Fault detection device, fault detection method, and autonomous vehicle

Abstract

The embodiment of the invention provides a fault detection device, a fault detection method and an automatic driving vehicle, and relates to the field of intelligent logistics, in particular to the field of unmanned driving. An automatic driving controller in the fault detection device responds to a data timeout event of an inertial measurement unit of the automatic driving vehicle, and determines one or more of a current state of the inertial measurement unit, a conduction state of a conduction detection line of the inertial measurement unit, and whether an abnormal jump greater than a preset period occurs in system time; and determining the fault type of the inertial measurement unit according to a determination result. Therefore, fault reasons are automatically analyzed, a maintenance direction is provided for after-sales work, and the problem solving efficiency and the automatic driving vehicle operation efficiency are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of smart logistics, in particular to the field of unmanned driving, and in particular to a fault detection device, a fault detection method and an autonomous driving vehicle. Background Art

[0002] Autonomous driving, also known as unmanned driving, is a technology that relies on computers and artificial intelligence technology to complete driving without human control. Autonomous vehicles are used to automatically transport people or objects from one location to another. Autonomous vehicles collect environmental information through installed sensors and complete automatic transportation. Autonomous vehicles controlled by autonomous driving technology for logistics transportation have greatly improved the convenience of production and life and saved labor costs.

[0003] The autonomous driving controller of the autonomous driving vehicle will periodically detect sensor data to ensure normal autonomous driving. If the data from the Inertial Measurement Unit (IMU) is not received for a certain period of time, such as 500 milliseconds, the autonomous driving vehicle will stop immediately and report the IMU data timeout failure to the management server of the autonomous driving vehicle to ensure safe operation.

[0004] The parking of an autonomous vehicle due to an IMU data timeout failure will affect normal operation. IMU data timeout failures may be caused by a variety of reasons. Every time an IMU data timeout failure occurs, it is necessary to contact professional personnel to solve it, which brings difficulties to after-sales work. The current way of handling IMU data timeout failures is difficult for after-sales processing and has low problem solving efficiency, which is not conducive to the efficient operation of autonomous vehicles. Summary of the invention

[0005] In the disclosed embodiment, the autonomous driving controller responds to the data timeout event of the inertial measurement unit of the autonomous driving vehicle, determines one or more of the current state of the inertial measurement unit, the conduction state of the conduction detection line of the inertial measurement unit, and whether the system time has an abnormal jump greater than a preset period, and determines the fault type of the inertial measurement unit according to the determination result. This automatically analyzes the cause of the fault, provides maintenance direction for after-sales work, and improves the problem solving efficiency and the operation efficiency of the autonomous driving vehicle.

[0006] Some embodiments of the present disclosure propose a fault detection device, including: an autonomous driving controller, configured to respond to a data timeout event of an inertial measurement unit of an autonomous driving vehicle, determine one or more of the current state of the inertial measurement unit, the conduction state of a conduction detection line of the inertial measurement unit, and whether an abnormal jump greater than a preset period occurs in the system time, and determine the fault type of the inertial measurement unit according to the determination result.

[0007] In some embodiments, the fault detection device also includes: a differential amplifier circuit, wherein two input terminals of the differential amplifier circuit are connected across the target resistance between the autonomous driving controller and the inertial measurement unit, and the output terminal of the differential amplifier circuit is connected to the first serial port of the autonomous driving controller, wherein the autonomous driving controller is configured to determine the current detection value of the inertial measurement unit based on the resistance value of the target resistance and the voltage difference across the target resistance output by the differential amplifier circuit, and determine the current state of the inertial measurement unit based on the current detection value of the inertial measurement unit and the current standard value.

[0008] In some embodiments, the differential amplifier circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor, wherein the non-inverting input terminal of the first operational amplifier is connected to the line between the automatic driving controller and the target resistor through the first resistor, the inverting input terminal of the first operational amplifier is connected to the line between the target resistor and the inertial measurement unit through the second resistor, the third resistor is connected to the line between the non-inverting input terminal of the first operational amplifier and ground, the fourth resistor is connected to the line between the inverting input terminal and the output terminal of the first operational amplifier, the resistance values ​​of the first resistor and the second resistor are equal, and the resistance values ​​of the third resistor and the fourth resistor are equal.

[0009] In some embodiments, the fault detection device also includes: a first analog-to-digital converter connected to a line between the output end of the first operational amplifier and the first serial port of the automatic driving controller.

[0010] In some embodiments, the fault detection device further includes: one or more capacitors arranged on a line between an output terminal of the first operational amplifier and ground, and / or arranged on a line between a connection line between the target resistor and the inertial measurement unit and ground.

[0011] In some embodiments, the fault detection device also includes: a common-phase amplifier circuit, wherein a reference voltage output terminal of the autonomous driving controller, a first conduction detection line, a fifth resistor in the inertial measurement unit, a second conduction detection line, the common-phase amplifier circuit, and a second serial port of the autonomous driving controller are connected in sequence; the autonomous driving controller is configured to determine the conduction state of the conduction detection line of the inertial measurement unit based on a voltage detection value and a voltage standard value of a line between the fifth resistor in the inertial measurement unit and the common-phase amplifier circuit output by the common-phase amplifier circuit, wherein the conduction detection line includes a first conduction detection line and / or a second conduction detection line.

[0012] In some embodiments, the common-mode amplifier circuit includes a second operational amplifier and a sixth resistor, wherein the common-mode input terminal of the second operational amplifier is connected to the fifth resistor in the inertial measurement unit through a second conduction detection line, the inverting input terminal of the second operational amplifier is connected to the output terminal of the second operational amplifier, and the sixth resistor is connected between the second conduction detection line and ground.

[0013] In some embodiments, the fault detection device also includes: a second analog-to-digital converter connected to a line between an output end of the second operational amplifier and a second serial port of the automatic driving controller.

[0014] In some embodiments, the autonomous driving controller is configured to determine whether the system time has an abnormal jump greater than a preset period based on the synchronization information between the system time and the world time recorded in the log.

[0015] In some embodiments, the autonomous driving controller is configured to: upon determining that the current state of the inertial measurement unit is normal and the conduction state of the conduction detection line of the inertial measurement unit is normal, determine whether the system time has an abnormal jump greater than a preset period.

[0016] In some embodiments, the autonomous driving controller is configured to:

[0017] In the case where it is determined that the current state of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is abnormal operation of the inertial measurement unit itself; or

[0018] In the case where it is determined that the conduction state of the conduction detection line of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is poor line contact; or

[0019] When it is determined that the system time has an abnormal jump greater than a preset period, it is determined that the fault type of the inertial measurement unit is an abnormal jump of the system time.

[0020] Some embodiments of the present disclosure provide an autonomous driving vehicle, comprising: an inertial measurement unit; and a fault detection device.

[0021] Some embodiments of the present disclosure propose a fault detection method, including: in response to a data timeout event of an inertial measurement unit of an autonomous driving vehicle, determining one or more of the current state of the inertial measurement unit, the conduction state of a conduction detection line of the inertial measurement unit, and whether an abnormal jump greater than a preset period occurs in the system time, and determining the fault type of the inertial measurement unit according to the determination result.

[0022] In some embodiments, determining the fault type of the inertial measurement unit according to the determination result includes: when it is determined that the current state of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is abnormal operation of the inertial measurement unit itself; or,

[0023] In the case where it is determined that the conduction state of the conduction detection line of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is poor line contact; or,

[0024] When it is determined that the system time has an abnormal jump greater than a preset period, it is determined that the fault type of the inertial measurement unit is an abnormal jump of the system time.

[0025] Some embodiments of the present disclosure provide a computer-readable storage medium having a computer program stored thereon, which implements the steps of a fault detection method when the computer program is executed by a processor.

[0026] Some embodiments of the present disclosure provide a computer program product, including a computer program, which implements the steps of the fault detection method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following is a brief introduction to the drawings required for use in the embodiments or related technical descriptions. The present disclosure can be more clearly understood according to the following detailed description with reference to the drawings.

[0028] Obviously, the drawings described below are only some embodiments of the present disclosure, and a person skilled in the art can obtain other drawings based on these drawings without creative work.

[0029] Figure 1 A schematic diagram showing the appearance and structure of an autonomous driving vehicle 100 according to some embodiments of the present disclosure is shown.

[0030] Figure 2 A schematic diagram of the electrical architecture of an autonomous driving vehicle 100 according to some embodiments of the present disclosure is shown.

[0031] Figure 3 A schematic diagram showing the principles of the autonomous driving controller 111 according to some embodiments of the present disclosure.

[0032] Figure 4 A schematic diagram showing a fault detection device of an inertial measurement unit according to some embodiments of the present disclosure.

[0033] Figure 5 A schematic diagram showing a fault detection method based on a current state of an inertial measurement unit according to some embodiments of the present disclosure.

[0034] Figure 6A schematic diagram showing a fault detection method based on the conduction state of a conduction detection line of an inertial measurement unit according to some embodiments of the present disclosure is shown.

[0035] Figure 7 A schematic diagram showing a fault detection method based on whether an abnormal jump occurs in system time according to some embodiments of the present disclosure.

[0036] Figure 8 A schematic diagram showing a fault detection method according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0037] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0038] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0039] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0040] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0041] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0042] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0043] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0046] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0047] In addition, in order to avoid obscuring the present disclosure due to unnecessary details, only the processing steps and / or device structures closely related to at least the scheme according to the present disclosure are shown in the drawings, and other details that are not closely related to the present disclosure are omitted. It should also be noted that similar reference numerals and letters in the drawings indicate similar items, and therefore once an item is defined in one drawing, it does not need to be discussed again for subsequent drawings.

[0048] Figure 1 FIG. 1 is a schematic diagram showing the appearance and structure of an autonomous driving vehicle 100 according to some embodiments of the present disclosure. Figure 1 As shown, from the current perspective, one can see the chassis 150, cargo box 141, display interaction module 142, right camera 1134, lidar 114, rear blind spot radar 1152, left blind spot radar 1153, right blind spot radar 1154, etc. of the autonomous driving vehicle 100.

[0049] Figure 2 FIG. 1 is a schematic diagram showing the electrical architecture of an autonomous driving vehicle 100 according to some embodiments of the present disclosure. Figure 2 As shown, the autonomous driving vehicle 100 of this embodiment mainly includes four parts: an autonomous driving module 110, a chassis module 120, a remote monitoring streaming module 130, and a cargo box module 140. The autonomous driving vehicle can be, for example, an unmanned vehicle, an unmanned delivery vehicle, an unmanned vending vehicle, etc.

[0050] The autonomous driving module 110 includes an autonomous driving controller 111, and also includes various sensors such as a traffic light recognition camera 112, a front camera 1131, a rear camera 1132, a left camera 1133, a right camera 1134, a laser radar 114, a front blind spot radar 1151, a rear blind spot radar 1152, a left blind spot radar 1153, a right blind spot radar 1154, a positioning module (such as Beidou, GPS, etc.) 116, an inertial measurement unit 117, and a switch 118. Each camera can communicate with the autonomous driving module, and in order to increase the transmission speed and reduce the wiring harness, GMSL (Gigabit Multimedia Serial Links) link communication can be used.

[0051] Among them, the laser radar located on the top of the autonomous vehicle is used to obtain point cloud data of the vehicle's surrounding environment. The blind spot radar is used to detect the blind spots of the laser radar. The cameras around the body of the autonomous vehicle are used for image recognition and status monitoring. The inertial measurement unit, also known as the inertial navigation unit, can provide information such as the attitude, acceleration, angular velocity, etc. of the autonomous vehicle.

[0052] Among them, the automatic driving controller 111 is the core processing unit of the automatic driving system, and can be implemented by, for example, a general-purpose central processing unit, a digital signal central processing unit (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistors and other discrete hardware components.

[0053] Various sensors report the collected data to the autonomous driving controller, which processes and identifies the data and sends control instructions to the chassis module to realize the vehicle's autonomous driving function.

[0054] Figure 3 FIG. 1 is a schematic diagram showing the principle of the automatic driving controller 111 of some embodiments of the present disclosure. Figure 3As shown, controller 1 is connected to multiple (e.g., 8) cameras, GPS (Global Positioning System) receivers, inertial measurement units (IMUs), wipers, rain light sensors, and other sensors. After being pre-processed by controller 1, various sensor data are transmitted to controller 2. Controller 2 performs perception model calculations, combines the data of the inertial measurement unit, the data of the lidar, and the data of other sensors, makes motion decisions, and sends motion instructions to the chassis through, for example, the controller area network (CAN) bus. Controller 3 is connected to multiple (e.g., 6) monitoring cameras, and controller 3 can transmit the monitoring camera images back to the monitoring platform through, for example, the business domain switch and the operator network. Controller 1, controller 2, controller 3, top lidar, blind spot radar, etc., share autonomous driving data through the autonomous driving domain network switching module. Controller 1, controller 2, controller 3, microcontroller, servers accessed through the operator network, business controllers, etc., can share autonomous driving business function data through the business domain network switching module. The microcontroller is the power management module of the autonomous driving controller, providing power management services for all devices in the autonomous driving controller. The controller 1, the controller 2, and the controller 3 use a network time synchronization method to synchronize time. In addition, the automatic driving controller 111 may also set some debugging interfaces or reserved interfaces to facilitate debugging or expansion of business functions.

[0055] The types of ports / interfaces / network ports between internal devices and between internal devices and external devices in the autonomous driving controller include, but are not limited to: GPIO (General Purpose Input Output) port, I2C (Inter-Integrated Circuit, also known as IIC, integrated circuit) port, SPI (Serial Peripheral Interface, serial peripheral interface), CAN (Controller Area Network) port, UART (Universal Asynchronous Receiver / Transmitter), XFI port (a 10 Gigabit per second chip-to-chip electrical interface), PCIE (peripheral component interconnectexpress, PCI-Express, fast peripheral component interconnect) port, RGMII (Reduced Gigabit Media Independent Interface, Reduced Gigabit Media Independent Interface), SGMII (Serial Gigabit Media Independent Interface, serial gigabit media independent interface), MIPI (Mobile Industry Processor Interface, mobile industry processor interface), GMSL (Gigabit Multimedia Serial Links, Gigabit Multimedia Serial Links), RS232 (a serial data communication interface standard, where RS stands for Recommended Standard, referred to as "232"), LIN (Local Interconnect Network) serial port, MDI (Media Dependent Interface), USB (Universal Serial Bus) port. HDMI (High Definition Multimedia Interface), LAN (Local Area Network) port, etc.

[0056] The inertial measurement unit (IMU) can transmit the detected attitude, acceleration, angular velocity and other information of the autonomous driving vehicle to the controller 1 in the autonomous driving controller 111 through the RS232 interface or the CAN interface, via the RS232 transceiver or the CAN transceiver, to provide a basis for the decision of the autonomous driving controller. The data frame rate of the inertial measurement unit (IMU) is, for example, 100 Hz. If the autonomous driving controller does not receive the data from the inertial measurement unit for more than, for example, 500 milliseconds, the autonomous driving vehicle reports a data timeout to the background management server and stops the vehicle in an emergency.

[0057] The chassis module 120 can provide power for the autonomous driving vehicle, so that the autonomous driving vehicle can move freely. The chassis module 120 mainly includes a battery 121, a power management device 122, a chassis controller 123, a motor driver 124, a power motor 125, and a communication module 126. The battery 121 provides power for the entire autonomous driving vehicle system. The battery 121 includes a main battery 1211 and a standby battery 1212. When the autonomous driving vehicle is running, the main battery 1211 supplies power to each module of the autonomous driving vehicle. When the autonomous driving vehicle is on standby, the standby battery 1212 supplies power to the autonomous driving controller 111 and the communication module 126. The power management device 122 converts the output of the battery 121 into different levels of voltage that can be used by each module, and controls the power on and off. The chassis controller 123 receives the motion instructions issued by the autonomous driving module 110, and controls the steering, forward, backward, braking, etc. of the autonomous driving vehicle. The communication module 126 communicates with the background server, and can realize the remote control of the autonomous driving vehicle by the background operator. The communication module 126 includes a cellular wireless communication device 1261 and a radio frequency communication device 1262. The cellular wireless communication device 1261 communicates using cellular wireless communication technology, such as 2G (second generation), 3G (third generation), 4G (fourth generation) or 5G (fifth generation) cellular wireless communication technology. The radio frequency communication device 1262 communicates using radio frequency communication technology.

[0058] The remote monitoring streaming module 130 is composed of a front monitoring camera 1311, a rear monitoring camera 1312, a left monitoring camera 1313, a right monitoring camera 1314 and a streaming module 132. The streaming module 132 transmits the video data collected by the monitoring cameras 1311 to 1314 to the backend server for viewing by the backend operators.

[0059] The cargo box module 140 includes a cargo box 141, which is a cargo carrying device of the autonomous driving vehicle. The cargo box module 140 is also provided with a display interaction module 142 for the autonomous driving vehicle to interact with the user. The user can perform operations such as picking up, storing, and purchasing goods through the display interaction module 142. The type of cargo box 141 can be changed according to actual needs. For example, in a logistics scenario, the cargo box can include multiple sub-boxes of different sizes, which can be used to load goods for distribution. In a retail scenario, the cargo box can be set as a transparent box so that users can see the products for sale.

[0060] Figure 4 A schematic diagram showing a fault detection device of an inertial measurement unit according to some embodiments of the present disclosure.

[0061] like Figure 4As shown, the internal power supply of the automatic driving controller supplies power to the inertial measurement unit through the target resistor RS. When the current passes through the target resistor RS, a voltage difference will be generated at both ends of the target resistor RS. After being amplified by the operational amplifier 1 (the first operational amplifier), it is input to the first analog-to-digital converter (ADC1) to be converted into a digital signal and reported to the serial port 1 (the first serial port) of the automatic driving controller. The in-phase input terminal IN+ of the operational amplifier 1 is connected to the line between the automatic driving controller and the target resistor RS through the first resistor R1 (the voltage here is set to V1), the in-phase input terminal IN- of the first operational amplifier is connected to the line between the target resistor RS and the inertial measurement unit through the second resistor R2 (the voltage here is set to V2), the third resistor R3 is connected to the line between the in-phase input terminal IN+ of the first operational amplifier and the ground, and the fourth resistor R4 is connected to the line between the in-phase input terminal IN- of the first operational amplifier and the output terminal OUT1. The first operational amplifier, the first resistor, the second resistor, the third resistor, and the fourth resistor constitute a differential amplifier circuit. The two input terminals of the differential amplifier circuit are connected across the two sides of the target resistor, and the output terminal is connected to the first serial port of the automatic driving controller. The resistance values ​​of the first resistor R1 and the second resistor R2 are equal, and the resistance values ​​of the third resistor R3 and the fourth resistor R4 are equal, realizing a differential amplifier circuit with an amplification factor of 1, at which time OUT1=V1-V2. The data measured by the inertial measurement unit is reported to the serial port 3 (the third serial port) of the automatic driving controller. The reference voltage inside the automatic driving controller is connected to one side of the fifth resistor R5 in the inertial measurement unit through the reference voltage output terminal and the conduction detection line 1 (the first conduction detection line), and the other side of the fifth resistor R5 is connected to one end of the sixth resistor R6 (the other end of the sixth resistor R6 is grounded) and the in-phase input terminal IN+ of the operational amplifier 2 (the second operational amplifier) ​​through the conduction detection line 2 (the second conduction detection line). The operational amplifier 2 and the sixth resistor R6 constitute a in-phase amplifier circuit. The inverting input terminal IN- of the operational amplifier 2 is connected to the output terminal OUT2 of the operational amplifier 2. Thus, a in-phase amplifier circuit with an amplification factor of 1 is realized. The output terminal OUT2 of operational amplifier 2 is connected to the second analog-to-digital converter (ADC2), which converts the analog voltage signal into a digital signal and then inputs it into the serial port 2 (second serial port) of the automatic driving controller. In addition, one or more capacitors can be set in the fault detection device. For example, capacitors C1C2 are set on the line between the connection line between the target resistor RS and the inertial measurement unit and the ground, and capacitor C3 is set on the line between the output terminal OUT1 of operational amplifier 1 and the ground. This plays a role in filtering and voltage stabilization.

[0062] The autonomous driving controller responds to a data timeout event of an inertial measurement unit of the autonomous driving vehicle by determining one or more of the current state of the inertial measurement unit, the conduction state of a conduction detection line of the inertial measurement unit, and whether an abnormal jump greater than a preset period occurs in the system time, and determines the fault type of the inertial measurement unit according to the determination result.

[0063] The working current of the inertial measurement unit is I, then I×RS=V1-V2. To simplify the calculation, R1=R2, R3=R4, then OUT1=V1-V2. OUT1 is converted into a digital signal by ADC1 and reported to the serial port 1 of the autonomous driving controller.

[0064] like Figure 5 As shown, the fault detection method of the automatic driving controller based on the current state of the inertial measurement unit includes steps S51-S53.

[0065] In step S51, the automatic driving controller obtains the voltage difference across the target resistor output by the differential amplifier circuit through serial port 1, and determines the current detection value I'= (V1-V2) / RS of the inertial measurement unit according to the resistance value of the target resistor and the voltage difference across the target resistor output by the differential amplifier circuit.

[0066] In step S52, the automatic driving controller can know the normal working current (current standard value) I of the inertial measurement unit in advance, and determine the current state of the inertial measurement unit according to the current detection value I' of the inertial measurement unit and the current standard value I. If the fluctuation range of the current detection value I' relative to the current standard value I exceeds the preset normal range, it is determined that the current of the inertial measurement unit is abnormal, otherwise, it is determined that the current of the inertial measurement unit is normal.

[0067] In step S53, the autonomous driving controller responds to a data timeout event of the inertial measurement unit of the autonomous driving vehicle, and when determining that the current state of the inertial measurement unit is abnormal, determines that the fault type of the inertial measurement unit is abnormal operation of the inertial measurement unit itself.

[0068] If the IMU suddenly works abnormally, the working current will fluctuate greatly. After RS ​​sampling and amplification by operational amplifier 1, it will be reported to the autonomous driving controller after analog-to-digital conversion by ADC1. The autonomous driving controller monitors the working current fluctuation of the IMU. If the data of the IMU times out at the same time, for example, if the data of the IMU is not received for more than 500 milliseconds, it can be determined that the IMU itself is working abnormally and caused the data timeout.

[0069] Thus, the autonomous driving controller determines the fault type of the inertial measurement unit by detecting the current state of the inertial measurement unit.

[0070] When the line connection between the inertial measurement unit and the autonomous driving controller is good, V3=V4×R6 / (R6+R5), V3 is input to the IN+ terminal of operational amplifier 2, and V3 is output from the OUT2 terminal of operational amplifier 2. After analog-to-digital conversion by ADC2, V3 is input to serial port 2 of the autonomous driving controller.

[0071] like Figure 6 As shown, the fault detection method of the autonomous driving controller based on the conduction state of the conduction detection line of the inertial measurement unit includes steps S61-S63.

[0072] In step S61, the automatic driving controller obtains, through serial port 2, a voltage detection value V3' of a line between a fifth resistor in the inertial measurement unit and the in-phase amplifier circuit output by the in-phase amplifier circuit.

[0073] In step S62, the automatic driving controller can know in advance the voltage standard value V3 of the line between the fifth resistor in the inertial measurement unit and the in-phase amplifier circuit output by the in-phase amplifier circuit, and determine the conduction state of the conduction detection line of the inertial measurement unit according to the voltage detection value V3' and the voltage standard value V3, wherein the conduction detection line includes the conduction detection line 1 and / or the conduction detection line 2. If the fluctuation amplitude of the voltage detection value V3' relative to the voltage standard value V3 exceeds the preset normal range, it is determined that the conduction state of the conduction detection line of the inertial measurement unit is abnormal, otherwise, it is determined that the conduction state of the conduction detection line of the inertial measurement unit is normal.

[0074] In step S63, the autonomous driving controller responds to a data timeout event of the inertial measurement unit of the autonomous driving vehicle, and when it is determined that the conduction state of the conduction detection line of the inertial measurement unit is abnormal, determines that the fault type of the inertial measurement unit is poor line contact.

[0075] If at a certain moment, the inertial measurement unit cable is disconnected or the connector has poor contact, the impedance of the conduction detection circuit (continuity detection line 1, conduction detection line 2 and the devices on their lines constitute the conduction detection circuit) increases, and the voltage at point V3 changes suddenly. After analog-to-digital conversion by operational amplifier 2 and ADC2, the automatic driving controller detects this sudden change and determines that the inertial measurement unit has a poor contact failure.

[0076] Thus, the automatic driving controller determines the fault type of the inertial measurement unit by detecting the conduction state of the conduction detection line of the inertial measurement unit.

[0077] like Figure 7 As shown, the fault detection method of the automatic driving controller based on whether an abnormal jump occurs in the system time includes steps S71-S72.

[0078] In step S71, the automatic driving controller determines whether the system time has an abnormal jump greater than a preset period based on the synchronization information between the system time and the world time recorded in the log.

[0079] Autonomous vehicles need to synchronize system time with world time through wireless networks. When an autonomous vehicle is started without GPS signals or other network signals, the system time may deviate from world time. When the autonomous vehicle runs to an area with good GPS or network signals, the autonomous driving controller synchronizes the system time with world time, which will cause a system time jump. When the time jump amplitude is greater than the preset value (such as 500 milliseconds), the system time jumps abnormally, causing the inertial measurement unit data to time out.

[0080] In step S72, the autonomous driving controller responds to a data timeout event of the inertial measurement unit of the autonomous driving vehicle, and when it is determined that an abnormal jump has occurred in the system time that is greater than a preset period, determines that the fault type of the inertial measurement unit is an abnormal jump in the system time.

[0081] For example, the autonomous driving vehicle synchronizes the system time with the world time every 100 milliseconds. The autonomous driving controller prints the system timestamp to the local log every 100 milliseconds. After the inertial measurement unit data timeout occurs, the autonomous driving controller queries the timestamp log of the corresponding moment to see whether the system time jump occurs. If the system time jump occurs, it is determined that the inertial measurement unit data timeout is caused by the system time jump.

[0082] Therefore, the autonomous driving controller determines the fault type of the inertial measurement unit by detecting whether there is an abnormal jump in the system time.

[0083] For the various possible fault types of the inertial measurement unit, the autonomous driving controller can determine whether the system time has an abnormal jump greater than the preset period after determining that the current state of the inertial measurement unit is normal and the conduction state of the conduction detection line of the inertial measurement unit is normal. Therefore, the hardware fault is checked first, and then the software fault is checked, which improves the efficiency of fault location.

[0084] Among them, the order of checking the current state of the inertial measurement unit and the conduction state of the conduction detection line of the inertial measurement unit is not limited, and they can be executed simultaneously, or the current state of the inertial measurement unit can be checked first and then the conduction state of the conduction detection line of the inertial measurement unit can be checked, or the conduction state of the conduction detection line of the inertial measurement unit can be checked first and then the current state of the inertial measurement unit.

[0085] like Figure 8 As shown, the fault detection method includes the following steps.

[0086] In step S81, the autonomous driving controller detects a data timeout event of the inertial measurement unit of the autonomous driving vehicle.

[0087] For example, the autonomous driving vehicle synchronizes the system time with the world time every 100 milliseconds and prints the system timestamp to the local log. If the autonomous driving controller does not receive data from the inertial measurement unit for more than 500 milliseconds, it considers the data of the inertial measurement unit to have timed out.

[0088] In step S82, the autopilot controller determines the conduction state of the conduction detection line of the inertial measurement unit.

[0089] If it is determined that the conduction state of the conduction detection line of the inertial measurement unit is abnormal, the fault type of the inertial measurement unit is determined to be poor line contact (step S85a). If it is determined that the conduction state of the conduction detection line of the inertial measurement unit is normal, step S83 is executed.

[0090] The automatic driving controller queries the corresponding moment and detects the line loop status. If the OUT2 output value changes suddenly, that is, the impedance of the detection line loop changes suddenly, the data of the inertial measurement unit times out, which is caused by poor contact.

[0091] In step S83, the autopilot controller determines the current state of the inertial measurement unit.

[0092] When it is determined that the current state of the inertial measurement unit is abnormal, the fault type of the inertial measurement unit is determined to be abnormal operation of the inertial measurement unit itself (step S85b). When it is determined that the current state of the inertial measurement unit is normal, step S84 is executed.

[0093] If there is no significant change in the OUT2 output value, the autopilot controller queries the current status of the inertial measurement unit at the corresponding moment. If the OUT1 output value changes suddenly, that is, the current of the inertial measurement unit changes suddenly, the data of the inertial measurement unit times out, which is caused by its own abnormal operation.

[0094] In step S84, the automatic driving controller determines whether an abnormal jump greater than a preset period occurs in the system time.

[0095] If it is determined that the system time has an abnormal jump greater than the preset period, the fault type of the inertial measurement unit is determined to be an abnormal jump of the system time (step S85c). If it is determined that the system time has not abnormally jumped, it is determined to be an unknown fault (step S85d), which can be pushed to the operation and maintenance personnel for processing.

[0096] If there is no obvious change in the OUT1 output value, the autopilot controller queries the corresponding time log to see if there is any abnormal jump in the system timestamp. If the system timestamp jumps abnormally, the data of the inertial measurement unit times out, which is caused by the abnormal jump in the system time. If the system timestamp does not jump abnormally, the autopilot controller determines that it is an unknown fault and needs to be handled by the operation and maintenance personnel.

[0097] This will automatically analyze the cause of the fault, provide maintenance direction for after-sales work, improve problem solving efficiency and autonomous vehicle operation efficiency. In addition, hardware faults are checked first, then software faults, to improve fault location efficiency.

[0098] An embodiment of the present disclosure provides an autonomous driving vehicle, comprising: an inertial measurement unit; and a fault detection device for performing fault detection on the inertial measurement unit.

[0099] An embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the fault detection method are implemented.

[0100] An embodiment of the present disclosure provides a computer program product, including a computer program, which implements the steps of the fault detection method when executed by a processor.

[0101] It should be understood by those skilled in the art that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product implemented on one or more (non-transient) computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, cloud storage, etc.) containing computer program code. A computer program product should be understood as a software product that implements its solution mainly through a computer program.

[0102] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0103] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0105] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A fault detection device, comprising: The autonomous driving controller is configured to respond to a data timeout event of an inertial measurement unit of the autonomous driving vehicle by determining one or more of the current state of the inertial measurement unit, the conduction state of a conduction detection line of the inertial measurement unit, and whether an abnormal jump greater than a preset period occurs in the system time, and determine a fault type of the inertial measurement unit according to the determination result.

2. The fault detection device according to claim 1, further comprising: A differential amplifier circuit, wherein two input ends of the differential amplifier circuit are connected across two sides of a target resistor between the autonomous driving controller and the inertial measurement unit, and an output end of the differential amplifier circuit is connected to a first serial port of the autonomous driving controller. Among them, the automatic driving controller is configured to determine the current detection value of the inertial measurement unit according to the resistance value of the target resistor and the voltage difference across the target resistor output by the differential amplifier circuit, and determine the current state of the inertial measurement unit according to the current detection value of the inertial measurement unit and the current standard value.

3. The fault detection device according to claim 2, wherein: The differential amplifier circuit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor, wherein the non-inverting input terminal of the first operational amplifier is connected to the line between the automatic driving controller and the target resistor through the first resistor, the inverting input terminal of the first operational amplifier is connected to the line between the target resistor and the inertial measurement unit through the second resistor, the third resistor is connected to the line between the non-inverting input terminal of the first operational amplifier and the ground, the fourth resistor is connected to the line between the inverting input terminal and the output terminal of the first operational amplifier, the resistance values ​​of the first resistor and the second resistor are equal, and the resistance values ​​of the third resistor and the fourth resistor are equal.

4. The fault detection device according to claim 3, further comprising: The first analog-to-digital converter is connected to a line between an output end of the first operational amplifier and a first serial port of the automatic driving controller.

5. The fault detection device according to claim 4, further comprising: One or more capacitors are arranged on a line between an output terminal of the first operational amplifier and ground, and / or arranged on a line between a connection line between the target resistor and the inertial measurement unit and ground.

6. The fault detection device according to claim 1, further comprising: A common-phase amplifier circuit, wherein a reference voltage output terminal of the automatic driving controller, a first conduction detection line, a fifth resistor in the inertial measurement unit, a second conduction detection line, the common-phase amplifier circuit, and a second serial port of the automatic driving controller are connected in sequence; The automatic driving controller is configured to determine the conduction state of the conduction detection line of the inertial measurement unit based on the voltage detection value and the voltage standard value of the line between the fifth resistor in the inertial measurement unit and the in-phase amplifier circuit output by the in-phase amplifier circuit, and the conduction detection line includes a first conduction detection line and / or a second conduction detection line.

7. The fault detection device according to claim 6, wherein: The common-mode amplifier circuit includes a second operational amplifier and a sixth resistor, wherein the common-mode input terminal of the second operational amplifier is connected to the fifth resistor in the inertial measurement unit through a second conduction detection line, the inverting input terminal of the second operational amplifier is connected to the output terminal of the second operational amplifier, and the sixth resistor is connected between the second conduction detection line and ground.

8. The fault detection device according to claim 7, further comprising: The second analog-to-digital converter is connected to the line between the output end of the second operational amplifier and the second serial port of the automatic driving controller.

9. The fault detection device according to claim 1, wherein: The automatic driving controller is configured to determine whether the system time has an abnormal jump greater than a preset period based on the synchronization information between the system time and the world time recorded in the log.

10. The fault detection device according to claim 1, wherein: The automatic driving controller is configured to: upon determining that the current state of the inertial measurement unit is normal and the conduction state of the conduction detection line of the inertial measurement unit is normal, determine whether the system time has an abnormal jump greater than a preset period.

11. The fault detection device according to claim 1, wherein: The automatic driving controller is configured to: In the case where it is determined that the current state of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is abnormal operation of the inertial measurement unit itself; or In the case where it is determined that the conduction state of the conduction detection line of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is poor line contact; or When it is determined that the system time has an abnormal jump greater than a preset period, it is determined that the fault type of the inertial measurement unit is an abnormal jump of the system time.

12. An autonomous driving vehicle, comprising: Inertial measurement unit; as well as A fault detection device as claimed in any one of claims 1 to 10.

13. A fault detection method, comprising: In response to a data timeout event of an inertial measurement unit of an autonomous driving vehicle, one or more of the current state of the inertial measurement unit, the conduction state of a conduction detection line of the inertial measurement unit, and whether an abnormal jump greater than a preset period occurs in the system time are determined, and the fault type of the inertial measurement unit is determined based on the determination result.

14. The fault detection method according to claim 13, wherein: According to the determination results, the fault types of the inertial measurement unit include: In the case where it is determined that the current state of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is abnormal operation of the inertial measurement unit itself; or, In the case where it is determined that the conduction state of the conduction detection line of the inertial measurement unit is abnormal, determining that the fault type of the inertial measurement unit is poor line contact; or, When it is determined that the system time has an abnormal jump greater than a preset period, it is determined that the fault type of the inertial measurement unit is an abnormal jump of the system time.

15. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the fault detection method according to any one of claims 13 to 14 are implemented.

16. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the fault detection method according to any one of claims 13 to 14 are implemented.

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