Intelligent driving control method and system based on controller fault detection and vehicle

Abstract

The invention discloses an intelligent driving control method and system based on controller fault detection and a vehicle, and belongs to the technical field of intelligent drive.The method comprises the steps that in the intelligent driving process, the state of an intelligent driving controller is obtained through an intelligent driving controller detection module; when the state of the intelligent driving controller is abnormal, vehicle driving is controlled to enter a safe state; when the state of the intelligent driving controller is normal, the state of the detection module of the intelligent driving controller is monitored through the monitoring detection module; when the intelligent driving controller detects that the module state is abnormal, vehicle driving is controlled to enter a safe state; when the state of the detection module of the intelligent driving controller is normal, the state of the monitoring detection module is monitored through the intelligent driving controller; and when the state of the monitoring detection module is abnormal, the vehicle driving is controlled to enter a safe state. The comprehensive detection of the controller and the detection module in the intelligent driving system is realized, and the safety of vehicle driving is ensured.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an intelligent driving control method, system and vehicle based on controller fault detection. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the continuous development of automotive electronic technology, cars have gradually become the main means of transportation for people to travel. Autonomous driving systems are increasingly used in vehicles, and the vehicle's autonomous driving function is increasingly expected by consumers. At the same time, higher requirements are also placed on the safety of autonomous driving. When the driver starts the autonomous driving function, the control over the vehicle is reduced. When the autonomous driving intelligent driving controller fails, if it is not detected in time, the vehicle will produce unexpected behavior, causing the vehicle to lose control, causing personal injury and threatening life. Therefore, as the core of the autonomous driving system, the autonomous driving intelligent driving controller is crucial to confirm the normal operation status of the autonomous driving intelligent driving controller.

[0004] Currently, the state of the autonomous driving intelligent driving controller is detected by setting up various detection devices. When the state of the autonomous driving intelligent driving controller is detected to be abnormal, the vehicle driving is controlled to enter a safe state.

[0005] However, the current intelligent driving control method only considers whether the intelligent driving controller itself has an abnormal state, but does not consider the impact of the detection device state on the detection results of the intelligent driving controller, which leads to inaccurate judgment of the abnormal state of the intelligent driving controller, and thus fails to achieve timely and effective control of the vehicle. Summary of the invention

[0006] In order to solve the above problems, the present invention provides an intelligent driving control method, system and vehicle based on controller fault detection, which can comprehensively detect the status of the intelligent driving controller and each detection module, thereby realizing timely and effective control of the intelligent driving vehicle and ensuring vehicle safety.

[0007] In a first aspect, an intelligent driving control method based on controller fault detection is provided, comprising:

[0008] During the intelligent driving process, the intelligent driving controller status is obtained through the intelligent driving controller detection module;

[0009] When the intelligent driving controller is in an abnormal state, the vehicle is controlled to enter a safe state;

[0010] When the intelligent driving controller is in normal state, the intelligent driving controller detection module state is monitored through the monitoring detection module;

[0011] When the intelligent driving controller detects that the module is in an abnormal state, the vehicle is controlled to enter a safe state;

[0012] When the intelligent driving controller detection module is in a normal state, the intelligent driving controller monitors the detection module state;

[0013] When the monitoring and detection module is in an abnormal state, the vehicle driving is controlled to enter a safe state.

[0014] Optionally, controlling the vehicle to enter a safe driving state is controlling the vehicle to exit an intelligent driving state or controlling the vehicle's intelligent driving to downgrade.

[0015] Optionally, obtaining an input signal and an output signal of a detection module;

[0016] When the output signal parameters meet the set requirements and the input signal and the output signal are consistent, it is determined that the detection module is in a normal state;

[0017] When the output signal parameters do not meet the set requirements, or the input signal and the output signal are inconsistent, it is determined that the detection module state is abnormal.

[0018] Optionally, the intelligent driving controller status obtained by the intelligent driving controller detection module includes: power module status, communication module status, sensor serializer status, storage module status, performance computing unit status and implementation computing unit status in the intelligent driving controller.

[0019] Optionally, when the power module status, communication module status, sensor serializer status, storage module status, performance computing unit status and implementation computing unit status are all normal, the intelligent driving controller is determined to be in normal status.

[0020] Optionally, when one or more states of the power module state, the communication module state, the sensor serializer state, the storage module state, the performance computing unit state, and the implementation computing unit state are abnormal, the intelligent driving controller state is determined to be abnormal.

[0021] Optionally, the status of the power module is characterized by the connector voltage signal of the power module; the status of the communication module is characterized by the CAN signal transmission of the communication module and the signal capacity of Ethernet transmission; the status of the sensor serializer is characterized by the signal deserialization and signal serialization functions; the status of the storage module is characterized by the file reading and storage function of the storage module; the status of the performance computing unit is characterized by the video image processing operation function and the target information monitoring and output function of the performance computing unit; the status of the real-time computing unit is characterized by the driving computing function and driving control function of the real-time computing unit.

[0022] In the second aspect, an intelligent driving control system based on controller fault detection is provided, including:

[0023] Intelligent driving controller detection module, used to obtain the functional status of the intelligent driving controller;

[0024] A monitoring and detection module is used to obtain the status of the intelligent driving controller detection module;

[0025] The intelligent driving controller is used to obtain the status of the monitoring and detection module, and control the vehicle driving to enter a safe state when any one or more states are abnormal in the functional states of the intelligent driving controller, the status of the intelligent driving controller detection module and the status of the monitoring and detection module.

[0026] Optionally, the intelligent driving controller detection module includes a power detection module, a communication detection module, a sensor serializer detection module, a storage detection module, a SOC detection module and an MCU detection module;

[0027] A power detection module is used to obtain the status of the power module in the intelligent driving controller;

[0028] Communication detection module, used to obtain the status of the communication module in the intelligent driving controller;

[0029] The sensor serializer detection module is used to obtain the status of the sensor serializer in the intelligent driving controller;

[0030] A storage detection module is used to obtain the status of the storage module in the intelligent driving controller;

[0031] SOC detection module, used to obtain the status of the performance computing unit in the intelligent driving controller;

[0032] The MCU detection module is used to obtain the status of the computing unit implemented in the intelligent driving controller.

[0033] Optionally, the intelligent driving controller detection module and the monitoring detection module are both communicatively connected to the intelligent driving controller.

[0034] In a third aspect, a vehicle is proposed, comprising the intelligent driving control system based on controller fault detection proposed in the second aspect.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention provides an intelligent driving control method, system and vehicle based on controller fault detection. The method can not only detect the state of an intelligent driving controller through an intelligent driving controller detection module, but also monitor the states of the intelligent driving controller detection module and a monitoring detection module, thereby achieving comprehensive detection of abnormal states of the intelligent driving system, achieving timely and effective control of intelligent driving safety, and ensuring vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A flow chart of an intelligent driving control method based on controller fault detection disclosed in an embodiment;

[0039] Figure 2 The structure block diagram of the intelligent driving control system based on controller fault detection disclosed in the embodiment. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] It should be noted that the following detailed descriptions are all illustrative and are intended to provide optional descriptions of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0042] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0043] The intelligent driving control method based on controller fault detection provided by the embodiment of the present invention is applied to the application scenario of abnormal detection of the intelligent driving controller and then controlling the intelligent driving of the vehicle, and is applied to the intelligent driving system of the intelligent driving vehicle, such as Figure 2 As shown, the intelligent driving system includes a primary detection module, a mid-level detection module and an intelligent driving controller.

[0044] Among them, both the primary detection module and the intermediate detection module are communicatively connected to the intelligent driving controller, which is used to control the intelligent driving of the vehicle. The intelligent driving controller includes a power module, a communication module, a storage module, a sensor serializer, a performance computing unit (SOC) and a real-time computing unit (MCU).

[0045] Among them, the power module is used to supply power to the intelligent driving controller; the communication module is used for communication connections within the intelligent driving controller or with other components; the storage module is used to store various data acquired by the sensor; the sensor serializer is used to deserialize and serialize signals from sensors such as cameras and ultrasonic signals; the SOC is used to process video images acquired by sensors such as cameras and ultrasonic signals, detect target information therefrom and output it; the MCU is used to perform driving operations based on the target information detected by the SOC, determine the driving control plan, and then control the vehicle based on the driving control plan.

[0046] Primary detection module, used to obtain the functional status of the intelligent driving controller;

[0047] The intermediate detection module is used to obtain the status of the primary detection module;

[0048] The intelligent driving controller is used to obtain the status of the intermediate detection module and control the vehicle driving to enter a safe state when any one or more abnormal states occur in the functional states of the intelligent driving controller, the primary detection module state and the intermediate detection module state.

[0049] The intelligent driving control method based on controller fault detection provided in an embodiment of the present application is described in detail.

[0050] The intelligent driving control method based on controller fault detection provided in the embodiment of the present application is as follows: Figure 1 As shown, including:

[0051] During the intelligent driving process, the intelligent driving controller status is obtained through the intelligent driving controller detection module;

[0052] When the intelligent driving controller is in an abnormal state, the vehicle is controlled to enter a safe state;

[0053] When the intelligent driving controller is in normal state, the intelligent driving controller detection module state is monitored through the monitoring detection module;

[0054] When the intelligent driving controller detects that the module is in an abnormal state, the vehicle is controlled to enter a safe state;

[0055] When the intelligent driving controller detection module is in a normal state, the intelligent driving controller monitors the detection module state;

[0056] When the monitoring and detection module is in an abnormal state, the vehicle driving is controlled to enter a safe state.

[0057] Among them, controlling the vehicle driving to enter a safe state is controlling the vehicle to exit an intelligent driving state or controlling the vehicle's intelligent driving to downgrade.

[0058] To sum up, the intelligent driving control method based on controller fault detection provided in the embodiment of the present application can realize comprehensive abnormality detection of the intelligent driving controller and various detection module states in the intelligent driving system, so that the abnormalities in the intelligent driving system can be detected in a timely and accurate manner, and then the vehicle can be controlled according to the detected abnormalities to ensure vehicle driving safety.

[0059] The monitoring of the intelligent driving controller detection module and the monitoring detection module status in the embodiment of the present application can be performed in the following manner: obtaining the detection module input signal and output signal;

[0060] When the output signal parameters meet the set requirements and the input signal and the output signal are consistent, it is determined that the detection module is in a normal state;

[0061] When the output signal parameters do not meet the set requirements, or the input signal and the output signal are inconsistent, it is determined that the detection module state is abnormal.

[0062] The intelligent driving controller status obtained by the intelligent driving controller detection module in the embodiment of the present application includes: the power module status, communication module status, sensor serializer status, storage module status, performance calculation unit status and implementation calculation unit status in the intelligent driving controller.

[0063] Among them, when the power module status, communication module status, sensor serializer status, storage module status, performance operation unit status and implementation operation unit status are all normal, it is determined that the intelligent driving controller is in normal status.

[0064] When one or more of the power module status, communication module status, sensor serializer status, storage module status, performance computing unit status, and implementation computing unit status are abnormal, the intelligent driving controller is determined to be in an abnormal state.

[0065] In the embodiments of the present application, the state of the power module is characterized by the connector voltage signal of the power module; the state of the communication module is characterized by the CAN signal transmission and Ethernet transmission signal capabilities of the communication module; the state of the sensor serializer is characterized by the signal deserialization and signal serialization functions; the state of the storage module is characterized by the file reading and storage functions of the storage module; the state of the performance computing unit is characterized by the video image processing operation function and the target information monitoring and output function of the performance computing unit; and the state of the real-time computing unit is characterized by the driving computing function and driving control function of the real-time computing unit.

[0066] When the connector voltage signal of the power module is abnormal, the power module state is determined to be abnormal; when the CAN signal transmission and Ethernet transmission signal capabilities of the communication module are abnormal, the communication module state is determined to be abnormal; when the sensor's signal deserialization and signal serialization functions are abnormal, the sensor serializer state is determined to be abnormal; when the storage module's file reading and storage functions are abnormal, the storage module state is determined to be abnormal; when the performance computing unit's video image processing operation function and target information monitoring and output functions are abnormal, the performance computing unit state is determined to be abnormal; when the real-time computing unit's driving computing function and driving control function are abnormal, the real-time computing unit state is determined to be abnormal.

[0067] When an abnormality is detected in the intelligent driving controller or each detection module, the embodiment of the present application not only controls the vehicle driving to enter a safe state, but also sends a fault signal to remind the driver.

[0068] Specifically, in the intelligent driving control method based on controller fault detection provided by the embodiment of the present application, after the intelligent driving system is turned on, during the normal operation of the intelligent driving system, the independent power supply detection module detects the connector voltage signal of the power supply module in the intelligent driving controller. When the connector voltage signal of the power supply module is abnormal, a fault signal is issued and the vehicle driving is controlled to enter a safe state. The independent communication detection module detects the signal capability of the CAN signal transmission and Ethernet transmission of the communication module in the intelligent driving controller. When the signal capability of the CAN signal transmission and Ethernet transmission is abnormal, a fault signal is issued and the vehicle driving is controlled to enter a safe state. The independent serializer detection module detects the signal deserialization and signal serialization functions of sensors such as cameras and ultrasonic signals in the intelligent driving controller. When the signal deserialization and signal serialization functions are abnormal, a fault signal is issued and the vehicle driving is controlled to enter a safe state. The independent storage detection module detects the reading and storage functions of the SOC storage files in the intelligent driving controller. When the reading and storage functions of the files are abnormal, a fault signal is issued and the vehicle driving is controlled to enter a safe state. The independent SOC detection module detects the video image processing operation function and the target information detection and output function of the performance operation unit (SOC) in the intelligent driving controller. When the video image processing operation function and the target information detection and output function are abnormal, a fault signal is issued and the vehicle driving is controlled to enter a safe state. The independent MCU detection module detects the driving operation function and the driving control function of the real-time operation unit (MCU) in the intelligent driving controller. When the driving operation function and the driving control function are abnormal, a fault signal is issued and the vehicle driving is controlled to enter a safe state. Because the above six independent detection modules may be abnormal, the corresponding fault signal cannot be issued. Therefore, an independent monitoring detection module is set to monitor the above six detection modules. When the status of the above six detection modules is abnormal, a fault signal is issued and the vehicle driving is controlled to enter a safe state. The independent monitoring detection module is monitored by the intelligent driving controller. When the status of the monitoring detection module is abnormal, a fault signal is also issued and the vehicle driving is controlled to enter a safe state. A cycle is formed to ensure the safety of vehicle driving.

[0069] The embodiment of the present application also provides an intelligent driving control system based on controller fault detection, including:

[0070] Intelligent driving controller detection module, used to obtain the functional status of the intelligent driving controller;

[0071] A monitoring and detection module is used to obtain the status of the intelligent driving controller detection module;

[0072] The intelligent driving controller is used to obtain the status of the monitoring and detection module, and control the vehicle driving to enter a safe state when any one or more states are abnormal in the functional states of the intelligent driving controller, the status of the intelligent driving controller detection module and the status of the monitoring and detection module.

[0073] Optionally, the intelligent driving controller detection module includes a power detection module, a communication detection module, a sensor serializer detection module, a storage detection module, a SOC detection module and an MCU detection module;

[0074] A power detection module is used to obtain the status of the power module in the intelligent driving controller;

[0075] Communication detection module, used to obtain the status of the communication module in the intelligent driving controller;

[0076] The sensor serializer detection module is used to obtain the status of the sensor serializer in the intelligent driving controller;

[0077] A storage detection module is used to obtain the status of the storage module in the intelligent driving controller;

[0078] SOC detection module, used to obtain the status of the performance computing unit in the intelligent driving controller;

[0079] The MCU detection module is used to obtain the status of the computing unit implemented in the intelligent driving controller.

[0080] Optionally, the intelligent driving controller detection module and the monitoring detection module are both communicatively connected to the intelligent driving controller.

[0081] An embodiment of the present application also provides a vehicle, including an intelligent driving control system based on controller fault detection proposed in an embodiment of the present application.

[0082] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system and vehicle may refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0083] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An intelligent driving control method based on controller fault detection, characterized in that: include: During the intelligent driving process, the intelligent driving controller status is obtained through the intelligent driving controller detection module; When the intelligent driving controller is in an abnormal state, the vehicle is controlled to enter a safe state; When the intelligent driving controller is in normal state, the intelligent driving controller detection module state is monitored through the monitoring detection module; When the intelligent driving controller detects that the module is in an abnormal state, the vehicle is controlled to enter a safe state; When the intelligent driving controller detection module is in a normal state, the intelligent driving controller monitors the detection module state; When the monitoring and detection module is in an abnormal state, the vehicle driving is controlled to enter a safe state.

2. The intelligent driving control method based on controller fault detection according to claim 1, characterized in that: Controlling the vehicle to enter a safe driving state is controlling the vehicle to exit an intelligent driving state or controlling the vehicle's intelligent driving to downgrade.

3. The intelligent driving control method based on controller fault detection according to claim 1, characterized in that: Obtaining input signals and output signals of the detection module; When the output signal parameters meet the set requirements and the input signal and the output signal are consistent, it is determined that the detection module is in a normal state; When the output signal parameters do not meet the set requirements, or the input signal and the output signal are inconsistent, it is determined that the detection module state is abnormal.

4. The intelligent driving control method based on controller fault detection according to claim 1, characterized in that: The intelligent driving controller status obtained through the intelligent driving controller detection module includes: the power module status, communication module status, sensor serializer status, storage module status, performance operation unit status and implementation operation unit status in the intelligent driving controller.

5. The intelligent driving control method based on controller fault detection as claimed in claim 4, characterized in that: When the power module status, communication module status, sensor serializer status, storage module status, performance computing unit status and implementation computing unit status are all normal, it is determined that the intelligent driving controller is in normal status.

6. The intelligent driving control method based on controller fault detection according to claim 4, characterized in that: When one or more of the power module status, communication module status, sensor serializer status, storage module status, performance computing unit status, and implementation computing unit status are abnormal, the intelligent driving controller is determined to be in an abnormal state.

7. The intelligent driving control method based on controller fault detection according to claim 4, characterized in that: The connector voltage signal of the power module is used to characterize the status of the power module; the CAN signal transmission of the communication module and the signal capacity of Ethernet transmission are used to characterize the status of the communication module; the signal deserialization and signal serialization functions are used to characterize the status of the sensor serializer; the file reading and storage functions of the storage module are used to characterize the status of the storage module; the video image processing operation function and the target information monitoring and output functions of the performance computing unit are used to characterize the status of the performance computing unit; The state of the real-time computing unit is characterized by the driving computing function and driving control function of the real-time computing unit.

8. An intelligent driving control system based on controller fault detection, characterized in that: include: Intelligent driving controller detection module, used to obtain the functional status of the intelligent driving controller; A monitoring and detection module is used to obtain the status of the intelligent driving controller detection module; The intelligent driving controller is used to obtain the status of the monitoring and detection module, and control the vehicle driving to enter a safe state when any one or more states are abnormal in the functional states of the intelligent driving controller, the status of the intelligent driving controller detection module and the status of the monitoring and detection module.

9. The intelligent driving control system based on controller fault detection as claimed in claim 8, characterized in that: The intelligent driving controller detection module includes a power detection module, a communication detection module, a sensor serializer detection module, a storage detection module, a SOC detection module and an MCU detection module; A power detection module is used to obtain the status of the power module in the intelligent driving controller; Communication detection module, used to obtain the status of the communication module in the intelligent driving controller; The sensor serializer detection module is used to obtain the status of the sensor serializer in the intelligent driving controller; A storage detection module is used to obtain the status of the storage module in the intelligent driving controller; SOC detection module, used to obtain the status of the performance computing unit in the intelligent driving controller; The MCU detection module is used to obtain the status of the computing unit implemented in the intelligent driving controller.

10. A vehicle, comprising the intelligent driving control system based on controller fault detection according to any one of claims 8 to 9.

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