for the functional module to perform a task.

[0096] Optionally, the environmental parameters include at least one of the number of hardware resources configured on the unmanned driving device, the number of remaining unoccupied hardware resources at the current moment, the historical fluctuation value of the number of resources occupied by the functional module when it is running, and the ambient temperature of the environment in which the functional module is running at the current moment.

[0097] Optionally, the adjustment module 303 is specifically used to determine, according to the determined working status of each functional module, an abnormal module among the functional modules, as an abnormal functional module; for each abnormal functional module, determine whether the priority corresponding to the abnormal functional module meets a preset priority condition; if so, adjust the abnormal functional module according to the adjustment strategy for the abnormal functional module, if not, do not adjust the abnormal functional module.

[0098] Optionally, the adjustment module 303 is specifically configured to determine an adjustment strategy for the abnormal function module according to a preset operating frequency adjustment rule; and reduce the operating frequency of the abnormal function module according to the adjustment strategy for the abnormal function module.

[0099] Optionally, the device further comprises:

[0100] The fault record module 304 is used to generate a fault record for the functional module with abnormality and upload the fault record to the server.

[0101] Optionally, the fault recording module 304 is specifically used to upload the driving data monitored during the driving process of the unmanned driving device to the server in response to the unmanned driving device completing the task execution, so that the server analyzes the driving data based on the fault point record, determines the cause of the failure of the unmanned driving device, and determines an optimization strategy for the cause of the failure based on the cause of the failure, so as to optimize the automatic driving system through the optimization strategy.

[0102] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A control method for an unmanned driving device is provided.

[0103] This manual also provides Figure 4 The schematic structure diagram of the unmanned driving equipment is shown in FIG. Figure 4 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 control method of the unmanned driving device. Of course, in addition to the software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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 including 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.

[0111] 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 The steps for the functions specified in one or more boxes.

[0112] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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 control method for an unmanned driving device, characterized in that: The method is applied to the field of unmanned driving. An automatic driving system is installed on the unmanned driving equipment. The automatic driving system is composed of several functional modules, including: During the driving process of the unmanned driving device, for each functional module in the automatic driving system, monitoring the environmental parameters of the working environment in which the functional module is running, and the operating parameters generated when the functional module is running; According to the correspondence between different types of environmental parameters and different standard operating parameters, the standard operating parameters corresponding to the environmental parameters are queried as the standard operating parameters corresponding to the function module when it operates under the working environment; Determine whether the functional module is in an abnormal working state according to the operating parameters and the standard operating parameters corresponding to the functional module when the functional module is operating under the working environment; In response to the presence of a functional module in the automatic driving system being in an abnormal working state, adjusting the automatic driving system according to an adjustment strategy for each functional module, so as to control the unmanned driving device based on the adjusted automatic driving system; The step of adjusting the autonomous driving system according to the adjustment strategy for each functional module specifically includes: According to the determined working status of each functional module, an abnormal module among the functional modules is determined as an abnormal functional module; For each abnormal function module, determine whether the priority corresponding to the abnormal function module meets the preset priority condition; If yes, the abnormal function module is adjusted according to the adjustment strategy for the abnormal function module; if no, the abnormal function module is not adjusted; The adjusting the abnormal function module according to the adjustment strategy for the abnormal function module specifically includes: According to the preset working frequency adjustment rules, determine the adjustment strategy for the abnormal function module; According to the adjustment strategy for the abnormal function module, the operating frequency of the abnormal function module is reduced.

2. The method according to claim 1, characterized in that The operating parameters include at least one of the communication time taken for the functional module to communicate with other functional modules in the autonomous driving system and the time taken for the functional module to perform a task.

3. The method according to claim 1, characterized in that The environmental parameters include at least one of the number of hardware resources configured on the unmanned driving device, the number of remaining unoccupied hardware resources at the current moment, the historical fluctuation value of the number of resources occupied by the functional module when it is running, and the ambient temperature of the environment in which the functional module is running at the current moment.

4. The method according to claim 1, characterized in that The method further comprises: Generate a fault record for the functional module with the abnormality, and upload the fault record to the server.

5. The method according to claim 4, characterized in that The method further comprises: In response to the unmanned driving device completing the execution of the task, the driving data monitored during the driving of the unmanned driving device is uploaded to the server, so that the server analyzes the driving data based on the fault record, determines the cause of the failure of the unmanned driving device, and determines an optimization strategy for the cause of the failure based on the cause of the failure, so as to optimize the automatic driving system through the optimization strategy.

6. A control device for unmanned driving equipment, characterized in that: The device is applied to the field of unmanned driving. An automatic driving system is installed on the unmanned driving equipment. The automatic driving system is composed of several functional modules, including: A monitoring module, used for monitoring, during the driving of the unmanned driving device, for each functional module in the automatic driving system, environmental parameters of the working environment in which the functional module is running, and operating parameters generated when the functional module is running; A determination module, for querying the standard operating parameters corresponding to the environmental parameters according to the correspondence between different types of environmental parameters and different standard operating parameters, as the standard operating parameters corresponding to the function module when it is running in the working environment; A judgment module, used to determine whether the functional module is in an abnormal working state according to the operating parameters and the standard operating parameters corresponding to the functional module when it is operating under the working environment; The adjustment module is used for adjusting the automatic driving system according to the adjustment strategy for each functional module in response to the function module in the automatic driving system being in an abnormal working state, so as to control the unmanned driving device based on the adjusted automatic driving system; the adjustment of the automatic driving system according to the adjustment strategy for each functional module specifically includes: According to the determined working status of each functional module, an abnormal module among the functional modules is determined as an abnormal functional module; For each abnormal function module, determine whether the priority corresponding to the abnormal function module meets the preset priority condition; If yes, the abnormal function module is adjusted according to the adjustment strategy for the abnormal function module; if no, the abnormal function module is not adjusted; The adjusting the abnormal function module according to the adjustment strategy for the abnormal function module specifically includes: According to the preset working frequency adjustment rules, determine the adjustment strategy for the abnormal function module; According to the adjustment strategy for the abnormal function module, the operating frequency of the abnormal function module is reduced.

7. 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 1 to 5 is implemented.

8. 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 1 to 5 is implemented.

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