Vehicle navigation fault handling method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle navigation fault processing method, device, equipment and storage medium, which specifically discloses: obtaining current navigation information responded by each navigation module in a target vehicle, obtaining navigation planning information of the target vehicle, and comparing the current navigation information with the navigation planning information; screening out faulty modules with abnormal information from each navigation module according to the comparison results; performing fault tests on each component in the faulty module respectively; determining the faulty component in each component according to the test results; obtaining redundancy strategies corresponding to the faulty components; and performing fault processing on the faulty components according to the redundancy strategies. Since the present invention screens out faulty modules with abnormal information through information comparison, determines the faulty components in the faulty modules through the fault test results, and performs fault processing on the faulty components according to the redundancy strategies corresponding to the faulty components, the cause of the vehicle navigation fault is accurately located and the navigation fault is processed in a timely manner.

Description

Technical Field

[0001] The present invention relates to the field of information processing technology, and in particular to a vehicle navigation fault processing method, device, equipment and storage medium. Background Art

[0002] As autonomous driving systems cover a wider range of functional safety requirements, the types and numbers of navigation modules in the navigation systems installed in cars are also increasing. Currently, when there is a malfunction in the car navigation, it is impossible to accurately locate the cause of the malfunction in the navigation system, and therefore it is impossible to effectively handle the navigation malfunction, resulting in inaccurate vehicle navigation and the inability of the vehicle navigation to return to normal in a timely manner.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a vehicle navigation fault handling method, device, equipment and storage medium, aiming to solve the technical problem that the existing technology cannot accurately locate the cause of the navigation system failure, resulting in the inability to effectively handle the navigation failure, causing the vehicle navigation to be unable to return to normal in time.

[0005] To achieve the above object, the present invention provides a vehicle navigation fault processing method, the method comprising the following steps:

[0006] Obtain the current navigation information responded by each navigation module in the target vehicle;

[0007] Obtaining navigation planning information of the target vehicle, and comparing the current navigation information with the navigation planning information;

[0008] According to the comparison results, the faulty modules with abnormal information are screened out from each navigation module;

[0009] Performing fault tests on each component in the faulty module respectively, and determining the faulty component among the components according to the test results;

[0010] Obtain a redundancy policy corresponding to the faulty component, and perform fault processing on the faulty component according to the redundancy policy.

[0011] Optionally, obtaining current navigation information responded by each navigation module in the target vehicle includes:

[0012] Collect messages from each navigation module in the target vehicle to obtain multiple messages;

[0013] Performing message parsing on each of the messages to obtain a frame ID and message information of each message;

[0014] Matching each message with each navigation module according to the frame ID to determine the subordinate relationship between each message and each navigation module;

[0015] The current navigation information responded by each navigation module is acquired according to the subordinate relationship and the message information.

[0016] Optionally, after collecting messages from each navigation module in the target vehicle and obtaining a plurality of messages, the method further includes:

[0017] Detect whether the communication status of each navigation module is abnormal based on the message collection results;

[0018] Determine an abnormal communication module in an abnormal communication state among the navigation modules according to the detection result;

[0019] Determine the CAN wiring harness corresponding to the abnormal communication module;

[0020] Acquire a redundant communication strategy of the abnormal communication module according to the CAN wiring harness;

[0021] A communication connection is established with the abnormal communication module according to the redundant communication strategy.

[0022] Optionally, detecting whether the communication status of each navigation module is abnormal according to the message collection result includes:

[0023] Obtaining the frame format of each message and the response time of each message according to the message collection result;

[0024] Determining whether there is an error frame in each message according to the frame format;

[0025] Determine whether each message has timed out according to the response time;

[0026] Whether the communication status of each navigation module is abnormal is detected according to the frame format judgment result and the response time judgment result.

[0027] Optionally, the acquiring navigation planning information of the target vehicle and comparing the current navigation information with the navigation planning information includes:

[0028] Obtaining navigation planning information of the target vehicle and current signal information of the target vehicle;

[0029] Filtering a target driving scene matching the target vehicle from a pre-built driving scene library according to the current signal information;

[0030] Determining, according to the target driving scenario, a module to be detected that currently has a failure risk among the navigation modules;

[0031] The current navigation information of the module to be detected is compared with the navigation planning information.

[0032] Optionally, performing fault tests on each component in the fault module respectively and determining the faulty component among the components according to the test results includes:

[0033] Obtaining functional information of each component in the faulty module;

[0034] Inputting the functional information into a pre-built navigation simulation model to obtain navigation simulation results of each component, so as to perform fault testing on each component;

[0035] Detecting whether each of the navigation simulation results meets a preset condition;

[0036] Determine the faulty component among the components based on the detection results.

[0037] Optionally, obtaining a redundancy policy corresponding to the faulty component and performing fault processing on the faulty component according to the redundancy policy includes:

[0038] Obtaining a redundancy strategy corresponding to the faulty component;

[0039] Determining a redundant component corresponding to the faulty component according to the redundancy strategy;

[0040] using the signal source of the redundant component as a redundant signal source;

[0041] The signal source of the faulty component is replaced according to the redundant signal source to implement fault processing for the faulty component.

[0042] In addition, to achieve the above-mentioned purpose, the present invention further proposes a vehicle navigation fault processing device, the vehicle navigation fault processing device comprising:

[0043] An information acquisition module is used to obtain the current navigation information responded by each navigation module in the target vehicle;

[0044] An information comparison module is used to obtain the navigation planning information of the target vehicle and compare the current navigation information with the navigation planning information;

[0045] A fault screening module is used to screen out faulty modules with abnormal information from various navigation modules based on the comparison results;

[0046] A fault testing module, configured to perform fault testing on each component in the fault module and determine the faulty component among the components according to the test results;

[0047] The fault processing module is used to obtain the redundancy strategy corresponding to the faulty component and perform fault processing on the faulty component according to the redundancy strategy.

[0048] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle navigation fault handling device, which includes: a memory, a processor, and a vehicle navigation fault handling program stored on the memory and executable on the processor, and the vehicle navigation fault handling program is configured to implement the steps of the vehicle navigation fault handling method described above.

[0049] In addition, to achieve the above objectives, the present invention also proposes a storage medium, on which a vehicle navigation fault handling program is stored. When the vehicle navigation fault handling program is executed by a processor, the steps of the vehicle navigation fault handling method described above are implemented.

[0050] The present invention obtains the current navigation information responded by each navigation module in the target vehicle, obtains the navigation planning information of the target vehicle, and compares the current navigation information with the navigation planning information, filters out the fault modules with abnormal information from each navigation module according to the comparison result, performs fault tests on each component in the fault module respectively, determines the faulty component in each component according to the test result, obtains the redundancy strategy corresponding to the faulty component, and performs fault processing on the faulty component according to the redundancy strategy; because the present invention obtains the current navigation information responded by each navigation module in the target vehicle, obtains the navigation planning information of the target vehicle, and compares the current navigation information with the navigation planning information, so as to realize the redundancy strategy corresponding to each navigation module. The system compares the information, selects fault modules with abnormal information from each navigation module according to the comparison results, performs fault tests on each component in the fault module respectively, determines the faulty component in each component according to the test results, thereby locating the faulty component with abnormality in the faulty module, locating the cause of the fault in the navigation system of the target vehicle, obtaining the redundancy strategy corresponding to the faulty component, and performing fault processing on the faulty component according to the redundancy strategy, effectively solving the problem of being unable to accurately locate the cause of the fault of the navigation system, and realizing redundant design of the on-board navigation, thereby effectively processing the fault when the on-board navigation has a fault, ensuring that the on-board navigation can return to normal in time, and improving the stability of the on-board navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a structural diagram of a vehicle navigation fault processing device in a hardware operating environment involved in an embodiment of the present invention;

[0052] Figure 2 This is a flow chart of a first embodiment of a method for handling vehicle navigation failures according to the present invention;

[0053] Figure 3 A navigation diagram of a first embodiment of a vehicle navigation fault handling method according to the present invention;

[0054] Figure 4 A navigation module redundancy diagram of the first embodiment of the vehicle navigation fault handling method of the present invention;

[0055] Figure 5 This is a flow chart of a second embodiment of a vehicle navigation fault handling method according to the present invention;

[0056] Figure 6 This is a flow chart of a third embodiment of a vehicle navigation fault handling method according to the present invention;

[0057] Figure 7 This is a schematic diagram of CAN communication of the third embodiment of the vehicle navigation fault handling method of the present invention;

[0058] Figure 8 This is a structural block diagram of the first embodiment of the vehicle navigation fault processing device of the present invention.

[0059] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0061] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a vehicle navigation fault handling device in the hardware operating environment involved in the embodiment of the present invention.

[0062] like Figure 1As shown, the vehicle navigation fault handling device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and optionally the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0063] Those skilled in the art will understand that Figure 1 The structure shown in does not constitute a limitation on the vehicle navigation fault processing device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0064] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle navigation fault handling program.

[0065] exist Figure 1 In the vehicle navigation fault processing device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle navigation fault processing device of the present invention can be set in the vehicle navigation fault processing device, and the vehicle navigation fault processing device calls the vehicle navigation fault processing program stored in the memory 1005 through the processor 1001, and executes the vehicle navigation fault processing method provided by the embodiment of the present invention.

[0066] The embodiment of the present invention provides a vehicle navigation fault processing method, referring to Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of a method for handling vehicle navigation faults according to the present invention.

[0067] In this embodiment, the vehicle navigation fault handling method includes the following steps:

[0068] Step S10: obtaining the current navigation information responded by each navigation module in the target vehicle.

[0069] It should be noted that when the in-vehicle navigation of the target vehicle fails in this embodiment, in order to accurately locate the cause of the failure and thus effectively process and repair the navigation failure, this embodiment obtains the current navigation information responded by each navigation module in the target vehicle, obtains the navigation planning information of the target vehicle, and compares the current navigation information with the navigation planning information. According to the comparison results, the faulty modules with abnormal information are screened out from each navigation module, and each component in the faulty module is tested for faults. The faulty component in each component is determined according to the test results, the redundancy strategy corresponding to the faulty component is obtained, and the faulty component is processed according to the redundancy strategy.

[0070] It should be understood that the executor of the method of this embodiment can be a vehicle navigation fault handling device with data processing, network communication and program running functions, such as a vehicle-mounted controller or a vehicle-mounted computer, etc., or other devices or equipment that can achieve the same or similar functions. The above-mentioned vehicle navigation fault handling device (hereinafter referred to as the fault handling device) is used as an example for illustration.

[0071] It should be noted that the navigation module may be any navigation module in an onboard navigation system carried by the target vehicle, and the onboard navigation system may be an onboard integrated navigation system. The integrated navigation system may include more than one navigation module, such as a Global Navigation Satellite System (GNSS) or an Inertial Measurement Unit (IMU). The current navigation information may be various navigation data information currently responded by the navigation module, such as positioning information, vehicle speed information, acceleration information, angular velocity information, etc. responded by the navigation module.

[0072] It should be understood that this embodiment can obtain the current navigation information responded by each navigation module by collecting the response signal responded by each navigation module in the target vehicle. The above-mentioned response signal can be the output navigation signal sent by each navigation module to the fault handling device through the CAN signal harness. Since only receiving the response signal of a single navigation module cannot ensure the accuracy of navigation and cannot identify whether the navigation module has a fault, it is necessary to receive the response signal sent by each navigation module in the combined navigation system and extract the current navigation information responded by each navigation module from the response signal.

[0073] Step S20: Obtain navigation planning information of the target vehicle, and compare the current navigation information with the navigation planning information.

[0074] It should be noted that the navigation planning information may be navigation planning information generated by the fault handling device based on the starting position of the target vehicle and the pre-input end position. The navigation planning information may include the route planning information and path location information of the target vehicle during the current driving process. The above-mentioned route planning information may be relevant information of the target vehicle's driving route, and the above-mentioned path location information may be relevant information of the landmark locations along the target vehicle's path during driving. For example, the landmark locations may be toll stations, tunnels, cities, service areas, overpasses, highways and other locations.

[0075] In a specific implementation, in order to accurately detect a faulty navigation module, the fault handling device of this embodiment obtains the navigation planning information of the target vehicle, determines the target position information of the pre-planned target vehicle's expected route based on the navigation planning information, determines the current position information of the target vehicle based on the current navigation information, compares the current position information with the target position information, and determines the difference information between the current position and the target position based on the comparison result, thereby detecting whether each navigation module is faulty based on the difference information.

[0076] For example, refer to Figure 3 , Figure 3 The following is a navigation diagram: the target vehicle has navigation module A and navigation module B. The fault handling device obtains the navigation planning information of the target vehicle, determines that the target vehicle is expected to pass through cities A, B, and C based on the navigation planning information, determines that the positioning coordinates of navigation module A are currently located in city B based on the current navigation information of navigation module A; determines that the positioning coordinates of navigation module B are currently located in city F based on the current navigation information of navigation module B, compares the current navigation information with the navigation planning information, determines that the current navigation information of navigation module B is significantly different from the navigation planning information, and therefore marks navigation module B as a faulty module.

[0077] Furthermore, in order to accurately perform information comparison, the above step S20 may include:

[0078] Obtaining navigation planning information of the target vehicle and current signal information of the target vehicle;

[0079] Filtering a target driving scene matching the target vehicle from a pre-built driving scene library according to the current signal information;

[0080] Determining, according to the target driving scenario, a module to be detected that currently has a failure risk among the navigation modules;

[0081] The current navigation information of the module to be detected is compared with the navigation planning information.

[0082] It should be noted that the current signal information may be the target vehicle's current satellite signal strength and signal stability. The aforementioned driving scenario library may be a pre-built database containing multiple driving scenarios, each corresponding to different signal strengths and signal stabilities. For example, a tunnel driving scenario may have weaker signal strength and signal stability, while a driving scenario under an overpass may have signal stability.

[0083] The target driving scenario may be a driving scenario that matches the target vehicle's current signal strength and / or signal stability. The module to be tested may be a navigation module that is currently at risk of failure. For example, when the target vehicle is driving in a tunnel with weak signal strength, the inertial navigation module is used for navigation. In this case, the inertial navigation module is at risk of failure and is therefore the module to be tested.

[0084] It should be understood that the fault handling device of this embodiment obtains the navigation planning information of the target vehicle and the current signal information of the target vehicle, and filters out the target driving scene that matches the target vehicle from a pre-built driving scene library based on the current signal information, determines the module to be detected that currently has a fault risk in each navigation module based on the target driving scene, and compares the current navigation information of the module to be detected with the navigation planning information, thereby improving the efficiency of information comparison and ensuring that fault detection can be performed quickly.

[0085] For example, the fault handling device obtains the navigation planning information of the target vehicle and the current signal information of the target vehicle, determines based on the current signal information that the current signal strength of the target vehicle is low and the signal is unstable, and selects the target driving scene that matches the target vehicle from a pre-built driving scene library as a driving scene with poor signal based on the current signal information, determines based on the target driving scene that the module to be detected in each navigation module that currently has a fault risk is the inertial navigation module, and compares the current navigation information of the inertial navigation module with the navigation planning information.

[0086] It should be noted that, due to driving in driving scenarios with different signal strengths, the navigation modules with greater weights that the target vehicle relies on are also different. For example, when driving in a driving scenario with poor signal strength, satellite positioning is inaccurate, so the target vehicle will rely on the inertial navigation module for navigation, and perform inertial navigation through the inertial navigation module. This embodiment matches the target driving scenario corresponding to the target vehicle, determines the navigation module that the target vehicle relies on with a greater weight in the target driving scenario, and marks the navigation module as a module to be detected with a fault risk, thereby effectively improving the fault detection efficiency.

[0087] Step S30: Filter out faulty modules with abnormal information from each navigation module according to the comparison result.

[0088] It should be noted that the faulty module may be a module having a large information difference in the current navigation information.

[0089] It should be understood that the fault handling device of this embodiment obtains the navigation planning information of the target vehicle, determines the target path and target location of the target vehicle's expected route in this navigation planning process based on the navigation planning information, determines the current path and location of the target vehicle based on the current navigation information, compares the current path and location with the target path and target location respectively, determines the path difference information and location difference information of each navigation module based on the comparison results, and thus determines the deviation degree of each navigation module, judges whether each navigation module has a fault based on the deviation degree, and marks the navigation module whose deviation degree does not meet the preset deviation condition as a faulty module.

[0090] Step S40: performing fault tests on each component in the faulty module respectively, and determining the faulty component among the components according to the test results.

[0091] It should be noted that each component can be a component or sensor in the navigation module used to implement different functions. For example, the component can be a component with positioning function, a component with path planning function, a component for obtaining vehicle operating condition data, a component with communication function, etc.

[0092] It should be understood that since there may be multiple functional components in the navigation module to implement different navigation-related functions, in order to accurately locate the cause of the navigation failure, this embodiment performs fault tests on each component in the fault module separately, and determines the faulty component in each component based on the test results, thereby achieving accurate positioning of the navigation failure.

[0093] In the specific implementation, the fault handling device obtains the functional data responded by each functional component in the fault module, and inputs each functional data into the pre-built navigation simulation module for navigation simulation, thereby realizing the navigation data simulation of each component. According to the navigation simulation results, it detects whether the functional data responded by each component is abnormal, and determines the faulty component in each component based on the detection results.

[0094] Furthermore, in order to accurately detect the faulty component, the above step S40 may include:

[0095] Obtaining functional information of each component in the faulty module;

[0096] Inputting the functional information into a pre-built navigation simulation model to obtain navigation simulation results of each component, so as to perform fault testing on each component;

[0097] Detecting whether each of the navigation simulation results meets a preset condition;

[0098] Determine the faulty component among the components based on the detection results.

[0099] It should be noted that the functional information may be data information related to the component functions responded to by each component. For example, the functional information responded by the positioning component may be the current position of the target vehicle; the functional information responded by the acceleration component may be the current acceleration of the target vehicle. The aforementioned navigation simulation model may be a model pre-built by the fault handling device for simulating the data information of navigation results.

[0100] For example, when the faulty module is an inertial navigation module and the faulty component is an acceleration component, the vehicle acceleration responded by the acceleration component is input into a pre-built navigation simulation model to obtain the simulated position of the target vehicle. The simulated position is compared with the actual position of the target vehicle. Based on the comparison result, it is determined whether the vehicle acceleration responded by the acceleration component is accurate. If it is inaccurate, the acceleration component is determined to be a faulty component.

[0101] Step S50: Obtain the redundancy policy corresponding to the faulty component, and perform fault processing on the faulty component according to the redundancy policy.

[0102] It should be noted that the redundancy strategy can be a redundant component replacement device pre-generated by the fault handling device. When the fault handling device detects that a faulty component has a fault, in order to effectively handle the fault, it obtains the redundancy strategy corresponding to the faulty component, determines the redundant component corresponding to the faulty component according to the redundancy strategy, and replaces the function of the faulty component according to the redundant component, thereby ensuring that the component function of the faulty component can operate normally.

[0103] Furthermore, in order to effectively handle the fault of the faulty component, the above step S50 may include:

[0104] Obtaining a redundancy strategy corresponding to the faulty component;

[0105] Determining a redundant component corresponding to the faulty component according to the redundancy strategy;

[0106] using the signal source of the redundant component as a redundant signal source;

[0107] The signal source of the faulty component is replaced according to the redundant signal source to implement fault processing for the faulty component.

[0108] It should be noted that the redundant component may be a component designed to implement a redundant function of a failed component.

[0109] It should be understood that since the faulty component cannot operate normally or cannot transmit data normally, in order to ensure that the function of the faulty component is realized normally and that the data of the faulty component can be transmitted normally, the fault handling device obtains the redundancy strategy corresponding to the faulty component, determines the redundant component corresponding to the faulty component according to the redundancy strategy, uses the signal source of the redundant component as the redundant signal source, and replaces the signal source of the faulty component according to the redundant signal source to implement fault handling of the faulty component, so that when the faulty component cannot operate normally, the redundant component can replace the faulty component for data transmission and functional operation, thereby ensuring the stability of the in-vehicle navigation.

[0110] For example, refer to Figure 4 , Figure 4 This is a redundancy diagram of the navigation module. The fault handling device determines the redundant component Redundant corresponding to the faulty component Main according to the redundancy strategy, uses the signal source of the Redundant component as the redundant signal source, and replaces the signal source of the faulty component according to the redundant signal source to implement fault handling for the Main component.

[0111] This embodiment obtains the current navigation information responded by each navigation module in the target vehicle, obtains the navigation planning information of the target vehicle, and compares the current navigation information with the navigation planning information. According to the comparison results, the fault modules with abnormal information are screened out from each navigation module, and the components in the fault modules are respectively tested for faults. According to the test results, the fault components in each component are determined, the redundancy strategy corresponding to the fault components is obtained, and the fault processing is performed on the fault components according to the redundancy strategy. Since this embodiment obtains the current navigation information responded by each navigation module in the target vehicle, obtains the navigation planning information of the target vehicle, and compares the current navigation information with the navigation planning information, so as to achieve the redundancy of the fault components. The system compares the information obtained from the navigation system with the information obtained from the navigation system, selects faulty modules with abnormal information from each navigation module according to the comparison results, performs fault tests on each component in the faulty module respectively, and determines the faulty component in each component according to the test results, thereby locating the faulty component with abnormality in the faulty module, locating the cause of the fault in the navigation system of the target vehicle, obtaining the redundancy strategy corresponding to the faulty component, and performing fault processing on the faulty component according to the redundancy strategy, effectively solving the problem of being unable to accurately locate the cause of the fault of the navigation system, and realizing the redundant design of the vehicle-mounted navigation, thereby effectively processing the fault when the vehicle-mounted navigation has a fault, ensuring that the vehicle-mounted navigation can be restored to normal in a timely manner, and improving the stability of the vehicle-mounted navigation.

[0112] refer to Figure 5 , Figure 5The figure is a flow chart of a second embodiment of a vehicle navigation fault handling method according to the present invention.

[0113] Based on the first embodiment above, in this embodiment, step S10 includes:

[0114] Step S11: collecting messages from each navigation module in the target vehicle to obtain multiple messages.

[0115] It should be noted that the message may be a communication message to which each navigation module responds when communicating via a CAN harness.

[0116] It should be understood that since the navigation modules in the target vehicle communicate with the on-board controller via the CAN harness, in order to obtain various information transmitted by the navigation modules on the CAN harness, the fault handling device in this embodiment collects the messages transmitted and responded by the navigation modules in the target vehicle on the CAN harness, thereby obtaining multiple messages.

[0117] Step S12: parse each message to obtain the frame ID and message information of each message.

[0118] It should be noted that the frame ID may be a message ID identifier in a frame structure in a message. The message information may be the frame information and frame data contained in the message.

[0119] It should be understood that in order to accurately obtain the frame structure composed of each message, the fault handling device of this embodiment obtains the frame format of each message by performing message parsing on each of the messages, obtains the frame ID and message information of each message according to the frame format, determines the identity of each message according to the frame ID, and determines the data information contained in each message according to the message information.

[0120] Step S13: Match each message with each navigation module according to the frame ID, and determine the subordinate relationship between each message and each navigation module.

[0121] It should be noted that the subordinate relationship may be a sending relationship between a message and a navigation module, and the navigation module through which the message is sent may be determined according to the subordinate relationship.

[0122] It should be understood that in order to identify the identity of each message and determine which navigation module each message is sent through, the fault handling device of this embodiment compares each message with each navigation module according to the frame ID.

[0123] The modules are matched to determine the subordinate relationship between each message and each navigation module, thereby achieving identity matching between each message and each navigation module.

[0124] Step S14: obtaining the current navigation information responded by each navigation module according to the subordinate relationship and the message information.

[0125] In a specific implementation, for example, the fault handling device collects messages from each navigation module in the target vehicle to obtain message A, message B, and message C. In order to identify the identity identifiers of message A, message B, and message C0 and determine which navigation module each message is sent through, message A, message B, and message C are parsed respectively to obtain the frame ID and message information of each message. Each message is matched with each navigation module according to the frame ID. According to the matching result, it is determined that message A is sent by the satellite navigation module, and message B and message C are sent by the inertial navigation module. The message information in message A is used as

[0126] The current navigation information responded by the satellite navigation module uses the message information in message B and message C as the current navigation information responded by the inertial navigation module.

[0127] This embodiment collects messages from each navigation module in the target vehicle to obtain multiple messages, parses each message to obtain the frame ID and message information of each message, matches each message with each navigation module according to the frame ID, and determines the subordinate relationship between each message and each navigation module.

[0128] The current navigation information responded by each navigation module is obtained based on the subordinate relationship and the message information. Since this embodiment collects messages from each navigation module and then parses the collected messages to obtain the frame ID and message information of each message, and then performs message matching based on the frame ID to determine the navigation module to which each message belongs, the attribution matching of the collected communication messages is achieved, thereby accurately obtaining the current navigation information responded by each navigation module.

[0129] 5References Figure 6 , Figure 6 The figure is a flow chart of a third embodiment of a vehicle navigation fault handling method according to the present invention.

[0130] Based on the above second embodiment, in this embodiment, after step S11, the following steps are included:

[0131] Step S111: detecting whether the communication status of each navigation module is abnormal according to the message collection result.

[0132] It should be understood that when this embodiment is applied to a navigation module in which a wiring harness is detached or damaged, resulting in an abnormal communication status in each navigation module, in order to ensure normal communication connection with each navigation module, this embodiment detects whether the communication status of each navigation module is abnormal based on the message collection result, determines the abnormal communication module in the abnormal communication status in each navigation module based on the detection result, determines the CAN wiring harness corresponding to the abnormal communication module, obtains the redundant communication strategy of the abnormal communication module based on the CAN wiring harness, and establishes a communication connection with the abnormal communication module based on the redundant communication strategy, thereby ensuring that when a communication abnormality occurs in the navigation module, normal interaction and transmission of data information can still be ensured, thereby realizing a communication redundancy design for the vehicle navigation.

[0133] It should be noted that the communication status may be the CAN communication status of each navigation module.

[0134] It should be understood that since the fault handling device establishes a communication connection with each navigation module through the CAN wiring harness, in order to detect whether the communication status of each navigation module is abnormal, the fault handling device of this embodiment collects messages from each navigation module, determines whether the message response of each navigation module is abnormal based on the message collection results, and detects whether the communication status of each navigation module is abnormal based on the judgment result.

[0135] Furthermore, in order to accurately detect whether each navigation module has communication anomalies, the above step S111 may include:

[0136] Step S1111: obtaining the frame format of each message and the response time of each message according to the message collection result;

[0137] Step S1112: determining whether there is an error frame in each message according to the frame format;

[0138] Step S1113: judging whether each message has timed out according to the response duration;

[0139] Step S1114: detecting whether the communication status of each navigation module is abnormal according to the frame format determination result and the response time determination result.

[0140] It should be noted that the frame format may be a message format frame structure, for example, a data frame, a remote control frame, an error frame, an overload frame, an interframe interval, etc. The response duration may be the time between the fault handling device sending a request and receiving a message response. The error frame may be a frame consisting of an error flag and an error delimiter.

[0141] It should be understood that in order to accurately detect whether each navigation module has communication abnormalities, the fault handling device of this embodiment obtains the frame format of each message and the response duration of each message based on the message collection results, and determines whether each message contains an error frame based on the frame format, thereby realizing the identification of the error identifier of the message, and determines whether each message has responded with a timeout based on the response duration, thereby realizing the detection of the response timeout of each navigation module, and detects whether the communication status of each navigation module is abnormal based on the frame format judgment result and the response duration judgment result.

[0142] For example, the fault handling device obtains the frame format of each message and the response time of each message based on the message collection results, determines whether the response of each message has timed out based on the response time, determines that the response of navigation module A has timed out based on the response time judgment result, and marks navigation module A as a communication abnormality module.

[0143] Step S112: determining an abnormal communication module in an abnormal communication state among the navigation modules according to the detection result.

[0144] It should be noted that the abnormal communication module may be a navigation module having an abnormal CAN communication status with the vehicle controller.

[0145] It should be understood that the fault processing module of this embodiment determines the modules with abnormal message responses and modules containing error frames of each navigation module according to the detection results, and marks the modules with abnormal message responses and modules containing error frames as abnormal communication modules.

[0146] Step S113: Determine the CAN harness corresponding to the abnormal communication module.

[0147] It should be noted that the CAN wiring harness corresponding to the abnormal communication module may be a wiring harness for communication connection between the abnormal communication module and the CAN bus.

[0148] Step S114: Acquire the redundant communication strategy of the abnormal communication module according to the CAN harness.

[0149] It should be noted that the redundant communication strategy may be a strategy for re-establishing a communication connection with an abnormal communication module through a redundant wiring harness or a redundant port.

[0150] Step S115: establishing a communication connection with the abnormal communication module according to the redundant communication strategy.

[0151] It should be understood that in order to ensure normal information interaction and data transmission with the abnormal communication module, the fault handling device in this embodiment re-establishes a communication connection with the abnormal communication module according to the redundant communication strategy.

[0152] In a specific implementation, when the redundant communication strategy of the abnormal communication module is a wiring harness redundancy strategy, the fault handling device determines the redundant wiring harness of the abnormal communication module according to the redundant communication strategy, and re-establishes a CAN communication connection with the abnormal communication module according to the redundant wiring harness; when the redundant communication strategy of the abnormal communication module is a network redundancy strategy, the fault handling device determines the redundant Ethernet port of the abnormal communication module according to the redundant communication strategy, uses the redundant Ethernet port as the communication redundancy of the abnormal communication module, and establishes a network communication connection with the abnormal communication module according to the redundant Ethernet port.

[0153] For example, refer to Figure 7 , Figure 7 This is a CAN communication diagram. When the fault handling device detects a communication anomaly in an abnormal communication module, it determines that the abnormal communication module cannot communicate normally through the CAN wiring harness. Based on the redundant communication strategy corresponding to the abnormal communication module, the redundant wiring harness of the abnormal communication module is determined, and a communication connection is established with the abnormal communication module through the redundant wiring harness, thereby ensuring the stable transmission of GNSS or IMU information data.

[0154] This embodiment detects whether the communication status of each navigation module is abnormal based on the message collection result, determines the abnormal communication module in the abnormal communication status among the navigation modules based on the detection result, determines the CAN wiring harness corresponding to the abnormal communication module, obtains the redundant communication strategy of the abnormal communication module based on the CAN wiring harness, and establishes a communication connection with the abnormal communication module based on the redundant communication strategy; since this embodiment detects whether the communication status of each navigation module is abnormal based on the message collection result, the communication status of the vehicle navigation is detected, the abnormal communication module in the abnormal communication status among the navigation modules is determined based on the detection result, thereby locating the communication failure problem of the vehicle navigation, and then determines the CAN wiring harness corresponding to the abnormal communication module, obtains the redundant communication strategy of the abnormal communication module based on the CAN wiring harness, and establishes a communication connection with the abnormal communication module based on the redundant communication strategy, thereby realizing communication redundancy design for the vehicle navigation, timely processing of navigation communication failures, and ensuring the stability of navigation communication.

[0155] In addition, an embodiment of the present invention further provides a storage medium storing a vehicle navigation fault handling program. When the vehicle navigation fault handling program is executed by a processor, the steps of the vehicle navigation fault handling method described above are implemented.

[0156] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described one by one here.

[0157] Reference Figure 8 , Figure 8 This is a structural block diagram of the first embodiment of the vehicle navigation fault processing device of the present invention.

[0158] like Figure 8 As shown, the vehicle navigation fault processing device proposed in the embodiment of the present invention includes:

[0159] The information acquisition module 10 is used to obtain the current navigation information responded by each navigation module in the target vehicle;

[0160] An information comparison module 20 is used to obtain navigation planning information of the target vehicle and compare the current navigation information with the navigation planning information;

[0161] A fault screening module 30 is used to screen out faulty modules with abnormal information from various navigation modules based on the comparison results;

[0162] A fault testing module 40 is configured to perform fault testing on each component in the fault module and determine a faulty component among the components according to the test results;

[0163] The fault processing module 50 is configured to obtain a redundancy policy corresponding to the faulty component and perform fault processing on the faulty component according to the redundancy policy.

[0164] Furthermore, the information acquisition module 10 is also used to collect messages from each navigation module in the target vehicle to obtain multiple messages; perform message parsing on each message to obtain the frame ID and message information of each message; match each message with each navigation module according to the frame ID to determine the identity of each message with the navigation module.

[0165] The subordinate relationship between each navigation module; obtaining the current navigation information responded by each navigation module 5 according to the subordinate relationship and the message information.

[0166] Furthermore, the vehicle navigation fault processing device further includes:

[0167] The communication detection module 60 is used to detect whether the communication status of each navigation module is abnormal according to the message collection result; and determine the abnormal communication module in the abnormal communication status among the navigation modules according to the detection result;

[0168] Determine the CAN wiring harness corresponding to the abnormal communication module; obtain the redundant communication strategy of the abnormal 0 communication module according to the CAN wiring harness; and establish a communication connection with the abnormal communication module according to the redundant communication strategy.

[0169] Furthermore, the communication detection module 60 is further configured to obtain the frame format of each message and the response time of each message according to the message collection result; and to determine whether each message contains a corresponding message according to the frame format.

[0170] judging whether each message responds to a timeout according to the response duration; judging whether the communication status of each navigation module is abnormal according to the frame format 5 judgment result and the response duration judgment result.

[0171] Furthermore, the information comparison module 20 is further configured to obtain navigation planning information of the target vehicle and current signal information of the target vehicle; select a target driving scene matching the target vehicle from a pre-built driving scene library according to the current signal information; and select a target driving scene matching the target vehicle according to the target driving scene library.

[0172] determining a module to be detected that currently has a failure risk in each navigation module based on a driving scenario; and comparing the current navigation information of the module to be detected with the navigation planning information.

[0173] Furthermore, the fault testing module 40 is also used to obtain functional information of each component in the fault module; input the functional information into a pre-built navigation simulation model respectively to obtain the navigation simulation results of each component, so as to perform fault testing on each component respectively; detect whether each of the navigation simulation results meets the preset conditions; and determine the faulty component in each component based on the detection results.

[0174] Furthermore, the fault processing module 50 is further configured to obtain a redundancy strategy corresponding to the faulty component; determine a redundant component corresponding to the faulty component according to the redundancy strategy; use a signal source of the redundant component as a redundant signal source; and replace the signal source of the faulty component according to the redundant signal source to implement fault processing for the faulty component.

[0175] This embodiment obtains the current navigation information responded by each navigation module in the target vehicle, obtains the navigation planning information of the target vehicle, and compares the current navigation information with the navigation planning information. According to the comparison result, a fault module with abnormal information is screened out from each navigation module, and a fault test is performed on each component in the fault module respectively. According to the test result, the fault component in each component is determined, and the redundancy strategy corresponding to the fault component is obtained. Then, the fault processing is performed on the fault component according to the redundancy strategy. Since this embodiment obtains the current navigation information responded by each navigation module in the target vehicle, obtains the navigation planning information of the target vehicle, and compares the current navigation information with the navigation planning information, so as to achieve the redundancy control of the response of each navigation module. The system compares the information obtained from the navigation system with the information obtained from the navigation system, selects faulty modules with abnormal information from each navigation module according to the comparison results, performs fault tests on each component in the faulty module respectively, and determines the faulty component in each component according to the test results, thereby locating the faulty component with abnormality in the faulty module, locating the cause of the fault in the navigation system of the target vehicle, obtaining the redundancy strategy corresponding to the faulty component, and performing fault processing on the faulty component according to the redundancy strategy, effectively solving the problem of being unable to accurately locate the cause of the fault of the navigation system, and realizing the redundant design of the vehicle-mounted navigation, thereby effectively processing the fault when the vehicle-mounted navigation has a fault, ensuring that the vehicle-mounted navigation can be restored to normal in a timely manner, and improving the stability of the vehicle-mounted navigation.

[0176] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0177] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0178] In addition, for technical details not fully described in this embodiment, please refer to the vehicle navigation fault handling method provided in any embodiment of the present invention, and will not be repeated here.

[0179] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0180] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0181] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0182] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle navigation fault handling method, characterized in that: The vehicle navigation fault processing method includes: Obtain the current navigation information responded by each navigation module in the target vehicle; Obtaining navigation planning information of the target vehicle, and comparing the current navigation information with the navigation planning information; According to the comparison results, the faulty modules with abnormal information are screened out from each navigation module; Performing fault tests on each component in the faulty module respectively, and determining the faulty component among the components according to the test results; Obtain a redundancy policy corresponding to the faulty component, and perform fault processing on the faulty component according to the redundancy policy.

2. The vehicle navigation fault handling method according to claim 1, wherein: The obtaining of the current navigation information responded by each navigation module in the target vehicle includes: Collect messages from each navigation module in the target vehicle to obtain multiple messages; Performing message parsing on each of the messages to obtain a frame ID and message information of each message; Matching each message with each navigation module according to the frame ID to determine the subordinate relationship between each message and each navigation module; The current navigation information responded by each navigation module is acquired according to the subordinate relationship and the message information.

3. The vehicle navigation fault handling method according to claim 2, wherein: After collecting messages from each navigation module in the target vehicle and obtaining a plurality of messages, the method further includes: Detect whether the communication status of each navigation module is abnormal based on the message collection results; Determine an abnormal communication module in an abnormal communication state among the navigation modules according to the detection result; Determine the CAN wiring harness corresponding to the abnormal communication module; Acquire a redundant communication strategy of the abnormal communication module according to the CAN wiring harness; A communication connection is established with the abnormal communication module according to the redundant communication strategy.

4. The vehicle navigation fault handling method according to claim 3, wherein: The detecting whether the communication status of each navigation module is abnormal according to the message collection result includes: Obtaining the frame format of each message and the response time of each message according to the message collection result; Determining whether there is an error frame in each message according to the frame format; Determine whether each message has timed out according to the response time; Whether the communication status of each navigation module is abnormal is detected according to the frame format judgment result and the response time judgment result.

5. The vehicle navigation fault handling method according to any one of claims 1 to 4, characterized in that: The obtaining of navigation planning information of the target vehicle and comparing the current navigation information with the navigation planning information includes: Obtaining navigation planning information of the target vehicle and current signal information of the target vehicle; Filtering a target driving scene matching the target vehicle from a pre-built driving scene library according to the current signal information; Determining, according to the target driving scenario, a module to be detected that currently has a failure risk among the navigation modules; The current navigation information of the module to be detected is compared with the navigation planning information.

6. The vehicle navigation fault handling method according to any one of claims 1 to 4, characterized in that: The performing fault tests on each component in the fault module respectively and determining the faulty component among the components according to the test results includes: Obtaining functional information of each component in the faulty module; Inputting the functional information into a pre-built navigation simulation model to obtain navigation simulation results of each component, so as to perform fault testing on each component; Detecting whether each of the navigation simulation results meets a preset condition; Determine the faulty component among the components based on the detection results.

7. The vehicle navigation fault handling method according to any one of claims 1 to 4, characterized in that: The obtaining of a redundancy policy corresponding to the faulty component and performing fault processing on the faulty component according to the redundancy policy includes: Obtaining a redundancy strategy corresponding to the faulty component; Determining a redundant component corresponding to the faulty component according to the redundancy strategy; using the signal source of the redundant component as a redundant signal source; The signal source of the faulty component is replaced according to the redundant signal source to implement fault processing for the faulty component.

8. A vehicle navigation fault handling device, characterized in that: The vehicle navigation fault processing device includes: An information acquisition module is used to obtain the current navigation information responded by each navigation module in the target vehicle; An information comparison module is used to obtain the navigation planning information of the target vehicle and compare the current navigation information with the navigation planning information; A fault screening module is used to screen out faulty modules with abnormal information from various navigation modules based on the comparison results; A fault testing module, configured to perform fault testing on each component in the fault module and determine the faulty component among the components according to the test results; The fault processing module is used to obtain the redundancy strategy corresponding to the faulty component and perform fault processing on the faulty component according to the redundancy strategy.

9. A vehicle navigation fault handling device, characterized in that: The vehicle navigation fault processing device includes: a memory, a processor, and a vehicle navigation fault processing program stored in the memory and executable on the processor, wherein the vehicle navigation fault processing program is configured to implement the vehicle navigation fault processing method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a vehicle navigation fault processing program, and when the vehicle navigation fault processing program is executed by the processor, the vehicle navigation fault processing method according to any one of claims 1 to 7 is implemented.

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