An autonomous vehicle fault diagnosis system

Abstract

The present application relates to the technical field of vehicle fault diagnosis, in particular to an automatic driving vehicle fault diagnosis system, comprising a vehicle-mounted subsystem, an application subsystem and a dump subsystem, the vehicle-mounted subsystem comprising an automatic driving domain controller, a drive-by-wire system, a network transmission device, an audio and video monitoring controller, a sensor and a vehicle device, for monitoring vehicle fault information in real time and sending the fault information to the application subsystem, the application subsystem comprising a firewall, a server and a terminal device, for temporarily storing fault information and on-demand fault occurrence before and after the log file, the dump subsystem comprising an AP, a network switching device, an information security facility and a dump server, the present application solves the problem that the existing operation personnel and developers cannot monitor the fault state of the automatic driving vehicle in real time, and cannot analyze the log in time after the fault occurs, thereby leading to low operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle fault diagnosis, in particular to an automatic driving vehicle fault diagnosis system. BACKGROUND

[0002] At present, many automatic driving operation vehicles realize the function of vehicle cloud networking. Through cloud applications, the state information of the vehicle, such as speed, position, etc., can be obtained, but none of them have fault diagnosis function. An operation formation composed of dozens of automatic driving vehicles is only operated and maintained by 1-2 personnel, and the vehicle operation is often not in the same city as the automatic driving technology provider. When the automatic driving vehicle fails, the operation personnel cannot know the vehicle fault state in the first time. Even if the vehicle fault is known, only the phenomenon after the fault occurs is recorded, and the log file is copied offline and a "help" notice is sent. After the developer receives the notice, the log is downloaded for analysis.

[0003] Patent No. CN114120472A discloses an automatic driving vehicle safety management system. This scheme is a typical automatic driving vehicle safety management system, which is divided into a vehicle terminal, a vehicle monitoring center and an operation terminal. The vehicle terminal is responsible for collecting vehicle sensor and ECU state data during driving, and transmitting abnormal events to the vehicle monitoring center. The vehicle monitoring center provides a data service interface, and the operation terminal queries the vehicle fault. However, due to the large amount of sensor data of the existing automatic driving vehicle, the original data cannot be transmitted by mobile network. How to transmit vehicle data in this scheme is not specified in detail, and the effective implementation of the scheme cannot be guaranteed.

[0004] Patent No. CN115384532A discloses an automatic driving domain controller fault diagnosis method, device, electronic equipment and storage medium. This scheme is a typical automatic driving domain controller, which cooperates with the cloud platform to process faults at different levels, and solves the safety problems such as vehicle loss of control and collision caused by faults. However, the main technical content of this scheme is to divide the automatic driving domain controller into different functional modules with certain fault processing capability, and to report fault information to the cloud platform through 4G / 5G, and to process different strategies for faults at different levels. This scheme is not closely related to the problems and solutions described in the present application patent, and does not solve the problem that fault log files are often large and cannot be located in a short time, and the positioning of some faults requires more detailed log files.

[0005] As described above, the applicant found that the existing fault log files are often large and cannot be located in a short time, and the positioning of some faults requires more detailed logs, such as perception faults, which require a large amount of sensor raw data. The storage space of the automatic driving domain controller is limited and cannot be stored for a long time, resulting in low fault processing efficiency. SUMMARY

[0006] Therefore, the present application aims to provide an automatic driving vehicle fault diagnosis system to solve the problem that existing operation personnel and developers cannot monitor the fault status of the automatic driving vehicle in real time, and cannot analyze the log in time after the fault occurs, thereby leading to low operation efficiency.

[0007] To achieve the above purpose, the present application provides an automatic driving vehicle fault diagnosis system, comprising a vehicle-mounted subsystem, an application subsystem and a dump subsystem;

[0008] The vehicle-mounted subsystem comprises an automatic driving domain controller, a drive-by-wire system, a network transmission device, an audio and video monitoring controller, a sensor and a vehicle device, which are used to monitor vehicle fault information in real time and send the fault information to the application subsystem;

[0009] The application subsystem comprises a firewall, a server and a terminal device, which are used to temporarily store fault information and on-demand log files before and after the fault occurs;

[0010] The dump subsystem comprises an AP, a network switching device, an information security facility and a dump server, which are used to dump the log files monitored by the vehicle-mounted subsystem;

[0011] During the operation of the automatic driving vehicle, the vehicle-mounted subsystem monitors the fault in real time, and when a fault is detected, the vehicle-mounted subsystem sends the fault information to the application subsystem through a mobile network, while the vehicle-mounted subsystem needs to wait for and receive the response information sent by the application subsystem, and if no response information is received within a preset time, the vehicle-mounted subsystem needs to repeatedly send the fault information to the application subsystem until the vehicle-mounted subsystem receives the response information sent by the application subsystem; the vehicle-mounted subsystem sends the file list information meeting the conditions to the application subsystem, the application subsystem sends the response log file list information to the vehicle-mounted subsystem, and the vehicle-mounted subsystem sends the log files meeting the conditions in packets; the vehicle-mounted subsystem automatically connects

[0012] Preferably, the automatic driving domain controller is responsible for collecting and transmitting various faults, including intelligent driving software faults, domain controller faults, drive-by-wire system faults, sensor faults and vehicle device faults, and the network transmission device comprises a 5G device, a WLAN device, a combiner, an antenna, and is used to provide communication functions.

[0013] Preferably, the firewall is used to provide security for cloud information, the server is used for data storage, the terminal device is a mobile phone or WEB, and an APP is installed to facilitate real-time fault monitoring and statistical reporting.

[0014] Preferably, the AP is a WLAN access point device, and the network switching device is a routing device of a WLAN network.

[0015] When the vehicle is located in the preparation field, the WLAN device in the network transmission device needs to pass the verification of the information security facility in the process of automatically connecting to the dump subsystem WLAN network, and after the verification is completed, the file can be normally transmitted. The information security facility saves a MAC address white list, and the dump server is used for storing the file transmitted by the vehicle, and simultaneously saves the file information in the database of the device, so that information query and file download are facilitated.

[0016] Preferably, in the process that the vehicle-mounted subsystem waits for the response of the application subsystem, if the vehicle-mounted subsystem does not receive the response information within 500 ms, the vehicle-mounted subsystem repeatedly sends the fault information to the application subsystem, and the automatic driving domain controller cyclically records the log file, and the log file of greater than 90 s before and after the fault occurs is stored, and the longest retention period of the log file is greater than 30 days.

[0017] Preferably, the automatic driving domain controller sends the file list message meeting the condition by issuing a fault log on-demand command with time information through the terminal device, and the file list message should have the file size and the MD5 code.

[0018] Preferably, when the terminal device sends the response log file list information to the automatic driving domain controller, the automatic driving domain controller sends the log file meeting the condition in a packet, and the packet information should have the total number of packets and the sequence number of the packet. The terminal device receives the packet according to the sequence, and once the packet loss phenomenon is found, the terminal device feeds back the information with the lost packet sequence number to the automatic driving domain controller. The automatic driving domain controller retransmits the packet after receiving the information, and the on-demand of the log file data is completed in this way.

[0019] Preferably, the dump subsystem adopts a MESH structure, and the WLAN network adopts an AP+AC mode, and the SSID is broadcasted externally.

[0020] Preferably, when the automatic driving vehicle enters the preparation field, the WLAN device in the vehicle-mounted subsystem receives the SSID broadcast, connects to the WLAN network through the broadcast information, and actively sends the authentication information. The information security facility saves a MAC address white list, and after the verification is passed, the information security facility replies the FTP username and password.

[0021] Preferably, the vehicle-mounted subsystem is an FTP client, the dump subsystem is an FTP server, after the FTP connection is successful, the automatic driving domain controller in the vehicle-mounted subsystem sends file list information to the dump server in the dump subsystem, after receiving the information, the dump server performs database insertion operation, and sends response information to the automatic driving domain controller, and then starts file uploading, after a single file is uploaded, file uploading completion information is sent, the dump server sends response file uploading completion information to the automatic driving domain controller, and the FTP should have a breakpoint resume function to prevent file uploading failure caused by unexpected situations.

[0022] The automatic driving vehicle fault diagnosis system provided by the application has the advantages that the automatic driving domain controller sends fault information to the application subsystem in real time through a mobile network during vehicle operation, and after a fault occurs, operation and development personnel can download and analyze log files before and after the fault occurs through a terminal device, so that problems can be analyzed and located in a timely manner.

[0023] When the automatic driving vehicle is located in a preparation field, the vehicle is automatically connected to the dump subsystem, and detailed logs (including sensor original data and audio and video data) of the fault are transmitted to the dump server, development personnel can obtain the logs through remote access to locate the fault, and after an accident occurs, the logs can also be used for fault locating, and since historical fault data are retained, the system can also generate statistical reports through the application subsystem. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only illustrate the embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0025] Figure 1 The system architecture diagram of the embodiment of the present application is shown in the figure.

[0026] Figure 2 The structure diagram of the vehicle-mounted subsystem of the embodiment of the present application is shown in the figure.

[0027] Figure 3 The timing diagram of the vehicle-mounted subsystem and the application subsystem of the embodiment of the present application is shown in the figure.

[0028] Figure 4 The structure diagram of the dump subsystem of the embodiment of the present application is shown in the figure.

[0029] Figure 5 The timing diagram of the vehicle-mounted subsystem and the dump subsystem of the embodiment of the present application is shown in the figure.

[0030] Figure 6 The application subsystem function structure diagram of the embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the embodiments and the accompanying drawings.

[0032] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood as the common meanings understood by those skilled in the art to which the present application belongs. The terms "first", "second" and similar terms used in the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships may also change accordingly.

[0033] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 An automatic driving vehicle fault diagnosis system, comprising a vehicle-mounted subsystem, an application subsystem and a dump subsystem;

[0034] The vehicle-mounted subsystem comprises an automatic driving domain controller, a drive-by-wire system, a network transmission device, an audio and video monitoring controller, a sensor and a vehicle device, the automatic driving domain controller is responsible for collecting and transmitting various faults, including intelligent driving software faults, domain controller faults, drive-by-wire system faults, sensor faults and vehicle device faults, the drive-by-wire system comprises drive-by-wire driving, drive-by-wire braking, drive-by-wire EPB, drive-by-wire gear, drive-by-wire steering and BCM, which is used to convert vehicle mechanical control into electrical signal control, the network transmission device comprises 5G device, WLAN device, combiner and antenna, which is used to provide communication function, the audio and video monitoring controller is used to monitor and save the audio and video inside and outside the vehicle in real time during vehicle operation, the sensor comprises laser radar, camera, millimeter wave, inertial navigation and ultrasonic wave, which is used to provide perception raw data for automatic driving, the vehicle device comprises ABS, ESP, Battery, Air Conditioner and Motor, which are necessary devices for the vehicle, and the faults of the devices will affect the automatic driving function;

[0035] The application subsystem includes a firewall, a server and a terminal device, the server is used for data storage, the terminal device is a mobile phone or WEB, and an APP is installed to facilitate real-time fault monitoring and statistical report, and the firewall is used for providing security for cloud information security.

[0036] The dump subsystem is mainly located in a repair yard (the repair yard is a place for repairing, repairing and staying of the operating vehicle), including an AP, a network switching device, an information security facility and a dump server, the AP is a WLAN access point device, the network switching device is a routing device of the WLAN network, and the dump server is used for storing the files transmitted by the vehicle, and simultaneously saving the file information in the database of the device, so as to facilitate information query and file download, the vehicle needs to pass the verification of the information security facility to normally transmit the files, and the facility saves the MAC address white list.

[0037] When the fault occurs, the automatic driving domain controller sends the fault data to the server through the 5G device, and the operating and development personnel can view the vehicle fault state or download and analyze the log on demand, when the vehicle enters the repair yard, the WLAN device in the network transmission device is automatically connected to the WLAN network routing device in the network switching device, and after the information security authentication, the vehicle-mounted subsystem uploads the stored log file to the dump server.

[0038] From the functional point of view, it is divided into real-time monitoring and wireless dump, the overall design idea of real-time monitoring is as follows: the automatic driving vehicle monitors the fault in real time during operation, once the fault occurs, the fault data is sent to the application subsystem cloud platform through the 5G mobile network, and the operating and development personnel can view the vehicle fault state or download and analyze the log on demand, the overall design idea of wireless dump is as follows: the vehicle is automatically connected to the WLAN network when entering the repair yard, and the log file is uploaded after information security authentication.

[0039] The main steps of real-time monitoring and wireless dump of the automatic driving vehicle are as follows:

[0040] Step 1: as shown in Figure 3 the automatic driving vehicle monitors the fault in real time during operation, including software fault of intelligent driving, domain controller fault, sensor fault, drive-by-wire system fault and vehicle equipment fault; when the fault occurs, the automatic driving domain controller sends the fault information to the application subsystem cloud server through the 5G mobile communication network; the vehicle-mounted subsystem needs to wait for the cloud response, and if no response is received within 500ms, the fault information is repeatedly sent. At the same time, the automatic driving domain controller cyclically records the log file, and the log file is stored for more than 90s before and after the fault, and the longest retention period of the log file is more than 30 days.

[0041] Step 2: As Figure 3 As shown in the log on-demand scenario, when developers need to analyze faults, they send a fault log on-demand command with time information through the terminal device on the application subsystem. The autonomous driving domain controller sends a list of files that meet the criteria, including the file size and MD5 hash. The application subsystem responds with the log file list, and the autonomous driving domain controller then packets the matching log files, sending the packets in packets containing the total number of packets and their sequence number. The application subsystem receives the packets in order, and if packet loss is detected, it sends back information with the sequence number of the lost packet. Upon receiving this information, the autonomous driving domain controller retransmits the packets, and so on, completing the on-demand upload of the log file data.

[0042] Step 3: Data dumping scenario. The entire data dumping process can be divided into authentication and file transfer.

[0043] Step 31: As Figure 4 As shown, the dump subsystem adopts a MESH structure, reducing the difficulty of engineering cabling; the WLAN network equipment adopts the AP+AC method, and the SSID should be broadcast outwards and broadcast packets should not be blocked. SSID is an important concept in wireless networks; it is a name used to identify a wireless local area network (WLAN). Figure 5 As shown, after the autonomous vehicle enters the maintenance yard, it will receive an SSID broadcast and connect to the WLAN network through the broadcast information. The onboard subsystem actively sends authentication information, and the dump subsystem stores a whitelist of MAC addresses. After successful verification, it will reply with the FTP username and password.

[0044] Step 32: As Figure 5 As shown, the vehicle-mounted subsystem acts as an FTP client, and the dump subsystem acts as an FTP server. After a successful FTP connection, the vehicle-mounted subsystem sends a file list. Upon receiving this information, the dump subsystem performs a database insertion operation and responds, thus initiating file uploads. After each file is uploaded, a file upload completion message is sent, and the dump subsystem responds accordingly. The FTP server should have a resume function to prevent unexpected file upload failures.

[0045] In summary, the mobile network and WLAN device are installed on the automatic driving operation vehicle, the automatic driving domain controller sends the fault information to the application subsystem in real time through the mobile network during the vehicle operation, the operation personnel can master the fault state of the vehicle in real time through the WEB and mobile terminal, and after the fault occurs, the developer can analyze and locate the problem in time by playing the log files before and after the fault through the terminal. After the automatic driving vehicle is located in the preparation field, it is automatically connected to the dump subsystem, and the detailed log of the fault (including sensor raw data and audio and video data) is transmitted to the dump server, so that the developer can obtain the log for fault positioning by remote access, and the log can also be used for fault responsibility after an accident. In addition, since the historical fault data is retained, the system can generate statistical reports through the application subsystem.

[0046] The application establishes a fault diagnosis system, collects, processes and transmits the fault at the vehicle-mounted subsystem end, provides real-time fault, expert diagnosis, history management, statistical report functions at the application subsystem end, the real-time diagnosis function enables the operation personnel to master the fault state of the vehicle in real time, establishes an expert diagnosis database, gives a solution and troubleshooting scheme for some common faults, the history management can conveniently query historical data, and the statistical report can improve the fine management level of the company. After the fault occurs, the log is played and downloaded for analysis through the terminal, which greatly improves the efficiency of fault diagnosis. In order to facilitate the developer to further analyze the fault, the vehicle-mounted subsystem stores the sensor raw data before and after the fault, and after the vehicle arrives at the preparation field, the file is downloaded through the WLAN network, which can abandon the offline copying work and save manpower.

[0047] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to limit the scope of the application to these examples; under the idea of the application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the application as described above. In order to be brief, they are not provided in details.

[0048] Embodiments of the application are intended to cover all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Accordingly, any one of the above-described embodiments or any other embodiment of the application can be combined with any other embodiment of the application, and the application is not limited to the embodiments described above.

Claims

1. An automated driving vehicle failure diagnosis system characterized by, The system comprises a vehicle-mounted subsystem, an application subsystem and a dump subsystem; The vehicle-mounted subsystem comprises an automatic driving domain controller, a drive-by-wire system, a network transmission device, an audio and video monitoring controller, sensors and vehicle devices, and is used for monitoring vehicle fault information in real time and sending the fault information to the application subsystem; The application subsystem comprises a firewall, a server and a terminal device, and is used for temporarily storing fault information and being able to on-demand log files before and after the fault; The dump subsystem comprises an AP, a network switching device, an information security facility and a dump server, and is used for dumping log files monitored by the vehicle-mounted subsystem and performing long-term storage; In the operation process of an autonomous vehicle, the vehicle-mounted subsystem monitors faults in real time, and when a fault is monitored, the vehicle-mounted subsystem sends fault information to the application subsystem through a mobile network, simultaneously, the vehicle-mounted subsystem needs to wait for and receive response information sent by the application subsystem, if no response information is received within a preset time, the vehicle-mounted subsystem needs to repeatedly send fault information to the application subsystem until the vehicle-mounted subsystem receives the response information sent by the application subsystem; the vehicle-mounted subsystem sends file list information meeting the conditions to the application subsystem, the application subsystem sends response log file list information to the vehicle-mounted subsystem, and the vehicle-mounted subsystem sends the log files meeting the conditions in packets; the vehicle-mounted subsystem is automatically connected to the dump subsystem to perform data dumping, and the whole data dumping process is divided into authentication and file transmission; the AP is a WLAN access point device, and the network switching device is a routing device of a WLAN network; When the vehicle is located in a preparation field, in the process of automatically connecting the WLAN device in the network transmission device to the WLAN network of the dump subsystem, the WLAN device needs to be verified by the information security facility, after the verification is completed, the WLAN device can normally transmit files, the information security facility stores a MAC address white list, and the dump server is used for storing files transmitted by the vehicle and storing file information in the database of the device, so as to facilitate information query and file download; when a fault log on-demand command with time information is sent to the automatic driving domain controller through the terminal device, the automatic driving domain controller sends file list information meeting the conditions to the terminal device, and the file list information should carry file size and MD5 code, when the terminal device sends response log file list information to the automatic driving domain controller, the automatic driving domain controller sends log files meeting the conditions in packets, and the packet information should carry total packet number and sequence number of the packet, the terminal device receives the packets according to the sequence, once packet loss is found, the terminal device feeds back information carrying the lost packet sequence number to the automatic driving domain controller, the automatic driving domain controller retransmits the packets after receiving the information, and the on-demand of the log file data is completed in this way.

2. The automatic driving vehicle failure diagnosis system according to claim 1, characterized by, The automatic driving domain controller is responsible for collecting and transmitting various faults, including intelligent driving software faults, domain controller faults, drive-by-wire system faults, sensor faults and vehicle equipment faults, and the network transmission device includes a 5G device, a WLAN device, a combiner, an antenna and a communication function.

3. The automatic driving vehicle failure diagnosis system according to claim 1, characterized by, The firewall is used to provide security for cloud information, the server is used for data storage, the terminal device is a mobile phone or WEB, and an APP is installed for real-time fault monitoring and statistical report.

4. The automatic failure diagnosis system for a vehicle according to claim 1, wherein In the process of waiting for the application subsystem to respond, if the vehicle subsystem does not receive response information within 500ms, it repeatedly sends fault information to the application subsystem, and the automatic driving domain controller automatically records log files, and stores the log files greater than 90s before and after the fault occurs, and the longest retention period of the log files is greater than 30 days.

5. The automatic failure diagnosis system for a vehicle according to claim 1, wherein The dump subsystem adopts a MESH structure, and the WLAN network adopts an AP+AC mode, and the SSID is broadcasted externally.

6. The automatic failure diagnosis system for a vehicle according to claim 5, wherein When the autonomous driving vehicle enters the preparation field, the WLAN device in the vehicle subsystem receives the SSID broadcast, connects to the WLAN network through the broadcast information, actively sends authentication information, the information security facility saves the MAC address whitelist, and after verification, the information security facility replies to the FTP username and password.

7. The automatic failure diagnosis system for a vehicle according to claim 6, wherein The vehicle subsystem is an FTP client, the dump subsystem is an FTP server, after the FTP connection is successful, the automatic driving domain controller in the vehicle subsystem sends the file list information to the dump server in the dump subsystem, the dump server receives the information and performs database insertion operation, and sends response information to the automatic driving domain controller, and then starts file uploading, after uploading a single file, sends file upload completion information, the dump server sends response file upload completion information to the automatic driving domain controller, and the FTP should have a breakpoint resume function to prevent file uploading failure caused by unexpected situations.

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