Processor monitoring device for unmanned vehicle and unmanned vehicle

Abstract

The present disclosure provides a processor monitoring device for an unmanned vehicle and the unmanned vehicle, which can be applied to the technical field of automatic driving. The processor monitoring device comprises a processor, a voltage monitoring module, and a microcontroller. The processor comprises a first power input end and a first signal output end. The first power input end is configured to be connected to a power supply. The first signal output end is configured to be connected to the microcontroller. The voltage monitoring module comprises a voltage monitoring end and a second signal output end. The voltage monitoring end is configured to be connected to the first power input end. The second signal output end is configured to be connected to the microcontroller. The microcontroller is configured to record a processor restart event based on a clock signal of the microcontroller in response to a level state of the first signal output end satisfying a first preset condition and / or in response to a level state of the second signal output end satisfying a second preset condition.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more specifically, to a processor monitoring device for an unmanned vehicle and an unmanned vehicle. Background Technology

[0002] Autonomous driving systems in self-driving cars typically include processors that process information about the vehicle's surroundings and generate motion control signals. During operation, processor malfunctions may cause the processor to restart, necessitating the identification of these restart issues for further fault analysis.

[0003] In related technologies, autonomous vehicles generally use processors to record behavior logs. Therefore, when the processor restarts, it is difficult for the processor to record the restart logs, making it difficult to locate the restart problem. Summary of the Invention

[0004] In view of this, the present disclosure provides a processor monitoring device for unmanned vehicles and an unmanned vehicle.

[0005] One aspect of this disclosure provides a processor monitoring device for an unmanned vehicle, comprising: a processor including a first power input terminal and a first signal output terminal, the first power input terminal being configured to be connected to a power supply, and the first signal output terminal being configured to be connected to a microcontroller; a voltage monitoring module including a voltage monitoring terminal and a second signal output terminal, the voltage monitoring terminal being configured to be connected to the first power input terminal, and the second signal output terminal being configured to be connected to the microcontroller; and the microcontroller being configured to record a processor restart event based on a clock signal of the microcontroller in response to a level state of the first signal output terminal satisfying a first preset condition, and / or, in response to a level state of the second signal output terminal satisfying a second preset condition.

[0006] According to embodiments of this disclosure, the processor further includes a clock signal receiver and a clock signal transmitter, wherein the clock signal receiver is configured to connect to a satellite navigation module and the clock signal transmitter is configured to connect to the microcontroller.

[0007] According to an embodiment of this disclosure, when the processor is in a working state, the processor is configured to receive a satellite clock signal through the satellite navigation module and, in response to triggering a timed task, send the satellite clock signal to the microcontroller to use the satellite clock signal to correct the clock signal of the microcontroller.

[0008] According to an embodiment of this disclosure, the processor monitoring device further includes a switch module configured to be connected in series between the power supply and the processor; wherein the switch module includes a second power input terminal, a first power output terminal and a signal input terminal, the second power input terminal is configured to be connected to the power supply, the first power output terminal is configured to be connected to the voltage detection terminal and the first power input terminal respectively, and the signal input terminal is configured to be connected to the microcontroller.

[0009] According to an embodiment of this disclosure, the switching module includes a first field-effect transistor (FET), a second field-effect transistor (FET), a first resistor, and a second resistor; wherein the source of the first FET is configured to be connected to the second power input terminal, the gate of the first FET is configured to be connected to the source of the first FET through the first resistor, and the drain of the first FET is configured to be connected to the first power output terminal; and the source of the second FET is configured to be grounded, the gate of the second FET is configured to be connected to the signal input terminal, and the drain of the second FET is configured to be connected to the gate of the first FET through the second resistor.

[0010] According to an embodiment of this disclosure, the processor monitoring device further includes a voltage regulator module, comprising a third power input terminal and a second power output terminal, wherein the third power input terminal is configured to be connected to the power supply and the second power output terminal is configured to be connected to the microcontroller.

[0011] According to an embodiment of this disclosure, the voltage regulator module includes a diode, an energy storage unit, and a voltage regulator circuit; wherein the anode of the diode is configured to be connected to the third power input terminal, and the cathode of the diode is configured to be connected to the voltage regulator circuit; the energy storage unit includes at least one energy storage capacitor, one end of the at least one energy storage capacitor is configured to be connected to the cathode of the diode, and the other end is configured to be grounded; the input terminal of the voltage regulator circuit is configured to be connected to the cathode of the diode, and the output terminal of the voltage regulator circuit is configured to be connected to the second power output terminal; wherein the voltage regulator circuit is configured to convert the voltage of the power supply into an operating voltage and provide the operating voltage to the microcontroller, and the energy storage unit is configured to supply power to the voltage regulator circuit for a preset period of time in the event of a sudden voltage drop in the power supply.

[0012] According to an embodiment of this disclosure, the processor monitoring device further includes a buffer configured to be connected in series between the first signal output terminal and the microcontroller.

[0013] Another aspect of this disclosure provides an unmanned vehicle, including: a chassis including a battery device and a power unit; and an autonomous driving kit including a sensing device and a processor monitoring device; wherein the processor monitoring device includes: a processor including a first power input terminal and a first signal output terminal, the first power input terminal being configured to connect to the battery device, and the first signal output terminal being configured to connect to a microcontroller; a voltage monitoring module including a voltage monitoring terminal and a second signal output terminal, the voltage monitoring terminal being configured to connect to the first power input terminal, and the second signal output terminal being configured to connect to the microcontroller; and the microcontroller being configured to record a processor restart event based on a clock signal of the microcontroller in response to a level state of the first signal output terminal satisfying a first preset condition, and / or, in response to a level state of the second signal output terminal satisfying a second preset condition.

[0014] According to an embodiment of this disclosure, the battery device includes a power supply and a power management module. The power supply is configured to supply power to the power unit, the sensing device, and the processor monitoring device through the power management module. The sensing device is configured to be electrically connected to the processor and to acquire environmental information of the unmanned vehicle and send the environmental information to the processor. The processor is configured to be electrically connected to the power unit and to process the environmental information, generate a motion control signal, and send the motion control signal to the power unit. The power unit is configured to control the movement of the unmanned vehicle in response to the motion control signal.

[0015] According to embodiments of this disclosure, a microcontroller is used in conjunction with a voltage monitoring module to monitor the processor's power supply voltage. The processor's temperature control feedback terminal is connected to the microcontroller so that the microcontroller can monitor the processor's temperature. This allows the microcontroller to record events that may cause the processor to restart when the received level signal meets the conditions, based on its own determined clock signal. This at least partially solves the technical problem of difficulty in locating restart problems when the processor restarts, and at least partially achieves accurate recording of the processor restart time, improving the accuracy of data during fault analysis. Attached Figure Description

[0016] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0017] Figure 1 A schematic diagram of a processor monitoring device for an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0018] Figure 2A schematic diagram illustrating the operation of a processor monitoring device for an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0019] Figure 3A A schematic diagram of a processor monitoring device according to another embodiment of the present disclosure is shown.

[0020] Figure 3B A schematic diagram of a switching module circuit according to an embodiment of the present disclosure is shown.

[0021] Figure 4 A schematic diagram of a voltage regulator module according to an embodiment of the present disclosure is shown.

[0022] Figure 5 A schematic diagram of a processor monitoring device according to another embodiment of the present disclosure is shown.

[0023] Figure 6 A schematic diagram of an unmanned vehicle according to an embodiment of the present disclosure is shown. Detailed Implementation

[0024] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0025] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0026] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0027] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or systems having A, B, and C, etc.). Similarly, when using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or systems having A, B, and C, etc.).

[0028] In the technical solution disclosed herein, the acquisition, storage, and application of user personal information comply with the provisions of relevant laws and regulations, necessary confidentiality measures have been taken, and there is no violation of public order and good morals.

[0029] In the technical solution disclosed herein, the user's authorization or consent is obtained before acquiring or collecting the user's personal information.

[0030] Autonomous driving systems in self-driving cars typically include processors to process information about the vehicle's surroundings and generate motion control signals. During operation, processor malfunctions and restarts may occur, necessitating the localization of these restarts for further fault analysis. In related technologies, self-driving cars generally use processors to record behavior logs; therefore, when a processor restarts, it struggles to record the necessary logs, making it difficult to pinpoint the restart issue.

[0031] In view of the above, embodiments of this disclosure provide a processor monitoring device for an unmanned vehicle and an unmanned vehicle. The processor monitoring device for an unmanned vehicle includes: a processor, including a first power input terminal and a first signal output terminal, the first power input terminal being configured to connect to a power supply, and the first signal output terminal being configured to connect to a microcontroller; a voltage monitoring module, including a voltage monitoring terminal and a second signal output terminal, the voltage monitoring terminal being configured to connect to the first power input terminal, and the second signal output terminal being configured to connect to the microcontroller; and a microcontroller configured to record a processor restart event based on a clock signal of the microcontroller, in response to a level state of the first signal output terminal satisfying a first preset condition, and / or, in response to a level state of the second signal output terminal satisfying a second preset condition.

[0032] According to embodiments of this disclosure, a microcontroller is used in conjunction with a voltage monitoring module to monitor the power supply voltage of the processor, and the processor's temperature control feedback terminal is connected to the microcontroller so that the microcontroller can monitor the processor's temperature. This allows the microcontroller to record events that may cause the processor to restart when the received level signal meets the conditions, based on its own determined clock signal. This at least partially solves the technical problem of difficulty in locating restart problems when the processor restarts, and at least partially achieves accurate recording of the processor restart time, improving the accuracy of data during fault analysis.

[0033] Figure 1 A schematic diagram of a processor monitoring device for an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0034] like Figure 1 As shown, the processor monitoring device for unmanned vehicles may include: processor 200, voltage monitoring module 300 and microcontroller 400.

[0035] The processor 200 includes a first power input terminal Pin1 and a first signal output terminal Sout1. The first power input terminal Pin1 is configured to be connected to the power supply 100, and the first signal output terminal Sout1 is configured to be connected to the microcontroller 400.

[0036] The voltage monitoring module 300 includes a voltage monitoring terminal Vin and a second signal output terminal Sout2. The voltage monitoring terminal Vin is configured to be connected to the first power input terminal Pin1, and the second signal output terminal Sout2 is configured to be connected to the microcontroller 400.

[0037] The microcontroller 400 is configured to record a processor 200 restart event based on the clock signal of the microcontroller 400, in response to the level state of the first signal output terminal Sout1 satisfying a first preset condition and / or, in response to the level state of the second signal output terminal Sout2 satisfying a second preset condition.

[0038] According to embodiments of this disclosure, the processor 200 may be a computing unit or a control unit in an autonomous driving kit for unmanned vehicles. The computing unit may process information about the environment surrounding the unmanned vehicle, and the control unit may perform motion control and task scheduling for the unmanned vehicle's power unit.

[0039] According to embodiments of this disclosure, the voltage monitoring module 300 can be used to monitor whether the input voltage of the first power input terminal Pin1 of the processor 200 drops.

[0040] According to embodiments of this disclosure, during the operation of an unmanned vehicle, the processor 200 may restart. The reasons for the processor 200 restart may include a voltage drop in the power supply 100, excessive temperature of the processor 200, and electromagnetic interference in the surrounding environment.

[0041] According to embodiments of this disclosure, the microcontroller 400 can respond to an externally output voltage drop signal, record a restart event of the processor 200, and record the restart time of the processor 200 based on the microcontroller 400's own clock signal.

[0042] According to an embodiment of this disclosure, the first preset condition may be that the voltage of the first signal output terminal Sout1 drops, and the second preset condition may be that the voltage level of the second signal output terminal Sout2 changes from a normal level to a level indicating that the processor 200 is too hot.

[0043] According to embodiments of this disclosure, a microcontroller is used in conjunction with a voltage monitoring module to monitor the processor's power supply voltage. The processor's temperature control feedback terminal is connected to the microcontroller so that the microcontroller can monitor the processor's temperature. This allows the microcontroller to record events that may cause the processor to restart when the received level signal meets the conditions, based on its own determined clock signal. This at least partially solves the technical problem of difficulty in locating restart problems when the processor restarts, and at least partially achieves accurate recording of the processor restart time, improving the accuracy of data during fault analysis.

[0044] Figure 2 A schematic diagram illustrating the operation of a processor monitoring device for an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0045] like Figure 2 As shown, the workflow of the processor monitoring device for an unmanned vehicle according to a specific embodiment of the present disclosure includes operations S201 to S207.

[0046] When operating S201, if the processor restarts due to a drop in the power supply voltage, the voltage of the voltage monitoring module 300 will also drop, and it will output a low level to the second signal output terminal Sout2, which is a signal that the voltage has dropped.

[0047] During operation S202, the microcontroller 400 can respond to the low level state of the second signal output terminal Sout2 to meet the second preset condition, record that the restart of the processor 200 is due to a voltage drop event in the power supply 100, and simultaneously record the current restart time of the processor 200.

[0048] When S203 is in operation, if the processor restarts due to overheating in scenario two, the processor 200 can issue a temperature control feedback warning signal and output a low level, i.e., a voltage drop signal, to the first signal output terminal Sout1.

[0049] When operating S204, the microcontroller 400 can respond to the low level state of the first signal output terminal Sout1 to meet the first preset condition, record that the processor 200 restarted because the processor 200 was overheated, and at the same time record the current restart time of the processor 200.

[0050] After the processor restarts following operation S205, the operator can remotely access the autonomous driving kit via the network. The microcontroller 400 can store the processor 200's restart event and restart time information in its Flash memory.

[0051] When operating S206, the Flash memory restart event log can be sent to processor 200 via serial port, and processor 200 can send it to the operator via switch and network.

[0052] During the operation of S207, the operator analyzed the restart logs to pinpoint the cause and time of the processor 200 restart.

[0053] According to the embodiments of this disclosure, by using a microcontroller 400 in conjunction with a voltage monitoring module 300 to monitor the power supply voltage of the processor 200, when the processor 200 restarts due to a drop in power supply voltage, the microcontroller 400 receives the signal of the power supply voltage drop, records the restart event of the processor 200, and records the restart time information of the processor 200 according to the microcontroller 400's own clock signal.

[0054] According to an embodiment of this disclosure, by connecting the temperature control feedback terminal of the processor 200 to the microcontroller 400, when the processor 200 restarts due to overheating, the microcontroller 400 receives a signal that the voltage of the processor 200 has dropped, records the restart event of the processor 200, and records the restart time information of the processor 200 according to the clock signal of the microcontroller 400 itself.

[0055] According to embodiments of this disclosure, a processor monitoring device can monitor whether the processor restarts and record the reason for the processor restart and the restart time, which solves the technical problem of difficulty in locating processor restart problems, and at least partially realizes the accurate recording of processor restart time, thereby improving the accuracy of data during fault analysis.

[0056] According to embodiments of this disclosure, the processor further includes a clock signal receiver and a clock signal transmitter, wherein the clock signal receiver is configured to connect to a satellite navigation module and the clock signal transmitter is configured to connect to a microcontroller.

[0057] According to embodiments of this disclosure, the clock signal receiver can be used to receive clock signals transmitted by satellites. Because these clock signals are transmitted by satellites, their time information is highly accurate. For example, the clock signal receiver can be a GPS receiver, capable of connecting to a GPS satellite navigation module to obtain satellite time synchronization in real time.

[0058] According to embodiments of this disclosure, when the processor is in a processing state, the processor is configured to receive a satellite clock signal via a satellite navigation module and, in response to triggering a timed task, send a satellite clock signal to a microcontroller to use the satellite clock signal to correct the microcontroller's clock signal.

[0059] According to embodiments of this disclosure, triggering a timed task can be a task that triggers a certain time interval. When the processor is started and in working state, it can not only receive satellite clock signals through the satellite navigation module, but also send the satellite clock signals to the microcontroller at certain time intervals. For example, the clock signal transmitter in the processor sends the satellite clock signal received by the clock signal receiver to the microcontroller every second, so as to continuously correct the microcontroller's clock signal with a more accurate satellite clock signal, so that the microcontroller's clock signal has relatively accurate time information.

[0060] According to embodiments of this disclosure, when the microcontroller does not receive a satellite clock signal from the processor, its built-in clock can be used for timing. However, since the error of a satellite clock is generally much smaller than that of the clock built into the microcontroller or chip, by having the processor periodically and continuously send satellite clock signals to the microcontroller, the microcontroller's time information can be calibrated. This allows the microcontroller to view the restart time information when the processor restarts due to a fault, improving the accuracy of time information in processor restart events and thus enhancing the reliability of data during fault analysis.

[0061] According to embodiments of this disclosure, the processor monitoring device further includes a switch module 500.

[0062] Figure 3A A schematic diagram of a processor monitoring device according to another embodiment of the present disclosure is shown.

[0063] like Figure 3AAs shown, the switch module 500 is configured to be connected in series between the power supply 100 and the processor 200. The switch module 500 includes a second power input terminal Pin2, a first power output terminal Pout1, and a signal input terminal Sin. The second power input terminal Pin2 is configured to be connected to the power supply 100. The first power output terminal Pout1 is configured to be connected to the voltage detection terminal Vin and the first power input terminal Pin1, respectively. The signal input terminal Sin is configured to be connected to the microcontroller 400.

[0064] According to embodiments of this disclosure, the switching module may include means for supplying power to the processor 200 and the voltage monitoring module 300, and for providing signal input to the microcontroller 400. For example, when the autonomous driving kit is powered on, the microcontroller 400 may control the signal input terminal Sin to output a high level, and the second power input terminal Pin2 to turn on to supply power to the processor 200 and the voltage monitoring module 300.

[0065] Figure 3B A schematic diagram of a switching module circuit according to an embodiment of the present disclosure is shown.

[0066] like Figure 3B As shown, the switching module 500 includes a first field-effect transistor MOS1, a second field-effect transistor MOS2, a first resistor R1, and a second resistor R2.

[0067] According to an embodiment of the present disclosure, the source of the first field-effect transistor MOS1 is configured to be connected to the second power input terminal Pin2, the gate of the first field-effect transistor MOS1 is configured to be connected to the source of the first field-effect transistor MOS1 through the first resistor R1, and the drain of the first field-effect transistor MOS1 is configured to be connected to the first power output terminal Pout1.

[0068] According to an embodiment of the present disclosure, the source of the second field-effect transistor MOS2 is configured to be grounded, the gate of the second field-effect transistor MOS2 is configured to be connected to the signal input terminal, and the drain of the second field-effect transistor MOS2 is configured to be connected to the gate of the first field-effect transistor MOS1 through the second resistor R2.

[0069] According to an embodiment of this disclosure, the first field-effect transistor MOS1 may be a P-channel MOS transistor. When the power supply 100 supplies power, it is connected to the first field-effect transistor MOS1 through the second power input terminal Pin2. At this time, the first field-effect transistor MOS1 is turned on and supplies power to the processor 200, allowing the processor to start working.

[0070] According to an embodiment of this disclosure, the second field-effect transistor MOS2 may be an N-channel MOS transistor. When the power supply 100 is powered, the microcontroller 400 can control the signal input terminal Sin to output a high level, turning on the second field-effect transistor MOS2, and simultaneously turning on the first field-effect transistor MOS1, thereby supplying power to the processor 200.

[0071] According to embodiments of this disclosure, the processor monitoring device further includes a voltage regulator module 600.

[0072] Figure 4 A schematic diagram of a voltage regulator module according to an embodiment of the present disclosure is shown.

[0073] like Figure 4 As shown, the voltage regulator module 600 includes a third power input terminal Pin3 and a second power output terminal Pout2. The third power input terminal Pin3 is configured to connect to the power supply 100, and the second power output terminal Pout2 is configured to connect to the microcontroller.

[0074] According to embodiments of this disclosure, a voltage regulator module 600 can be located between the power supply 100 and the microcontroller 400 to supply power to the microcontroller 400 and provide a relatively stable voltage to the microcontroller 400 so that the microcontroller 400 can operate normally when the voltage drops sharply.

[0075] like Figure 4 As shown, the voltage regulator module 600 includes a diode 610, an energy storage unit 620, and a voltage regulator circuit 630.

[0076] According to an embodiment of the present disclosure, the anode of diode 610 is configured to be connected to the third power input terminal Pin3, and the cathode of diode 610 is configured to be connected to the voltage regulator circuit 630.

[0077] According to an embodiment of the present disclosure, the energy storage unit 620 includes at least one energy storage capacitor C1, one end of which is configured to be connected to the cathode of the diode 610, and the other end is configured to be grounded.

[0078] According to an embodiment of this disclosure, the input terminal of the voltage regulator circuit 630 is configured to be connected to the cathode of the diode 610, and the output terminal of the voltage regulator circuit 630 is configured to be connected to the second power output terminal Pout2; wherein, the voltage regulator circuit 630 is configured to convert the voltage of the power supply 100 into the operating voltage and provide the operating voltage to the microcontroller 400, and the energy storage unit 620 is configured to supply power to the voltage regulator circuit 630 for a preset period of time in the event of a sudden voltage drop in the power supply 100.

[0079] According to embodiments of this disclosure, diode 610 can be a reverse protection diode to prevent reverse current from occurring. Diode 610 can work together with voltage regulator circuit 630 to make the output voltage more stable.

[0080] According to embodiments of this disclosure, the energy storage unit 620 can be used to store electrical energy and supply power to the voltage regulator circuit 630 during periods of voltage drop in the power supply 100. The energy storage unit 620 may include multiple energy storage capacitors C1, and the number of energy storage capacitors can be set according to actual needs and is not limited herein.

[0081] According to embodiments of this disclosure, the voltage regulator circuit 630 may be, for example, a BUCK circuit, used to convert the DC voltage output of voltage 100 into the voltage required for the microcontroller 400 to operate normally, so as to ensure that the microcontroller 400 is in a stable operating state.

[0082] According to embodiments of this disclosure, power supply 100 can supply power to voltage regulator circuit 630 through diode 610 and energy storage unit 620. Voltage regulator circuit 630 can, for example, convert the output voltage of power supply 100 to 3.3V to supply power to microcontroller 400.

[0083] According to embodiments of this disclosure, the circuit consisting of diode 610 and energy storage unit 620 can prevent the voltage of power supply 100 from dropping momentarily, or the voltage of the first power input terminal Pin1 from dropping momentarily, causing the microcontroller 400 to operate unstablely.

[0084] According to embodiments of the present disclosure, the processor monitoring device further includes a buffer configured to be connected in series between the first signal output and the microcontroller.

[0085] According to embodiments of this disclosure, the buffer can ensure that when the processor 200 restarts due to a fault, its restart data signal can be synchronously transmitted to the microcontroller 400, and can make the signal level more stable.

[0086] According to embodiments of this disclosure, the buffer can also enhance the driving capability of the signal, ensuring that the signal has sufficient drive during the driving process.

[0087] According to an embodiment of this disclosure, if the processor 200 restarts due to overheating, the processor 200 can issue a temperature control feedback warning signal and output a low level to the buffer. The buffer outputs a low level to the microcontroller 400, and the microcontroller 400 can record the processor 200 overheating event and the time information of its occurrence.

[0088] Figure 5 A schematic diagram of a processor monitoring device according to another embodiment of the present disclosure is shown.

[0089] like Figure 5As shown, an autonomous vehicle can have multiple processors. For example, an autonomous vehicle may include two processors: a computer processor 210 and a control processor 220. Correspondingly, the processor monitoring device may also have two channels to record the processor restart events of the computer processor 210 and / or the control processor 220, respectively, when the computer processor 210 and / or the control processor 220 restart.

[0090] According to embodiments of this disclosure, multiple processors of an autonomous vehicle can be configured to connect to different components to achieve different functions. For example, computer processor 210 can be configured to connect to a satellite navigation module, camera units such as a front recognition camera, a rear recognition camera, a left recognition camera, and a right recognition camera, as well as sensor units such as an IMU (Inertial Measurement Unit); control processor 220 can be configured to connect to a chassis control bus, as well as camera units such as a left traffic light recognition camera and a right traffic light recognition camera.

[0091] According to embodiments of this disclosure, the computer processor 210 and the control processor 220 can communicate via a switch 700, and a wired communication link can be established between the computer processor 210 and the microcontroller 400. During clock signal synchronization, after startup, the computer processor 210 can obtain satellite time synchronization (i.e., a satellite clock signal) through the satellite navigation module. Then, the computer processor 210 can send this satellite clock signal to the control processor 220 via the switch and to the microcontroller 400 via the wired communication link. The satellite navigation module can also provide the computer processor 210 with a satellite clock signal at regular intervals, for example, one second, so that the computer processor 210 can synchronize its clock signal at regular intervals. This ensures clock synchronization among the computer processor 210, the control processor 220, and the microcontroller 400, thereby ensuring that the clock signals used to record processor restart events of the computer processor 210 and the control processor 220 are consistent, guaranteeing the accuracy of event recording.

[0092] Figure 6 A schematic diagram of an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0093] like Figure 6 As shown, the driverless car includes a chassis and an autonomous driving kit.

[0094] The chassis includes the battery unit and the power unit.

[0095] The autonomous driving kit includes sensors and processor monitoring devices.

[0096] The processor monitoring device includes: processor 200, voltage monitoring module 300, and microcontroller 400.

[0097] The processor 200 includes a first power input terminal Pin1 and a first signal output terminal Sout1. The first power input terminal Pin1 is configured to be connected to the power supply 100, and the first signal output terminal Sout1 is configured to be connected to the microcontroller 400.

[0098] The voltage monitoring module 300 includes a voltage monitoring terminal Vin and a second signal output terminal Sout2. The voltage monitoring terminal Vin is configured to be connected to the first power input terminal Pin1, and the second signal output terminal Sout2 is configured to be connected to the microcontroller 400.

[0099] The microcontroller 400 is configured to record a processor 200 restart event based on the clock signal of the microcontroller 400, in response to the level state of the first signal output terminal Sout1 satisfying a first preset condition and / or, in response to the level state of the second signal output terminal Sout2 satisfying a second preset condition.

[0100] According to embodiments of this disclosure, the battery device includes a power source and a power management module, wherein the power source is configured to supply power to a power unit, a sensing unit, and a processor monitoring unit via the power management module.

[0101] The sensing device is configured to be electrically connected to the processor 200, and the sensing device is configured to acquire environmental information of the unmanned vehicle and send the environmental information to the processor 200.

[0102] The processor 200 is configured to be electrically connected to the power unit, and the processor 200 is configured to process environmental information, generate motion control signals, and send motion control signals to the power unit.

[0103] The power unit is configured to control the movement of the driverless vehicle in response to motion control signals.

[0104] It should be noted that the processor monitoring device for autonomous vehicles provided in the embodiments of this disclosure can be applied to the autonomous vehicles provided in the embodiments of this disclosure. The processor monitoring device in the autonomous vehicle provided in the embodiments of this disclosure may correspond to the processor monitoring device for autonomous vehicles provided in the embodiments of this disclosure.

[0105] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A processor monitoring device for an unmanned vehicle, comprising: The processor includes a first power input terminal and a first signal output terminal, wherein the first power input terminal is configured to be connected to a power supply and the first signal output terminal is configured to be connected to a microcontroller. A voltage monitoring module includes a voltage detection terminal and a second signal output terminal. The voltage detection terminal is configured to be connected to the first power input terminal, and the second signal output terminal is configured to be connected to the microcontroller. as well as The microcontroller is configured to record a processor restart event based on the microcontroller's clock signal in response to a first preset condition being met by the level state of the first signal output terminal, and / or a second preset condition being met by the level state of the second signal output terminal. The first preset condition indicates that the voltage of the first signal output terminal has dropped, and the second preset condition indicates that the voltage level of the second signal output terminal has changed to indicate that the processor's temperature is too high.

2. The apparatus of claim 1, wherein, The processor further includes a clock signal receiver and a clock signal transmitter. The clock signal receiver is configured to connect to the satellite navigation module, and the clock signal transmitter is configured to connect to the microcontroller.

3. The apparatus of claim 2, wherein, When the processor is in an operational state, the processor is configured to receive a satellite clock signal through the satellite navigation module and, in response to triggering a timing task, send the satellite clock signal to the microcontroller to use the satellite clock signal to correct the microcontroller's clock signal.

4. The apparatus according to claim 1, further comprising: A switching module is configured to be connected in series between the power supply and the processor; The switching module includes a second power input terminal, a first power output terminal, and a signal input terminal. The second power input terminal is configured to be connected to the power supply, the first power output terminal is configured to be connected to the voltage detection terminal and the first power input terminal respectively, and the signal input terminal is configured to be connected to the microcontroller.

5. The apparatus of claim 4, wherein, The switching module includes a first field-effect transistor, a second field-effect transistor, a first resistor, and a second resistor; Wherein, the source of the first field-effect transistor is configured to be connected to the second power input terminal, the gate of the first field-effect transistor is configured to be connected to the source of the first field-effect transistor through the first resistor, and the drain of the first field-effect transistor is configured to be connected to the first power output terminal; and The source of the second field-effect transistor is configured to be grounded, the gate of the second field-effect transistor is configured to be connected to the signal input terminal, and the drain of the second field-effect transistor is configured to be connected to the gate of the first field-effect transistor through the second resistor.

6. The apparatus according to claim 1, further comprising: The voltage regulator module includes a third power input terminal and a second power output terminal, wherein the third power input terminal is configured to be connected to the power supply and the second power output terminal is configured to be connected to the microcontroller.

7. The apparatus according to claim 6, wherein, The voltage regulator module includes a diode, an energy storage unit, and a voltage regulator circuit; The anode of the diode is configured to be connected to the third power input terminal, and the cathode of the diode is configured to be connected to the voltage regulator circuit. The energy storage unit includes at least one energy storage capacitor, one end of which is configured to be connected to the cathode of the diode, and the other end is configured to be grounded. The input terminal of the voltage regulator circuit is configured to be connected to the cathode of the diode, and the output terminal of the voltage regulator circuit is configured to be connected to the second power output terminal; The voltage regulator circuit is configured to convert the voltage of the power supply into an operating voltage and provide the operating voltage to the microcontroller. The energy storage unit is configured to supply power to the voltage regulator circuit for a preset period of time in the event of a sudden voltage drop in the power supply.

8. The apparatus according to claim 1, further comprising: A buffer is configured to be connected in series between the first signal output and the microcontroller.

9. An unmanned vehicle, comprising: Chassis, including battery and power units; as well as Autonomous driving kit, including sensors and processor monitoring devices; The processor monitoring device includes: The processor includes a first power input terminal and a first signal output terminal, the first power input terminal being configured to connect to a battery device, and the first signal output terminal being configured to connect to a microcontroller. A voltage monitoring module includes a voltage detection terminal and a second signal output terminal, wherein the voltage detection terminal is configured to be connected to a first power input terminal, and the second signal output terminal is configured to be connected to the microcontroller; and The microcontroller is configured to record a processor restart event based on the microcontroller's clock signal in response to a first preset condition being met by the level state of the first signal output terminal, and / or a second preset condition being met by the level state of the second signal output terminal. The first preset condition indicates that the voltage of the first signal output terminal has dropped, and the second preset condition indicates that the voltage level of the second signal output terminal has changed to indicate that the processor's temperature is too high.

10. The unmanned vehicle according to claim 9, wherein, The battery device includes a power supply and a power management module, wherein the power supply is configured to supply power to the power unit, the sensing device and the processor monitoring device through the power management module; The sensing device is configured to be electrically connected to the processor, and the sensing device is configured to acquire environmental information of the unmanned vehicle and send the environmental information to the processor. The processor is configured to be electrically connected to the power unit, and the processor is configured to process the environmental information, generate motion control signals, and send the motion control signals to the power unit; and The power unit is configured to control the movement of the unmanned vehicle in response to the motion control signal.

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