Whole vehicle safety monitoring system, method, medium, and vehicle

Abstract

The present disclosure provides a whole vehicle safety monitoring system, method, medium and vehicle, and relates to the technical field of whole vehicle safety, and comprises the following steps: an input module is configured to acquire input information corresponding to a monitored object and output the input information to a processing module; the processing module is configured to process the input information, obtain a processing result, and output the processing result to an output module; the output module is configured to output control information according to the processing result and control the work of a controlled object through the control information; and a monitoring module is configured to monitor at least two of the input module, the processing module and the output module according to the information output by the at least two, obtain a monitoring result, and monitor the at least two, so that the range of safety monitoring is expanded and higher safety requirements can be met.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle safety technology, specifically to a vehicle safety monitoring system, method, medium, and vehicle. Background Technology

[0002] With the development of automobiles, vehicle control systems have become increasingly complex, expanding from traditional single control systems to multiple control systems. The vehicle control system is the core control unit of a vehicle, and its reliability and safety are directly related to the lives of drivers and passengers. As automobiles develop, higher requirements are also being placed on the overall safety level of vehicles. Summary of the Invention

[0003] The purpose of this disclosure is to provide a vehicle safety monitoring system, method, medium, and vehicle to meet higher safety requirements.

[0004] According to a first aspect of the present disclosure, a vehicle safety monitoring system is provided, the vehicle safety monitoring system including an input module, a processing module, an output module, and a monitoring module; the input module is used to acquire input information corresponding to a monitored object and output the input information to the processing module; the processing module is used to process the input information to obtain a processing result and output the processing result to the output module; the output module is used to output control information based on the processing result, and control the operation of the controlled object through the control information; the monitoring module is used to monitor based on the information output by at least two of the input module, the processing module, and the output module, and obtain a monitoring result.

[0005] Optionally, the processing module is used to determine whether the input information meets the preset index. If the input information meets the preset index, the input information is processed to obtain a processing result, and the processing result is output to the output module. The processing module is also used to obtain the processing result corresponding to the preset index and output it to the output module if the input information does not meet the preset index.

[0006] Optionally, the preset indicator is a preset range; the processing module is used to determine whether the input information is within the preset range. If the input information is within the preset range, the input information is processed to obtain a processing result, and the processing result is output to the output module. The processing module is also used to, if the input information is not within the preset range, obtain the processing result corresponding to the lower limit of the preset range when the input information is less than the lower limit of the preset range and output it to the output module; and obtain the processing result corresponding to the upper limit of the preset range when the input information is greater than the upper limit of the preset range and output it to the output module.

[0007] Optionally, the monitoring module includes an input monitoring module, a processing monitoring module, and an output monitoring module; the input monitoring module is used to monitor the input information output by the input module to obtain a first monitoring result; the processing monitoring module is used to monitor the processing result output by the processing module to obtain a second monitoring result; and the output monitoring module is used to monitor the control information output by the output module to obtain a third monitoring result.

[0008] Optionally, the processing module is further configured to receive the monitoring results, and when the monitoring results indicate an anomaly, to perform security control based on the monitoring results.

[0009] Optionally, the input module is used to acquire data of the monitored object collected by the input device connected to the input module, and to obtain input information corresponding to the monitored object by analog-to-digital conversion of the monitored object data, wherein the monitored object data is an analog quantity and the input information is a digital quantity.

[0010] Optionally, the vehicle safety monitoring system further includes a software monitoring module; the software monitoring module is used to monitor at least one of the input module, the processing module, the output module, and the monitoring module.

[0011] According to a second aspect of the present disclosure, a vehicle safety monitoring method is provided, applied to a vehicle safety monitoring system. The vehicle safety monitoring system includes an input module, a processing module, an output module, and a monitoring module. The vehicle safety monitoring method includes: the input module acquiring input information corresponding to a monitored object and outputting the input information to the processing module; the processing module processing the input information to obtain a processing result and outputting the processing result to the output module; the output module outputting control information based on the processing result, and controlling the controlled object to operate through the control information; and the monitoring module monitoring based on information output by at least two of the input module, the processing module, and the output module to obtain a monitoring result.

[0012] According to a third aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the vehicle safety monitoring method described in the second aspect.

[0013] According to a fourth aspect of the present disclosure, a vehicle is provided, the vehicle including the vehicle safety monitoring system described in the first aspect.

[0014] This disclosure provides a vehicle safety monitoring system, method, medium, and vehicle. An input module acquires input information corresponding to the monitored object and outputs the input information to a processing module. A processing module processes the input information, obtains processing results, and outputs the processing results to an output module. An output module outputs control information based on the processing results, controlling the operation of the controlled object. A monitoring module monitors the system based on information output from at least two of the input, processing, and output modules, obtaining monitoring results. Monitoring at least two of the input, processing, and output modules expands the scope of safety monitoring and meets higher safety requirements.

[0015] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0017] Figure 1 A logic block diagram of a vehicle safety monitoring system is provided.

[0018] Figure 2 This is a logic block diagram of a vehicle safety monitoring system provided in one embodiment of this disclosure;

[0019] Figure 3 This is a logic block diagram of a vehicle safety monitoring system provided in one embodiment of this disclosure;

[0020] Figure 4 This is a schematic flowchart of a vehicle safety monitoring method provided in one embodiment of the present disclosure. Detailed Implementation

[0021] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0022] As mentioned in the background section, the development of automobiles has led to higher requirements for the safety level of the entire vehicle. With the promotion of functional safety standards for road vehicles, both vehicle manufacturers and electronic components have begun to require functional safety integrity levels. Some ECUs (Electronic Control Units) have even gradually become a prerequisite for mainstream OEMs (Original Equipment Manufacturers). Within the automotive industry, component and OEM manufacturers increasingly adopt the standardized E-GAS (Standardized E-Gas Monitoring Concept for Gasoline and Diesel Engine Control Units) three-layer monitoring architecture. E-GAS can serve as a guide for the future development of engine control systems. Figure 1 A logical block diagram of a vehicle safety monitoring system is provided. This vehicle safety monitoring system adopts a three-layer E-GAS monitoring architecture, such as... Figure 1 As shown, the three-layer monitoring architecture consists of three layers: Level 1, Level 2, and Level 3.

[0023] The Level 1 layer is the function implementation layer. Level 1 is used to implement specific functions. For example, in a motor controller, Level 1 converts the requested torque into the motor's torque output. Level 1 includes the ECU (Electronic Control Unit) module, which receives input signals, processes them, generates control information, and sends it to the function output section's safety communication bus. This control information is then sent to the controlled object via the function output section's safety communication bus.

[0024] Level 2 is the function monitoring level. It includes a function monitoring module that receives input signals and output control information from the ECU's function modules and performs safety monitoring based on this information. The function monitoring module contains a program flow monitoring module, which can exchange data with Level 3.

[0025] Level 3 is the controller monitoring level, which includes a memory testing module and a monitoring module. The memory testing module receives data from the program flow monitoring module, performs monitoring based on this data, and then feeds the monitoring results back to the program flow monitoring module. The monitoring module receives data sent by the program flow monitoring module via a link, performs monitoring based on this data, and feeds the monitoring results back to the program flow monitoring module. The monitoring module also sequentially sends the received data to the question-and-answer specification test data module, the functional specification instruction test module, and the response module.

[0026] Figure 1 The monitoring method only monitors the input and output data of the ECU functional modules in Level 1 through Level 2 and Level 3 layers. This monitoring coverage is relatively small and can only meet lower safety levels in ASIL (Automotive Safety Integrity Level), such as Level A.

[0027] To address the aforementioned issues, this disclosure provides a vehicle safety monitoring system. Please refer to [link / reference]. Figure 2 The vehicle safety monitoring system 100 includes an input module 111, a processing module 112, and an output module 113. The input module 111, processing module 112, and output module 113 are located in the Level 1 layer, where the control of the controlled object is implemented.

[0028] The input module 111 is used to acquire input information corresponding to the monitored object and output the input information to the processing module 112.

[0029] Input module 111 is used to connect to input device 200. For example, input device 200 may be a touchscreen in a vehicle. The user performs touch operations on the touchscreen and obtains input information based on the touch operations. For example, the input information may be used to control the temperature. The input device transmits the input information to the input module.

[0030] For example, input device 200 could be a camera on the vehicle. The camera takes pictures after the vehicle is powered on and transmits the captured images to the input module.

[0031] Input device 200 can also be a sensor. For example, input device 200 can be a light sensor, mounted on at least one wheel. The light sensor collects the vehicle speed as a square wave signal during vehicle movement. The light sensor transmits the collected vehicle speed to the input module. As another example, input device 200 can be an accelerator pedal sensor, mounted on the vehicle's pedal. The accelerator pedal sensor can collect the pedal depth as a level signal. The accelerator pedal sensor transmits the collected pedal depth to the input module. As yet another example, input device 200 can be a temperature sensor, mounted on the engine, used to collect the engine temperature and transmit the temperature to the input module.

[0032] Optionally, when the vehicle safety monitoring system monitors the safety of the entire vehicle, the input device 200 involved may be more than one type, or may be a combination of the above-mentioned types. For example, when monitoring driving safety, the input device 200 may include a light sensor and an accelerator pedal sensor, whereby the light sensor is used to collect vehicle speed and the accelerator pedal sensor is used to collect pedal depth.

[0033] In one implementation, the input information can be directly processed by the processing module 112. For example, the input information may be a digital quantity, or although the input information may be an analog quantity, the processing module 112 may have an integrated analog-to-digital conversion module. After acquiring the input information, the input module 111 may directly transmit it to the processing module 112. For example, the input module 111 may be a communication interface, such as, but not limited to, a serial port, a UART (Universal Asynchronous Receiver / Transmitter) port, or a USB (Universal Serial Bus) port.

[0034] In another implementation, the data of the monitored object collected by the input device cannot be directly processed by the processing module 112. For example, the input device is a sensor. The input device is used to collect data of the monitored object, which is an analog signal. The input module is used to acquire the data of the monitored object collected by the connected input device, and converts the data of the monitored object into digital information corresponding to the monitored object through analog-to-digital conversion. The input information is a digital signal. It can be understood that the input module converts analog signals into digital signals. The input module can be an analog-to-digital converter.

[0035] The processing module 112 is used to process the input information, obtain the processing result, and output the processing result to the output module 113.

[0036] The processing module 112 is used to obtain the processing result based on the input information. For example, when the input information is the depth information of the accelerator pedal, the processing result is the torque of the motor.

[0037] In one implementation, the system has two modes: a safety protection mode and a normal mode. In safety protection mode, processing is performed according to preset indicators. In normal mode, processing is performed according to input information. The processing module determines whether the input information meets the preset indicators, which are safety indicators. If the input information meets the preset indicators, it means the vehicle is within a safe range when executing according to the input information, and the system is in normal mode. The system then processes the input information, obtains the processing result, and outputs the result to the output module. The processing module is also configured to, if the input information does not meet the preset indicators, it means the vehicle will not be within a safe range when executing according to the input information. In this case, the system activates safety protection mode, obtains the processing result corresponding to the preset indicators, and outputs it to the output module.

[0038] For example, the preset indicator is a preset range. The processing module is used to determine whether the input information is within the preset range. If the input information is within the preset range, the input information is processed to obtain a processing result, and the processing result is output to the output module. The processing module is also used to, if the input information is not within the preset range, obtain the processing result corresponding to the lower limit of the preset range when the input information is less than the lower limit of the preset range and output it to the output module; and obtain the processing result corresponding to the upper limit of the preset range when the input information is greater than the upper limit of the preset range and output it to the output module.

[0039] For example, in a scenario monitoring driving safety, the processing module 112 obtains the GPS location and determines that the vehicle is on a preset road segment, such as a highway. During driving, the accelerator pedal sensor detects the pedal depth. The preset index corresponding to the pedal depth on the preset road segment is a depth range. For example, on a highway, the pedal depth range is H1 to H2, where H1 is less than H2. For instance, on a highway, when the pedal depth is H1, accelerating at depth H1 results in a vehicle speed of 60 km / h. When the pedal depth is H2, accelerating at depth H2 results in a vehicle speed of 120 km / h. During driving, the accelerator pedal sensor detects the driver's pedal depth as H and determines whether depth H is within the depth range H1 to H2. If depth H is within the range H1 to H2, accelerating at depth H can control the vehicle speed within a safe range. If the depth H is not within the depth range H1 to H2, and the depth H is less than the lower limit H1 of the depth range, accelerating at depth H would result in an excessively slow speed, potentially leading to a safety accident on the designated road section. Therefore, accelerating at the lower limit H1 would control the speed within a safe range. Similarly, if the depth H is greater than the upper limit H2 of the depth range, accelerating at depth H would result in an excessively fast speed, also potentially leading to a safety accident on the designated road section. Therefore, accelerating at the upper limit H2 would control the speed within a safe range.

[0040] Optionally, the processing module 112 may be, but is not limited to, a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a SOC (System on Chip), a controller, a microcontroller, a microprocessor, or a single-chip microcomputer.

[0041] The output module 113 is used to output control information based on the processing result, and to control the operation of the controlled object 300 through the control information.

[0042] The processing result output by processing module 112 needs to be processed by output module 113 to become information capable of controlling the controlled object, and then output by output module 113 to output control information. For example, output module 113 can be a drive circuit. The drive circuit amplifies the processing result and outputs control information. It can be understood that the control information is the amplified processing result, which is sufficient to drive the controlled object.

[0043] Output module 113 can be a drive circuit. When the controlled object is a relay, output module 113 is a relay drive circuit, and the control information output by the relay drive circuit drives the relay to turn off or close. When the controlled object is a motor, output module 113 is a motor drive circuit, and the control information output by the motor drive circuit drives the motor to work, controlling the motor torque to control the vehicle speed.

[0044] The vehicle safety monitoring system 100 also includes a monitoring module 120, which is located in Level 2.

[0045] The monitoring module 120 can monitor at least two of the input module 111, the processing module 112, and the output module 113. For example, the monitoring can be performed in the following manner: the monitoring module is used to monitor based on the information output by at least two of the input module 111, the processing module 112, and the output module 113 to obtain monitoring results.

[0046] The monitoring module is used to monitor information output by at least two of the input module 111, processing module 112, and output module 113. The monitored information includes at least two of the following: input information, processing results, and control information. Specifically, the monitored information may be input information and processing results, or input information and control information, or input information, processing results, and control information. The monitoring module obtains monitoring results by monitoring the monitored information.

[0047] In one implementation, the monitoring module can monitor information by determining whether the monitored information meets a preset standard. For example, if the input information is temperature information collected by a temperature sensor with a range of 200°C, and the monitoring module obtains a temperature information greater than 200°C, the monitoring result indicates a fault in the temperature sensor or the input module.

[0048] In another implementation, the monitoring module can employ redundant monitoring, meaning that at least one of the input module 111, processing module 112, or output module 113 is redundantly configured at Level 2. For example, the monitoring module includes a redundantly configured processing module. The monitoring module acquires input information from the input module 111, processes the input information, and obtains redundant processing results. If the redundant processing results match the processing results fed back by the processing module 112, the monitoring result indicates that the processing module 112 is functioning correctly. Conversely, if the redundant processing results do not match the processing results fed back by the processing module 112, the monitoring result indicates that the processing module 112 is malfunctioning.

[0049] In the vehicle safety monitoring system provided in this embodiment, the input module is used to acquire input information corresponding to the monitored object and output the input information to the processing module; the processing module is used to process the input information, obtain the processing result, and output the processing result to the output module; the output module is used to output control information based on the processing result, and control the operation of the controlled object through the control information; the monitoring module is used to monitor based on the information output by at least two of the input module, processing module, and output module, obtain monitoring results, and monitor at least two of the input module, processing module, and output module, compared to Figure 1 This approach expands the scope of security monitoring and can meet higher security requirements, such as meeting ASIL Level D requirements.

[0050] In one implementation, to improve monitoring efficiency and simplify monitoring, the input module 111, processing module 112, and output module 113 can be monitored separately. Please refer to [link / reference]. Figure 2 The monitoring module includes an input monitoring module 121, a processing monitoring module 122, and an output monitoring module 123. The input monitoring module 121 monitors the input information output by the input module 111 to obtain a first monitoring result. The processing monitoring module 122 monitors the processing result output by the processing module 112 to obtain a second monitoring result. The output monitoring module 123 monitors the control information output by the output module 113 to obtain a third monitoring result.

[0051] Optionally, the processing module 112 is further configured to receive the monitoring results, and when the monitoring results indicate an anomaly, to perform safety control based on the monitoring results. Safety control includes displaying safety prompts on a touchscreen in the vehicle. For example, the monitoring results may include a second monitoring result; when the second monitoring result indicates an anomaly, a prompt indicating an anomaly in the processing module is displayed on the touchscreen based on the second monitoring result.

[0052] Optionally, in Figure 2In addition to the above, the vehicle safety monitoring system also includes a Level 3 layer. Please refer to [link / reference]. Figure 3 The vehicle safety monitoring system 100 further includes a software monitoring module 131, which is located at Level 3. The software monitoring module 131 monitors at least one of the input module, processing module, output module, and monitoring module. For example, it can monitor any one, any two, any three, or even all of the modules. For instance, the software monitoring module 131 monitors whether the hardware in the input module, processing module, output module, and monitoring module is functioning correctly, or whether the programs of the input module, processing module, output module, and monitoring module are running normally. It can also monitor the software operating environment and hardware execution status of the modules. The software monitoring module 131 can also monitor the input and output information of the modules.

[0053] Optionally, the controlled object 300 can also provide feedback information to the output module 113, the output monitoring module 123, and the software monitoring module 131.

[0054] Optionally, the input module, the processing module, the output module, the monitoring module, and the software monitoring module can all be integrated into the processor.

[0055] In one implementation, Figure 3 When the Level 2 and Level 3 modules of the vehicle safety monitoring system 100 are monitoring, the monitoring function can be activated when the monitoring system is powered on, and monitoring can be carried out through the monitoring module.

[0056] In another implementation, in order to save energy, monitoring can be performed periodically, for example, with a monitoring cycle of 30 minutes, and monitoring can be performed once every 30 minutes.

[0057] In another implementation, when the vehicle is an electric vehicle, the remaining battery power is acquired. If the remaining battery power is greater than a first preset battery power, it indicates that the vehicle has sufficient battery power, and the modules in Level 2 and Level 3 monitor the entire vehicle in real time. As the vehicle's battery power is depleted, the remaining battery power is continuously acquired. If the remaining battery power is less than a first preset battery power but greater than a second preset battery power, the entire vehicle is periodically monitored. If the remaining battery power is less than the second preset battery power, specific modules of the vehicle are periodically monitored. For example, the input monitoring module monitors the power loss of the input module, the processing monitoring module monitors the power loss of the processing module, and the output monitoring module monitors the power loss of the output module. The monitoring module with the lowest power loss is selected for periodic monitoring. The other two monitoring modules in Level 2 stop monitoring when the battery power is less than the second preset battery power to reduce the vehicle's battery power loss.

[0058] This disclosure also provides a vehicle safety monitoring method, which is applied to... Figure 3 The vehicle safety monitoring system 100 shown includes an input module, a processing module, an output module, and a monitoring module. Please refer to [link / reference]. Figure 4 The vehicle safety monitoring method includes:

[0059] Step S110: The input module acquires the input information corresponding to the monitored object and outputs the input information to the processing module.

[0060] Step S120: The processing module processes the input information to obtain a processing result and outputs the processing result to the output module.

[0061] Step S130: The output module outputs control information based on the processing result, and controls the controlled object to work through the control information.

[0062] Step S140: The monitoring module monitors the data based on information output by at least two of the input module, the processing module, and the output module to obtain monitoring results.

[0063] By adopting the above technical solutions, the scope of security monitoring is expanded, which can meet higher security requirements, such as meeting the Level D requirements of ASIL.

[0064] It is worth noting that the specific implementation methods of each step in the vehicle safety monitoring method provided in this disclosure have been described in the relevant vehicle safety monitoring system, and will not be repeated here.

[0065] This disclosure also provides a vehicle that includes the aforementioned vehicle safety monitoring system. For example, the vehicle may be a hybrid vehicle, a non-hybrid vehicle, or an electric vehicle. The vehicle may also be an autonomous vehicle or a semi-autonomous vehicle.

[0066] This disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon, the program instructions of which, when executed by a processor, implement the steps of the above-described vehicle safety monitoring method.

[0067] This disclosure also provides a computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle safety monitoring method when executed by the programmable device.

[0068] In summary, the vehicle safety monitoring system, method, medium, and vehicle provided in this disclosure include an input module for acquiring input information corresponding to the monitored object and outputting the input information to a processing module; a processing module for processing the input information, obtaining processing results, and outputting the processing results to an output module; an output module for outputting control information based on the processing results, thereby controlling the operation of the controlled object; and a monitoring module for monitoring based on the information output by at least two of the input module, processing module, and output module, obtaining monitoring results. By monitoring at least two of the input module, processing module, and output module, the scope of safety monitoring is expanded, enabling the system to meet higher safety requirements.

[0069] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0070] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0071] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle safety monitoring system, characterized in that, The vehicle safety monitoring system includes an input module, a processing module, an output module, and a monitoring module; The input module is used to acquire input information corresponding to the monitored object and output the input information to the processing module; The processing module is used to process the input information, obtain the processing result, and output the processing result to the output module; The processing module is also used to obtain the processing result corresponding to the lower limit of the preset interval and output it to the output module when the input information is less than the lower limit of the preset interval; The output module is used to output control information based on the processing result, and to control the operation of the controlled object through the control information. The monitoring module is used to monitor based on information output by at least two of the input module, the processing module, and the output module, and to obtain monitoring results. The monitoring module includes a redundant processing module. The monitoring module acquires the input information from the input module and processes the input information to obtain redundant processing results. If the redundant processing results are inconsistent with the processing results of the processing module, the monitoring result indicates that the processing module is abnormal. The processing module is also used to receive the monitoring results, and when the monitoring results indicate an anomaly, to perform security control based on the monitoring results.

2. The vehicle safety monitoring system according to claim 1, characterized in that, The processing module is used to determine whether the input information meets the preset indicators. If the input information meets the preset indicators, the input information is processed to obtain the processing result, and the processing result is output to the output module. The processing module is further configured to obtain the processing result corresponding to the preset indicator and output it to the output module if the input information does not meet the preset indicator.

3. The vehicle safety monitoring system according to claim 2, characterized in that, The preset index is a preset range; the processing module is used to determine whether the input information is within the preset range. If the input information is within the preset range, the input information is processed to obtain a processing result, and the processing result is output to the output module. The processing module is further configured to, if the input information is not within the preset range, and when the input information is greater than the upper limit of the preset range, obtain the processing result corresponding to the upper limit of the preset range and output it to the output module.

4. The vehicle safety monitoring system according to claim 1, characterized in that, The monitoring module includes an input monitoring module, a processing monitoring module, and an output monitoring module; The input monitoring module is used to monitor the input information output by the input module and obtain a first monitoring result; The processing monitoring module is used to monitor the processing result output by the processing module and obtain a second monitoring result; The output monitoring module is used to monitor the control information output by the output module and obtain a third monitoring result.

5. The vehicle safety monitoring system according to any one of claims 1 to 4, characterized in that, The input module is used to acquire data of the monitored object collected by the input device connected to the input module, and to obtain input information corresponding to the monitored object by analog-to-digital conversion of the monitored object data, wherein the monitored object data is an analog quantity and the input information is a digital quantity.

6. The vehicle safety monitoring system according to any one of claims 1 to 4, characterized in that, The vehicle safety monitoring system also includes a software monitoring module; The software monitoring module is used to monitor at least one of the input module, the processing module, the output module, and the monitoring module.

7. A method for monitoring the safety of a vehicle, characterized in that, This method is applied to a vehicle safety monitoring system, which includes an input module, a processing module, an output module, and a monitoring module. The input module acquires input information corresponding to the monitored object and outputs the input information to the processing module; The processing module processes the input information to obtain a processing result, and outputs the processing result to the output module; The processing module is also used to obtain the processing result corresponding to the lower limit of the preset interval and output it to the output module when the input information is less than the lower limit of the preset interval; The output module outputs control information based on the processing result, and controls the operation of the controlled object through the control information. The monitoring module monitors the functional status of the input module, the processing module, and the output module to obtain monitoring results; The monitoring module includes a redundant processing module. The monitoring module acquires input information from the input module and processes the input information to obtain redundant processing results. If the redundant processing results are inconsistent with the processing results of the processing module, the monitoring result indicates that the processing module is abnormal. The processing module is also used to receive the monitoring results and perform security control based on the monitoring results when the monitoring results indicate an abnormality.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method of claim 7.

9. A vehicle, characterized in that, Includes the vehicle safety monitoring system as described in any one of claims 1 to 6.

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