Fault Monitoring System and Method Based on Autonomous Driving Domain Controller

Abstract

The present application provides a fault monitoring system and method based on an autonomous driving domain controller, which is applied to the field of autonomous driving technology. The system includes: a microcontroller, configured to receive and process fault diagnosis information in autonomous driving, generate fault indication information based on the fault diagnosis information, and send the fault indication information and / or the fault diagnosis information to a storage module and a communication module; an auxiliary control chip, configured to assist the microcontroller in executing the environment perception function, data processing function, and driving decision function in autonomous driving; a storage module, configured to receive the fault diagnosis information and the fault indication information sent by the microcontroller for storage; and a communication module, configured to support data communication between the various modules of the domain controller, and data communication between the domain controller and other external devices, other controllers, and / or sensors on the autonomous driving vehicle. The method provided by the present application can improve the robustness of the autonomous driving domain controller and make autonomous driving safer and more reliable.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular, to a fault monitoring system and method based on an autonomous driving domain controller. Background Art

[0002] With the development of the autonomous driving industry, the demand for advanced driver assistance has also increased. The configuration of using a single ECU (Electronic Control Unit) in autonomous vehicles can no longer cover various driver assistance requirements. Therefore, in the prior art, autonomous vehicles often integrate multiple ECUs and connect the multiple ECUs together through buses such as CAN (Controller Area Network) and LIN (Local Interconnect Network). In this way, the complexity of the entire autonomous driving control system is also increased invisibly. Thus, at the present stage, the design concept of a domain controller is promoted in the field of autonomous driving, and multiple ECUs are integrated on a single hardware motherboard.

[0003] However, in the intelligent driving scenario, the diverse functions of the autonomous driving system cause the system chip to continuously operate at a high level under complex working conditions, greatly increasing the operation false alarm rate and failure rate of the system chip, easily leading to a reduction in the robustness of the autonomous driving control system, and further affecting the safety and stability of autonomous driving. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a fault monitoring system and method based on an autonomous driving domain controller, which can improve the robustness of the autonomous driving system, and further improve the safety and reliability of autonomous driving. The technical solutions are as follows:

[0005] On the one hand, the embodiments of this application provide a fault monitoring system based on an autonomous driving domain controller. The system includes:

[0006] A microcontroller, which is included in the autonomous driving domain controller. The microcontroller is used to receive and process fault diagnosis information in autonomous driving, generate fault indication information based on the fault diagnosis information, and send the fault indication information and / or the fault diagnosis information to a storage module and a communication module. The fault diagnosis information includes the fault diagnosis information of the microcontroller and the fault diagnosis information of an auxiliary control chip connected to the microcontroller. The fault indication information is indication information for controlling the autonomous driving vehicle;

[0007] An auxiliary control chip, which is used to assist the microcontroller in executing the environment perception function, data processing function, and driving decision function in autonomous driving;

[0008] A storage module, configured to receive the fault diagnosis information and the fault indication information sent by the microcontroller for storage;

[0009] A communication module, configured to support data communication between the modules of the domain controller, and support data communication between the domain controller and other external devices, other controllers, and / or sensors on the autonomous vehicle.

[0010] Furthermore, the microcontroller includes:

[0011] A fault information collection unit, configured to collect fault diagnosis information reported by other units of the microcontroller during operation;

[0012] A fault information identification unit, configured to receive the fault diagnosis information sent by the fault information collection unit, identify the fault diagnosis information, and generate fault identification information;

[0013] An auxiliary monitoring unit, configured to monitor whether the fault information collection unit is in a normal working state, and generate collection unit status information of the fault information collection unit;

[0014] A fault information management unit, configured to receive the fault identification information sent by the fault information identification unit, the collection unit status information sent by the auxiliary monitoring unit, and the fault diagnosis information reported by the auxiliary control chip, and generate fault indication information; the fault information management unit may send at least one of the fault identification information, the fault diagnosis information, the collection unit status information, and the fault indication information to the storage module and the communication module.

[0015] Furthermore, the system further includes:

[0016] A system basic chip, configured to diagnose whether the power supply unit of the microcontroller is operating normally, to judge the operating state of the microcontroller, and generate corresponding fault diagnosis information.

[0017] Even further, the microcontroller further includes:

[0018] A power supply unit, whose output voltage supplies power to other units of the microcontroller;

[0019] A power supply monitoring unit, configured to monitor whether the power supply unit is in a normal working state, and send the working state information of the power supply unit to the system basic chip.

[0020] It is powered by two independent power supplies. Whether the voltage is working properly, it outputs an enable signal according to the safety MCU output control signal and a preset timing to enable the multi-channel power chip to output and monitor the required power rails of the autonomous driving chip;

[0021] Further, the communication module includes:

[0022] A first communication unit, configured to support data communication between the modules of the domain controller and support data communication between the units of the microcontroller.

[0023] A second communication unit, configured to receive the fault indication information sent by the microcontroller for data transmission between the microcontroller and external devices of the autonomous vehicle and for data transmission between the microcontroller and other external controllers of the autonomous vehicle.

[0024] Further, the system further includes:

[0025] A time synchronization module, configured to synchronize the time of the units of the microcontroller, other modules of the domain controller, and other peripheral devices of the autonomous vehicle.

[0026] On the other hand, an embodiment of the present application provides a fault monitoring method based on an autonomous driving domain controller, and the method includes:

[0027] S1. The microcontroller in the domain controller generates first fault diagnosis information, and the first fault diagnosis information is used to reflect the faults of the microcontroller itself;

[0028] S2. The microcontroller receives second fault diagnosis information reported by the auxiliary control chip to the microcontroller, and the second fault diagnosis information is used to reflect the faults on the auxiliary control chip;

[0029] S3. The microcontroller processes the first fault diagnosis information and the second fault diagnosis information to generate first fault indication information, and the first fault indication information is indication information for controlling the autonomous vehicle;

[0030] S4. The microcontroller sends the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information to the storage module in the domain controller, so that the storage module stores the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information;

[0031] S5. The microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers, and / or sensors on the autonomous vehicle to control the autonomous vehicle.

[0032] Further, in step S1, the first fault diagnosis information includes: fault identification information and collection unit status information. The fault identification information is used to reflect faults occurring during the operation of other units in the microcontroller except the fault information collection unit, and the collection unit status information is used to reflect the working status of the fault information collection unit. The microcontroller in the domain controller generates the first fault diagnosis information, including:

[0033] The fault information collection unit acquires the fault information of the other units;

[0034] The fault information collection unit sends the fault information of the other units to the fault information identification unit in the microcontroller;

[0035] The fault information identification unit receives the fault information of the other units and identifies the fault diagnosis information to generate fault identification information;

[0036] The auxiliary monitoring unit in the microcontroller monitors the fault information collection unit to generate the collection unit status information.

[0037] In the case where the first working state information indicates that the fault information collection unit is in an abnormal working state, the auxiliary monitoring unit sends an abnormal prompt information to the fault information management unit;

[0038] Further, the method further includes:

[0039] The power supply monitoring unit in the microcontroller monitors whether the power supply unit in the microcontroller is in a normal working state and sends the working state information of the power supply unit to the system base chip in the domain controller;

[0040] The system base chip in the domain controller generates corresponding third fault diagnosis information based on the working state information of the power supply unit, and the third fault diagnosis information is used to reflect the operating state of the microcontroller;

[0041] The microcontroller receives the third fault diagnosis information reported by the system base chip and processes the third fault diagnosis information to generate second fault indication information. The second fault indication information is indication information for controlling the autonomous driving vehicle, and the response priority of the autonomous driving vehicle to the second fault indication information is higher than that of the first fault indication information;

[0042] The microcontroller sends the second fault indication information and / or the third fault diagnosis information to the storage module in the domain controller so that the storage module stores the second fault indication information and / or the third fault diagnosis information;

[0043] The microcontroller sends the second fault indication information to the communication module in the domain controller, so that the communication module forwards the second fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous vehicle to control the autonomous vehicle.

[0044] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification at least include:

[0045] 1. The fault monitoring system based on the domain controller timely receives and processes the fault diagnosis information in autonomous driving through the microcontroller, generates fault indication information based on the fault diagnosis information, and sends the above information to the storage module and the communication module. The storage module stores the above information for other devices outside the fault monitoring system to view or call the fault-related information. At the same time, through the communication module, fault-related information can be transmitted between the modules of the domain controller, between the domain controller and other external devices, other controllers and / or sensors on the autonomous vehicle, and autonomous driving control is performed based on the fault-related information through data communication. In addition, the auxiliary control chip in the fault monitoring system is used to assist the microcontroller in performing the environment perception function, data processing function and driving decision function in autonomous driving, which can share the computing pressure of the microcontroller and enable the microcontroller to better monitor the safety faults of the autonomous driving system, so as to improve the robustness of the autonomous driving domain controller and make autonomous driving safer and more reliable.

[0046] 2. The microcontroller in the domain controller generates the first fault diagnosis information, completes the monitoring of its own faults by the microcontroller, and receives the second fault diagnosis information reported by the auxiliary control chip to complete the fault monitoring of the auxiliary control chip. Then, the first fault diagnosis information and the second fault diagnosis information are processed, and the first fault indication information is generated according to the fault conditions reflected by different fault information. The microcontroller sends the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information to the storage module in the domain controller, so that the storage module stores the above information for devices outside the monitoring system to view or call it later. At the same time, the microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous vehicle, so as to complete the control of the autonomous vehicle according to the current fault conditions of the autonomous driving system. Description of the Drawings

[0047] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0048] Figure 1 Shows a schematic diagram of a fault monitoring system based on a domain controller provided by an exemplary embodiment of the present application;

[0049] Figure 2 Shows a schematic diagram of a microcontroller provided by an exemplary embodiment of the present application;

[0050] Figure 3 Shows a schematic diagram of a fault monitoring system based on a domain controller provided by another exemplary embodiment of the present application;

[0051] Figure 4 Shows a schematic flowchart of a fault monitoring method based on a domain controller provided by an exemplary embodiment of the present application;

[0052] Figure 5 Shows a schematic flowchart of a fault monitoring method based on a domain controller provided by another exemplary embodiment of the present application. Detailed implementation manners

[0053] The following will describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0054] The following illustrates the implementation manners of the present application through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0055] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0056] Figure 1 is a schematic diagram of a fault monitoring system based on a domain controller provided by an exemplary embodiment of the present application. As shown in the figure, the system includes a microcontroller, an auxiliary control chip, a storage module, and a communication module. The connection lines between the modules are the connection lines of the communication module, and the communication module is not shown.

[0057] In some embodiments, the microcontroller is included in the autonomous driving domain controller. The microcontroller is used to receive and process fault diagnosis information in autonomous driving, generate fault indication information based on the fault diagnosis information, and send the fault indication information and / or the fault diagnosis information to the storage module and the communication module. Specifically, the fault diagnosis information includes the fault diagnosis information of the microcontroller and the fault diagnosis information of the auxiliary control chip connected to the microcontroller, and the fault indication information is the indication information for controlling the autonomous driving vehicle.

[0058] In a specific implementation manner, the microcontroller refers to a microcontroller chip (MCU, MicroController Unit, or micro control unit), and a chip with a higher safety function level can be used. The safety function level classification standard refers to ASIL (Automotive Safety Integration Level). ASIL considers and summarizes hazard events from several aspects such as functional fault analysis (software / hardware faults), scenario analysis (such as overtaking, parking), road conditions, vehicle states (such as steering, overtaking, braking), and environmental conditions, and evaluates the risk level of hazard events based on severity, exposure, and controllability. For example, in this embodiment, the microcontroller can use the E3640 of a high-performance multi-core MCU.

[0059] In some embodiments, the auxiliary control chip is an intelligent driving chip, which is used to assist the microcontroller in performing environmental perception functions, data processing functions, and driving decision-making functions in autonomous driving. Specifically, the perception function includes obtaining data from sensors of the autonomous driving vehicle, such as: obtaining data from cameras of the autonomous driving vehicle, radar data for vehicle sensing (millimeter-wave radar, lidar, ultrasonic radar, etc.), data from temperature sensors inside and outside the vehicle, data from vehicle tire pressure sensors, accelerometer data, and so on; the data processing function includes image data processing, identifying objects (obstacles, etc.) in the image data transmitted back by the sensors through deep learning algorithms, and driving strategy operation, calculating the current suitable driving strategy according to sensor data, etc. (for example: following the vehicle or changing lanes to overtake); the driving decision-making function is to make a decision based on the driving strategy to control the autonomous driving vehicle to drive, such as controlling the vehicle's route and steering angle, or changing the vehicle's driving speed and acceleration.

[0060] The storage module, in some embodiments, the storage module can be a register on a computer device connected to the microcontroller, which is used to receive the fault diagnosis information and fault indication information sent by the microcontroller for storage, so that external devices other than the microcontroller can view and call the fault diagnosis information and fault indication information in the storage module.

[0061] The communication module, in some embodiments, the communication module can include a CAN network, an Ethernet, and an SPI bus, which are used to support data communication between the various modules of the domain controller, and to support data communication between the domain controller and other external devices, other controllers, and / or sensors on the autonomous driving vehicle.

[0062] In some embodiments, the internal architecture of the microcontroller includes at least three layers: the hardware layer (Hardware) of internal chips, the basic software layer (BSW, Basic Software Layer), and the application layer (ASW, Application Software Layer). It is necessary to monitor faults in these three layers separately and perform further processing. Therefore, Figure 2 is a schematic diagram of a microcontroller provided by an exemplary embodiment of the present application. As shown in the figure, the microcontroller may include: a fault information collection unit, a fault information identification unit, an auxiliary monitoring unit, and a fault information management unit.

[0063] In some embodiments, the fault information collection unit is used to collect the fault diagnosis information reported by other units of the microcontroller during operation. Specifically, the fault diagnosis information reflects the hardware faults of the microcontroller.

[0064] The fault information recognition unit. In practical applications, the fault information recognition unit can be a Functional Safety Library (FuSaLib), which is located in the abstraction layer (MCAL, Microcontroller Abstraction Layer) above the hardware layer. It is used to receive the fault diagnosis information sent by the fault information collection unit, identify the fault diagnosis information, judge the fault (or error) mode, and generate fault recognition information.

[0065] The auxiliary monitoring unit is designed to monitor whether the fault information collection unit is in a normal working state and generate the working state information of the fault information collection unit. Specifically, it can be implemented by setting a watchdog function in the hardware layer. The corresponding watchdog driver is set in the microcontroller's abstraction layer, and it interacts with the watchdog manager set in the basic software layer through an interface, and finally reports the monitored fault information to the fault information management unit.

[0066] The fault information management unit is used to receive the fault recognition information sent by the fault information recognition unit, receive the working state information (collection unit status information) of the fault information collection unit sent by the auxiliary monitoring unit, and receive the fault diagnosis information reported by the auxiliary control chip, so as to generate fault indication information, where the fault indication information is used to control the autonomous driving vehicle (such as driving function degradation); and, the fault information management unit can send at least one of the fault recognition information, fault diagnosis information, collection unit status information, and fault indication information to the storage module and the communication module.

[0067] In a specific implementation manner, the fault information management unit is an error handling module (Error handler) with a certain safety function level in the microcontroller. For example, when the microcontroller chip E3640 is selected as the microcontroller, the Error handler module with a safety function level of ASIL-B can be used as the fault information management unit.

[0068] Figure 3 It is a schematic diagram of a fault monitoring system based on a domain controller provided by another exemplary embodiment of the present application. As shown in the figure, the system includes a microcontroller, an auxiliary control chip, a storage module, a communication module, and a system base chip. Among them, the microcontroller further includes a power supply unit and a power supply monitoring unit.

[0069] In some embodiments, a System Basis Chip (SBC) is used to diagnose whether the power supply unit of a microcontroller is operating normally, so as to judge the operating state of the microcontroller and generate corresponding fault diagnosis information. In a specific implementation, the system basis chip is an independent chip that includes features such as power supply, communication, monitoring and diagnosis, security monitoring, etc., as well as GPIO. In this embodiment, a system basis chip with the same or higher functional safety level as the microcontroller is adopted. For example, if the microcontroller is ASIL-B, then a system basis chip of ASIL-D is selected. In this way, the safety and stability of the system basis chip can be ensured. When the system basis chip is reliable, it can diagnose the working state of the microcontroller.

[0070] The power supply unit included in the microcontroller outputs a voltage to supply power to other units of the microcontroller. The power supply monitoring unit is used to monitor whether the power supply unit is in a normal working state and send the working state information of the power supply unit to the system basis chip. The system basis chip then diagnoses the working state of the microcontroller based on the working state information of the power supply unit.

[0071] In a possible embodiment, the fault detection system based on the domain controller further includes a time synchronization module. Specifically, the time synchronization module is used to synchronize the time of each unit of the microcontroller, other modules of the domain controller, and other peripheral devices of the autonomous vehicle.

[0072] In a possible embodiment, in the fault detection system based on the domain controller, the communication module may include a first communication unit and a second communication unit. Among them, the first communication unit is used to support data communication between each module of the domain controller and support data communication between each unit of the microcontroller; the second communication unit is used to receive the fault indication information sent by the microcontroller to perform data transmission between the microcontroller and external devices of the autonomous vehicle, and data transmission between the microcontroller and other external controllers of the autonomous vehicle.

[0073] In summary, in the embodiment of the present application, the fault monitoring system based on the domain controller timely receives and processes the fault diagnosis information in autonomous driving through the microcontroller, generates fault indication information based on the fault diagnosis information, and sends the above information to the storage module and the communication module. The storage module stores the above information for other devices outside the fault monitoring system to view or call the fault-related information. At the same time, through the communication module, fault-related information can be transmitted between the modules of the domain controller, between the domain controller and other external devices, other controllers, and / or sensors on the autonomous driving vehicle, and autonomous driving control is performed based on the fault-related information through data communication. In addition, the auxiliary control chip in the fault monitoring system is used to assist the microcontroller in performing the environmental perception function, data processing function, and driving decision-making function in autonomous driving, which can share the operation pressure of the microcontroller and enable the microcontroller to better monitor the safety faults of the autonomous driving system, so as to improve the robustness of the autonomous driving domain controller and make autonomous driving safer and more reliable.

[0074] It should be noted that: for the system provided in the above embodiment, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. In addition, the system provided in the above embodiment and the method embodiment belong to the same concept, and the implementation process is detailed in the method embodiment, which will not be repeated here.

[0075] The following introduces the fault monitoring method based on the domain controller of the present invention. Figure 4 It is a schematic flow chart of a fault monitoring method for a domain controller provided by an embodiment of the present invention. This specification provides the method operation steps as described in the embodiment or flow chart, but based on routine or non-creative labor, there may be more or fewer operation steps. The order of steps listed in the embodiment is only one way among the execution orders of numerous steps and does not represent the only execution order. When the actual device product is executed, it can be executed in the order of the method shown in the embodiment or the drawing or in parallel (for example, in an environment of parallel processors or multi-threaded processing). Specifically as Figure 2 shown, the above method may include:

[0076] S1. The microcontroller in the domain controller generates the first fault diagnosis information.

[0077] In a possible embodiment, the above first fault diagnosis information is used to reflect the fault of the microcontroller itself and can be generated in the following manner:

[0078] 1. The fault information collection unit obtains the fault information of other units;

[0079] 2. The fault information collection unit sends the fault information of other units to the fault information recognition unit in the microcontroller;

[0080] 3. The fault information recognition unit receives the fault information of other units, identifies the fault diagnosis information, and generates fault recognition information;

[0081] 4. The auxiliary monitoring unit in the microcontroller monitors the fault information collection unit and generates collection unit status information.

[0082] S2. The microcontroller receives the second fault diagnosis information reported by the auxiliary control chip to the microcontroller.

[0083] In some embodiments, the above-mentioned second fault diagnosis information is used to reflect the faults on the auxiliary control chip.

[0084] S3. The microcontroller processes the first fault diagnosis information and the second fault diagnosis information to generate first fault indication information.

[0085] In some embodiments, the first fault indication information is indication information for controlling the autonomous driving vehicle;

[0086] S4. The microcontroller sends the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information to the storage module in the domain controller, so that the storage module stores the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information.

[0087] S5. The microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous driving vehicle to control the autonomous driving vehicle.

[0088] In some embodiments, other external devices on the autonomous driving vehicle may include: the cockpit of the autonomous driving vehicle, other controllers may include: vehicle execution units such as a drive execution unit, a brake execution unit, and a steering execution unit, and sensors such as a TAS (Thermal Anemometry System) sensor, etc.

[0089] In the above embodiments, the microcontroller in the domain controller generates first fault diagnosis information, completes the monitoring of its own faults, and receives the second fault diagnosis information reported by the auxiliary control chip to complete the fault monitoring of the auxiliary control chip. Then, it processes the first fault diagnosis information and the second fault diagnosis information, generates first fault indication information according to the fault conditions reflected by different fault information. The microcontroller sends the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information to the storage module in the domain controller, so that the storage module stores the above information for subsequent viewing or calling by devices outside the monitoring system. At the same time, the microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous vehicle, so as to complete the control of the autonomous vehicle according to the current fault conditions of the autonomous driving system.

[0090] Figure 5 FIG. 4 is a schematic flowchart of another fault monitoring method for a domain controller provided by an embodiment of the present invention. In this embodiment, it is described by taking this method as being used in a computer device as an example. The method includes the following steps.

[0091] S501. A power supply monitoring unit in the microcontroller monitors whether the power supply unit in the microcontroller is in a normal working state, and sends the working state information of the power supply unit to a system base chip in the domain controller.

[0092] In some embodiments, the power supply detection unit can monitor the power supply unit in the microcontroller through the watchdog function. In addition, in practical applications, the power supply unit can select a power supply chip adapted to the microcontroller. For example, when the microcontroller selects an E3640 microcontroller chip, the power supply unit selects an FS8530 power supply chip.

[0093] S501. The system base chip in the domain controller generates corresponding third fault diagnosis information based on the working state information of the power supply unit.

[0094] In some embodiments, the third fault diagnosis information is used to reflect the operating state of the microcontroller. Since the operating state of the microcontroller is judged by the power supply unit, when the third fault diagnosis information indicates that the microcontroller is operating abnormally, it proves that the microcontroller is very likely to be in an overall non-working state at this time (because the chip is powered off or there are other faults).

[0095] S502. The microcontroller receives the third fault diagnosis information reported by the system base chip, and processes the third fault diagnosis information to generate second fault indication information.

[0096] In some embodiments, the above-mentioned second fault indication information is indication information for controlling an autonomous vehicle. Since the second fault indication information corresponds to the third fault diagnosis information, and the abnormality of the third fault diagnosis information is an important abnormality that occurs in autonomous driving and needs to be processed in a timely manner, the second fault indication information should be set with a relatively high response priority. The response priority of the autonomous vehicle to the second fault indication information is higher than that of the first fault indication information.

[0097] In a specific implementation manner, the microcontroller can be connected to the system base chip through the SPI bus.

[0098] S503. The microcontroller sends the second fault indication information and / or the third fault diagnosis information to the storage module in the domain controller, so that the storage module stores the second fault indication information and / or the third fault diagnosis information.

[0099] S504. The microcontroller sends the second fault indication information to the communication module in the domain controller, so that the communication module forwards the second fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous vehicle to control the autonomous vehicle.

[0100] In some embodiments, other external devices on the autonomous vehicle may include: the cockpit of the autonomous vehicle. Other controllers may include: vehicle execution units such as a drive execution unit, a brake execution unit, and a steering execution unit. Sensors such as a TAS (Thermal Anemometry System) sensor, etc.

[0101] In the above embodiments, by setting a system base chip with a higher functional safety level to monitor the working state of the microcontroller, and combining the power supply unit and the power supply monitoring unit to detect the fault information of the microcontroller in a timely manner. Since the fault information reflects the power-on situation of the microcontroller, the corresponding fault information belongs to relatively important fault information that needs to be processed preferentially. The communication module forwards the second fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous vehicle to control the autonomous vehicle and respond to the fault of the microcontroller in a timely manner.

[0102] The embodiment of the present application further provides a computer-readable storage medium, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the fault monitoring method based on a domain controller described in the above embodiments.

[0103] Optionally, the computer-readable storage medium may include: ROM, RAM, solid state drives (SSDs), optical discs, etc. Among them, RAM may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM).

[0104] An embodiment of the present application provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the fault monitoring method based on a domain controller described in the foregoing embodiment.

[0105] Those of ordinary skill in the art can understand that all or part of the steps of implementing the foregoing embodiment can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk, an optical disc, etc.

[0106] In this specification, for the same or similar parts among the various embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and for the relevant parts, reference can be made to the partial descriptions of the foregoing embodiments.

[0107] As mentioned above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A fault monitoring system based on an autonomous driving domain controller, characterized in that: include: a microcontroller, the microcontroller being included in the autonomous driving domain controller, the microcontroller being used to receive and process fault diagnosis information in the autonomous driving, generating fault indication information based on the fault diagnosis information, and sending the fault indication information and / or the fault diagnosis information to a storage module and a communication module, the fault diagnosis information including fault diagnosis information of the microcontroller and fault diagnosis information of an auxiliary control chip connected to the microcontroller, the fault indication information being indication information for controlling the autonomous driving vehicle; The microcontroller includes: a fault information collection unit, which is used to collect fault diagnosis information reported by other units of the microcontroller during operation; a fault information identification unit, which is used to receive the fault diagnosis information sent by the fault information collection unit, identify the fault diagnosis information, and generate fault identification information; an auxiliary monitoring unit, which is used to monitor whether the fault information collection unit is in a normal working state, and generate collection unit status information of the fault information collection unit; a fault information processing unit, which is used to receive the fault identification information sent by the fault information identification unit, the collection unit status information sent by the auxiliary monitoring unit, and the fault diagnosis information reported by the auxiliary control chip, and generate fault indication information; the fault information processing unit can send at least one of the fault identification information, the fault diagnosis information, the collection unit status information, and the fault indication information to the storage module and the communication module; An auxiliary control chip, used to assist the microcontroller in performing environmental perception, data processing and driving decision-making functions in autonomous driving, and report diagnostic information of faults on the auxiliary control chip to the microcontroller; A storage module, used for receiving the fault diagnosis information and the fault indication information sent by the microcontroller for storage; A communication module is used to support data communication between modules of the domain controller, and to support data communication between the domain controller and other external devices, other controllers and / or sensors on the autonomous driving vehicle.

2. The fault monitoring system based on the autonomous driving domain controller according to claim 1, characterized in that: The system further comprises: The system basic chip is used to diagnose whether the power supply unit of the microcontroller is operating normally, so as to determine the operating status of the microcontroller and generate corresponding fault diagnosis information.

3. The system according to claim 2, characterized in that The microcontroller also includes: A power supply unit, whose output voltage is used to supply power to other units of the microcontroller; The power supply monitoring unit is used to monitor whether the power supply unit is in a normal working state and send the working state information of the power supply unit to the system basis chip.

4. The fault monitoring system based on the autonomous driving domain controller according to claim 1, characterized in that: The communication module comprises: A first communication unit, used to support data communication between the modules of the domain controller and between the units of the microcontroller; The second communication unit is used to receive fault indication information sent by the microcontroller to perform data transmission between the microcontroller and external equipment of the autonomous driving vehicle, and between the microcontroller and other controllers outside the autonomous driving vehicle.

5. The fault monitoring system based on the autonomous driving domain controller according to claim 1, characterized in that: The system further comprises: The time synchronization module is used to synchronize the time of each unit of the microcontroller, other modules of the domain controller, and other peripheral devices of the autonomous driving vehicle.

6. A fault monitoring method based on an autonomous driving domain controller, characterized in that: The method comprises: S1. The microcontroller in the domain controller generates first fault diagnosis information, wherein the first fault diagnosis information is used to reflect the fault of the microcontroller itself; the first fault diagnosis information includes: fault identification information and collection unit status information, wherein the fault identification information is used to reflect the fault of other units in the microcontroller except the fault information collection unit during operation, and the collection unit status information is used to reflect the working status of the fault information collection unit. The microcontroller in the domain controller generates the first fault diagnosis information, including: the fault information collection unit obtains the fault information of other units; the fault information collection unit sends the fault information of other units to the fault information identification unit in the microcontroller; the fault information identification unit receives the fault information of other units, identifies the fault diagnosis information, and generates fault identification information; the auxiliary monitoring unit in the microcontroller monitors the fault information collection unit and generates the collection unit status information; S2, the microcontroller receives second fault diagnosis information reported by the auxiliary control chip to the microcontroller, wherein the second fault diagnosis information is used to reflect the fault on the auxiliary control chip; S3, the microcontroller processes the first fault diagnosis information and the second fault diagnosis information to generate first fault indication information, where the first fault indication information is indication information for controlling the automatic driving vehicle; S4, the microcontroller sends the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information to a storage module in the domain controller, so that the storage module stores the first fault indication information and / or the first fault diagnosis information and / or the second fault diagnosis information; S5. The microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous driving vehicle to control the autonomous driving vehicle.

7. The method according to claim 6, characterized in that The method further comprises: The power supply monitoring unit in the microcontroller monitors whether the power supply unit in the microcontroller is in a normal working state, and sends the working state information of the power supply unit to the system basis chip in the domain controller; The system basis chip in the domain controller generates corresponding third fault diagnosis information based on the working status information of the power supply unit, wherein the third fault diagnosis information is used to reflect the operating status of the microcontroller; The microcontroller receives the third fault diagnosis information reported by the system basis chip, processes the third fault diagnosis information, and generates second fault indication information, wherein the second fault indication information is indication information for controlling the autonomous driving vehicle, and the autonomous driving vehicle has a higher response priority to the second fault indication information than the first fault indication information; The microcontroller sends the second fault indication information and / or the third fault diagnosis information to a storage module in the domain controller, so that the storage module stores the second fault indication information and / or the third fault diagnosis information; The microcontroller sends the second fault indication information to the communication module in the domain controller, so that the communication module forwards the second fault indication information to the auxiliary control chip in the domain controller and / or other external devices, other controllers and / or sensors on the autonomous driving vehicle to control the autonomous driving vehicle.

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