Abnormality processing system and device for autonomous vehicle

Abstract

The invention provides an exception handling system and device for an automatic driving vehicle, and relates to the field of automatic driving. The exception handling system for the autonomous vehicle comprises an exception monitoring module, the exception monitoring module comprises a control end monitoring unit and a sensing end monitoring unit, the control end monitoring unit is used for collecting data of a vehicle software system, and the sensing end monitoring unit is used for collecting data of a vehicle sensing sensor; the abnormity monitoring module is used for collecting data of a vehicle, the abnormity diagnosis module is used for judging whether running of the vehicle is abnormal or not according to the data collected by the abnormity monitoring module, and the abnormity processing module comprises an independent control unit and a sensing processing unit. According to the abnormity processing system for the automatic driving vehicle, through judgment processing of various conditions, the reason of the abnormity of the sensor can be rapidly detected, corresponding processing can be carried out, and the safety of the automatic driving vehicle in the driving process is better guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and particularly to an abnormal handling system and device for an autonomous driving vehicle. Background Art

[0002] Autonomous driving vehicles rely on sensors such as lidar, cameras, and radars to achieve environmental perception, use technologies such as satellite positioning for precise positioning, and utilize complex algorithms to complete path planning and decision-making, etc.

[0003] Thus, the normal operation of the environmental perception sensors and software systems responsible for algorithms of autonomous driving vehicles is the guarantee of safe driving of the vehicle. To ensure the normal operation of the environmental perception sensors and software systems, an abnormal monitoring module is usually set up to monitor the operating states of the environmental perception sensors and software systems, and can emergently control the vehicle for emergency handling, such as decelerating and pulling over to the side of the road, and calling for rescue, etc. Among them, when the environmental perception sensors are abnormal, there is still room for improvement in how to gradually judge the reasons for the abnormalities of the sensors and perform corresponding processing.

[0004] Therefore, it is necessary to provide an abnormal handling system for an autonomous driving vehicle to solve the above technical problems. Summary of the Invention

[0005] The present invention provides an abnormal handling system for an autonomous driving vehicle, which solves the problem of how to gradually judge the reasons for the abnormalities of the sensors and perform corresponding processing when the environmental perception sensors are abnormal.

[0006] To solve the above technical problems, the abnormal handling system for an autonomous driving vehicle provided by the present invention includes: an abnormal monitoring module, the abnormal monitoring module includes a control end monitoring unit and a perception end monitoring unit, the control end monitoring unit is used to collect data of the vehicle software system, and the perception end monitoring unit is used to collect data of the vehicle perception sensors; An abnormal diagnosis module, the abnormal diagnosis module judges whether the operation of the vehicle is abnormal according to the data collected by the abnormal monitoring module; An abnormal handling module, the abnormal handling module includes an independent control unit and a perception processing unit; When the perception sensor is abnormal, the perception processing unit judges whether it is a power supply abnormality. When the power supply is abnormal, the backup power supply of the corresponding abnormal perception sensor is enabled. When the power supply is normal, the perception processing unit judges whether the outside of the perception sensor is blocked. When the outside of the perception sensor is not blocked, the abnormal handling module switches to the backup perception sensor; When the software system is abnormal, the independent control unit is used to control the driving state of the vehicle.

[0007] Preferably, the exception handling system for an autonomous vehicle further includes a hierarchical response module, which is configured to determine the type of fault and the risk level, and execute corresponding strategies according to the type of fault and the risk level.

[0008] Preferably, the step of determining the abnormality of the sensing sensor includes: when the detection results of different types of sensors for the same target are different, determining the sensor that is different from the detection results of other multiple sensors as the sensor to be verified, enabling the backup sensor of the sensor to be verified, and when the detection result of the backup sensor is the same as that of other sensors, determining that the sensor to be verified is damaged, and when the detection result of the backup sensor is different from that of other multiple sensors, enabling the backup sensors of other multiple sensors for verification.

[0009] The present invention also provides an exception handling device for an autonomous vehicle. The exception handling device for an autonomous vehicle is used in the exception handling system for an autonomous vehicle, and includes: a housing, a cleaning component, a main sensing component, an auxiliary sensing component, and a rotating seat; The rotating seat is installed in the housing, the main sensing component and the auxiliary sensing component are adjacently installed on the rotating seat, and the detection end of the main sensing component penetrates through the housing through an assembly pipe; The cleaning component is configured to clean the detection end of the main sensing component to determine whether there is an occlusion at the detection end of the main sensing component; When the auxiliary sensing component needs to be used, the rotating seat rotates to switch the positions of the auxiliary sensing component and the main sensing component, so that the detection end of the auxiliary sensing component penetrates through the housing through the assembly pipe.

[0010] Preferably, the cleaning component includes an infusion pipe, an end cap, and a nozzle. The end cap is installed at one end of the infusion pipe, and the nozzle is obliquely installed at the bottom of the infusion pipe and is adjacent to the infusion pipe; An assembly cylinder is communicated with the housing above the assembly pipe. The infusion pipe penetrates through one end of the assembly cylinder, and the end cap seals the other end of the assembly cylinder; The exception handling device for an autonomous vehicle further includes a driving device, which is configured to drive the infusion pipe to move along the assembly cylinder.

[0011] Preferably, the main sensing component includes a sensing element, an elastic member, and a stopper. The sensing element is slidably installed on the rotating seat. The stopper is installed on the rotating seat and is spaced apart from the sensing element. The elastic member connects the stopper and the sensing element. The auxiliary sensing component has the same structure as the main sensing component; A driving block is mounted on the top of the sensing element. The driving device includes a push cylinder and a U-shaped sleeve. The push cylinder is mounted on the housing. The U-shaped sleeve is mounted at the bottom of the output shaft of the push cylinder and sleeved on the driving block. The U-shaped sleeve is in clearance fit with the driving block. The infusion tube is connected to the output end of the push cylinder through a connecting block.

[0012] Preferably, an inclined surface block is provided on the inner wall of the housing. The inclined surface block is arranged adjacent to the assembly pipe and is located between the assembly pipe and the auxiliary sensing assembly.

[0013] Preferably, the rotating seat includes a mounting table, a rotating shaft and a rotating member. The rotating shaft is rotatably mounted in the housing. The mounting table is mounted on the rotating shaft. The rotating member is used to drive the rotating shaft to rotate. Both the main sensing assembly and the auxiliary sensing assembly are mounted on the mounting table.

[0014] Preferably, the rotating member is a gear. The gear is mounted on the rotating shaft. A tooth surface is provided at the output end of the push cylinder. When the push cylinder drives the sensing element in the main sensing assembly to move through the U-shaped sleeve and the driving block so that the detection end of the sensing element moves out of the assembly pipe, the tooth surface meshes with the gear.

[0015] Preferably, a sealing ring is provided on the circumferential side surface of the end cover.

[0016] Compared with the related art, the abnormal processing system for autonomous driving vehicles provided by the present invention has the following beneficial effects: The present invention provides an abnormal processing system for autonomous driving vehicles. When a perception sensor on the vehicle cannot collect effective data, first, the abnormal diagnosis module determines whether the sensor is in a power-off state. When it is due to a power supply reason, the abnormal processing module enables the backup power supply module set corresponding to the sensor to ensure the normal use of the sensor at present. The vehicle can drive to a relatively safe position to wait for rescue within the driving range of the backup battery; when it is detected that the power supply is normal, by judging whether the outside of the sensor is blocked, resulting in the sensor being unable to collect effective data, and after cleaning the detection end of the sensor, it is still unable to collect effective data, it is judged that the sensor is in a damaged state. At this time, the backup sensor is started to ensure that the vehicle can drive normally. Thus, through the judgment and processing of various situations, the reason for the sensor abnormality can be quickly detected and corresponding processing can be carried out, better ensuring the safety of the autonomous driving vehicle during the driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic block diagram of the abnormal processing system for autonomous driving vehicles provided by the present invention; Figure 2The step block diagram of the anomaly handling system for an autonomous vehicle provided by the present invention; Figure 3 The structural schematic diagram of the anomaly handling device for an autonomous vehicle provided by the present invention; Figure 4 The sectional view of the anomaly handling device for an autonomous vehicle provided by the present invention; Figure 5 The structural schematic diagram of the driving device provided by the present invention; Figure 6 The external structural schematic diagram of the anomaly handling device for an autonomous vehicle provided by the present invention; Figure 7 The state schematic diagram of the cleaning component working provided by the present invention; Figure 8 The schematic diagram of the detection end of the sensor provided by the present invention being separated from the assembly pipe; Figure 9 The top view of the detection end of the sensor provided by the present invention being separated from the assembly pipe; Figure 10 The schematic diagram of the detection end of the sensor in the auxiliary sensing component being assembled with the assembly pipe provided by the present invention.

[0018] Reference numerals in the figure: 1. Housing; 101. Assembly cylinder; 102. Assembly pipe; 103. Inclined block; 2. Cleaning component; 21. Infusion pipe; 22. End cover; 23. Sprayer; 3. Main sensing component; 31. Sensing element; 32. Elastic member; 33. Stopper; 311. Detection end; 312. Driving block; 4. Auxiliary sensing component; 5. Rotating seat; 51. Installation platform; 52. Rotating shaft; 53. Gear; 6. Driving device; 61. Push cylinder; 62. Tooth surface; 63. U-shaped sleeve. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the scope of protection of the present invention.

[0020] The present invention provides an anomaly handling system for an autonomous vehicle.

[0021] Please refer to Figure 1 and Figure 2, in an embodiment of the present invention, the abnormal handling system for an autonomous vehicle includes: an abnormal monitoring module, which includes a control - end monitoring unit and a perception - end monitoring unit. The control - end monitoring unit is used to collect data of the vehicle software system, and the perception - end monitoring unit is used to collect data of the vehicle perception sensors; An abnormal diagnosis module, which determines whether the vehicle is operating abnormally according to the data collected by the abnormal monitoring module; An abnormal handling module, which includes an independent control unit and a perception processing unit; When the perception sensor is abnormal, the perception processing unit determines whether it is a power - supply abnormality. When there is a power - supply abnormality, the backup power supply of the corresponding abnormal perception sensor is enabled. When the power supply is normal, the perception processing unit determines whether the outside of the perception sensor is blocked. When there is no blockage outside the perception sensor, the abnormal handling module switches to a backup perception sensor; When the software system is abnormal, the independent control unit is used to control the driving state of the vehicle.

[0022] When a perception sensor on the vehicle cannot collect valid data, first, the abnormal diagnosis module determines whether the sensor is in a power - off state. When it is due to a power - supply reason, the abnormal handling module enables the backup power - supply module set corresponding to the sensor to ensure the current normal use of the sensor. The vehicle can drive to a relatively safe position within the driving range of the backup battery and wait for rescue; when it is detected that the power supply is normal, by judging whether the outside of the sensor is blocked, resulting in the sensor being unable to collect valid data, and after cleaning the detection end 311 of the sensor, if valid data still cannot be collected, it is determined that the sensor is in a damaged state. At this time, a backup sensor is activated to ensure that the vehicle can drive normally. Thus, through the judgment and processing of various situations, the reason for the sensor abnormality can be quickly detected and corresponding processing can be carried out, better ensuring the safety of the autonomous vehicle during driving.

[0023] And when there is a problem with the vehicle's software system, at this time, an independent control unit independent of the vehicle's conventional software control system can be used. This independent control unit can control the vehicle to drive to a safe position and stop, and call for help and wait for rescue.

[0024] Among them, after detecting an abnormal perception sensor, according to the number of sensors, the importance of the detection area, etc., the vehicle can choose to drive slowly or drive to a safe position such as one side of the road to stop and confirm the reason for the abnormality of the abnormal sensor.

[0025] Among them, the monitoring of the vehicle software system includes: process and thread detection: Monitor whether the processes of key software modules (such as autonomous driving algorithms and control algorithms) are alive and whether the CPU / memory occupancy is abnormal (e.g., continuous exceeding 80% may cause lag).

[0026] Example: Detect whether a thread times out or deadlocks through the task scheduling mechanism of an in-vehicle real-time operating system (such as QNX or ROS).

[0027] Code logic verification: Insert "health checkpoints" at key logic nodes; For example: Whether the trajectory output by the path planning module contains illegal coordinates (such as exceeding the map boundary); Whether the steering wheel angle output by the control algorithm is within the mechanical limit range (such as ±300°).

[0028] Time synchronization and delay detection Detect whether the timestamps of data from each module are consistent and whether the delay exceeds the threshold through a clock synchronization protocol (such as IEEE1588) (e.g., a sensor data processing delay > 50ms may cause decision lag).

[0029] For sensors, monitor whether the power supply voltage and current of the sensors are stable through a hardware circuit; Detect in real time whether data frames are lost and whether the check bits are incorrect through a communication bus (such as CAN or Ethernet) to determine whether the communication link is interrupted; Some sensors have built-in self-check modules that can report their own status regularly (such as lens contamination, chip overheating, etc.).

[0030] Detect the value threshold range of each sensor (such as lidar, camera, IMU, etc.). If the data exceeds the range, mark it as "invalid data" and trigger an alarm; Detect whether there are abnormal jumps in the sensor by setting a threshold window.

[0031] As an optional method in this embodiment, the abnormal handling system for an autonomous driving vehicle further includes a hierarchical response module, and the hierarchical response module is used to determine the fault type and risk level and execute corresponding strategies according to the fault type and risk level.

[0032] By setting a hierarchical response module, for low-risk abnormalities, such as minor sensor noise, start software filtering (such as median filtering, Gaussian filtering) to eliminate the noise and continue to use the current sensor. For example, when there are brief noise points in the camera due to sudden changes in light, the data returns to normal after filtering and does not affect normal driving; For medium-risk cases, such as when the sensor cannot collect valid data, perform various judgment and processing methods as described above; High risks, such as when the backup sensor is also unavailable or the entire software control system of the vehicle fails to work properly, the vehicle will turn on its hazard lights, slow down and pull over to the side of the road, waiting for rescue.

[0033] As an alternative implementation, the step of determining the abnormality of the sensing sensor includes: when the detection results of different types of sensors for the same target are different, determining the sensor with a detection result different from those of other multiple sensors as the sensor to be verified, enabling the backup sensor of the sensor to be verified, and when the detection result of the backup sensor is the same as that of other sensors, determining that the sensor to be verified is damaged; when the detection result of the backup sensor is different from those of other multiple sensors, enabling the backup sensors of other multiple sensors for verification.

[0034] This method mainly targets the situation where the abnormal sensor still has the ability to collect data, but there are problems with the collected data.

[0035] By detecting that the same target collected by different types of sensors is different, it is determined that there is an abnormal sensor. When multiple sensors detect the same target, for example, when three cameras detect a target and the detection result of one camera is abnormal, such as there is no target object in this camera, it can be determined that this camera is an abnormal camera and needs to be verified. The verification can enable the backup camera of this camera. When the backup camera detects the target the same as other sensors, it is determined that this camera is abnormal.

[0036] The present invention also provides an abnormality handling device for an autonomous vehicle.

[0037] Please refer to Figure 3 , the abnormality handling device for an autonomous vehicle is used in the abnormality handling system for an autonomous vehicle, and includes: a housing 1, a cleaning component 2, a main sensing component 3, an auxiliary sensing component 4, and a rotating base 5; The rotating base 5 is installed inside the housing 1. The main sensing component 3 and the auxiliary sensing component 4 are adjacently installed on the rotating base 5, and the detection end 311 of the main sensing component 3 passes through the housing 1 through the assembly pipe 102; The cleaning component 2 is used to clean the detection end 311 of the main sensing component 3 to determine whether there is any blockage at the detection end 311 of the main sensing component 3; When it is necessary to use the auxiliary sensing component 4, the rotating base 5 rotates to switch the positions of the auxiliary sensing component 4 and the main sensing component 3, so that the detection end 311 of the auxiliary sensing component 4 passes through the housing 1 through the assembly pipe 102.

[0038] In order to implement the above judgment and processing of abnormal sensors, an abnormality handling device for an autonomous vehicle is provided; When it is determined that there is an abnormality in the main sensing component 3, but it is necessary to determine whether there is an external object blocking the detection end 311 of the main sensing component 3, the cleaning component 2 is used to clean the detection end 311 of the main sensing component 3, and the blocking objects such as dirt and snow are cleaned. After cleaning, when the main sensing component 3 can collect data normally, the abnormality handling of the main sensing component 3 is completed. After cleaning, when the main sensing component 3 still cannot collect data normally, at this time, the rotating seat 5 switches the main sensing component 3 and the auxiliary sensing component 4, so that the auxiliary sensing component 4 moves to the detection position, and the detection end 311 of the auxiliary sensing component 4 correspondingly passes through the assembly pipe 102, and the auxiliary sensing component 4 is used for data collection.

[0039] By adjusting the positions of the main sensing component 3 and the auxiliary sensing component 4, the auxiliary sensing component 4 is located at the same detection position, thereby reducing the steps of correcting the position of the collected image data.

[0040] Wherein, an installation plate is arranged inside the housing 1, which can be used to install a backup battery or a control circuit board, etc. The installation plate is higher than the main sensing component 3, and when the main sensing component 3 and the auxiliary sensing component 4 switch positions, there is a space for accommodating the main sensing component 3.

[0041] Please refer to Figure 4 As an optional way of this embodiment, the cleaning component 2 includes an infusion pipe 21, an end cap 22 and a nozzle 23. The end cap 22 is installed at one end of the infusion pipe 21, and the nozzle 23 is obliquely installed at the bottom of the infusion pipe 21 and is arranged adjacent to the infusion pipe 21; An assembly cylinder 101 is communicated with the housing 1 above the assembly pipe 102. One end of the infusion pipe 21 penetrates through the assembly cylinder 101, and the end cap 22 plugs the other end of the assembly cylinder 101; The abnormality handling device for an autonomous vehicle further includes a driving device 6, and the driving device 6 is used to drive the infusion pipe 21 to move along the assembly cylinder 101.

[0042] When it is necessary to clean the detection end 311 of the main sensing component 3, the driving device 6 pushes the infusion pipe 21 to move towards the outside of the housing 1. The infusion pipe 21 drives the end cap 22 and the nozzle 23 to move out of the housing 1 and be located above the detection end 311 of the main sensing component 3, and the obliquely arranged nozzle 23 faces the detection end 311, such as Figure 7 At this time, the infusion pipe 21 inputs the cleaning liquid, which is sprayed out through the nozzle 23 onto the lens of the detection end 311, so as to process the blocking object on the lens.

[0043] Wherein, when not in use, the nozzle 23 is located inside the assembly cylinder 101, and the end cap 22 seals the opening of the assembly cylinder 101 to prevent dust, rainwater, etc. from entering the inside of the housing 1.

[0044] In this embodiment, the cleaning component 2 further includes a hose and a water pump. One end of the hose is connected to the infusion tube 21, and the other end passes through the housing 1 and is connected to the output end of the water pump. The input end of the water pump is connected to the water storage tank through a pipeline. Among them, the water storage tank can be the glass water storage tank on the vehicle for cleaning the glass. Of course, a separate water storage tank can also be provided for cleaning each sensor.

[0045] As another alternative of this embodiment, the cleaning component 2 includes a motor and a cleaning brush. The motor is installed on the housing 1, and one end of the cleaning brush is installed on the output end of the motor and is located on one side of the detection end 311. The motor is used to drive the cleaning brush to swing to clean the obstacles on the detection end 311.

[0046] The cleaning side of the cleaning brush preferably uses a sponge or the like.

[0047] Please refer to Figure 3 and Figure 4 As an alternative of this embodiment, the main sensing component 3 includes a sensing element 31, an elastic member 32 and a stopper 33. The sensing element 31 is slidably installed on the rotating seat 5. The stopper 33 is installed on the rotating seat 5 and is spaced apart from the sensing element 31. The elastic member 32 connects the stopper 33 and the sensing element 31. The auxiliary sensing component 4 has the same structure as the main sensing component 3. A driving block 312 is installed on the top of the sensing element 31. The driving device 6 includes a push cylinder 61 and a U-shaped sleeve 63. The push cylinder 61 is installed on the housing 1. The U-shaped sleeve 63 is installed at the bottom of the output shaft of the push cylinder 61 and is sleeved on the driving block 312. The U-shaped sleeve 63 has a clearance fit with the driving block 312. The infusion tube 21 is connected to the output end of the push cylinder 61 through a connecting block.

[0048] When judging whether there is foreign object occlusion in the main sensing component 3, the push cylinder 61 pushes the infusion tube 21 to move towards the outside of the housing 1, correspondingly driving the nozzle 23 and the end cover 22 to move out of the housing 1 to clean the detection end 311. At this time, since the U-shaped sleeve 63 and the driving block 312 have a clearance fit, they move relative to each other, and the U-shaped sleeve 63 does not act on the driving block 312. When the nozzle 23 is retracted into the assembly cylinder 101 and the end cover 22 seals the assembly cylinder 101, as Figure 4 shown, the inner wall of the right side of the U-shaped sleeve 63 abuts against the driving block 312.

[0049] When the auxiliary sensing component 4 needs to be used, the push cylinder 61 drives the infusion tube 21 to move, so that the nozzle 23 continues to move towards the inside of the assembly cylinder 101. At this time, the U-shaped sleeve 63 acts on the driving block 312, driving the sensing element 31 to move accordingly, causing the sensing element 31 to compress the elastic member 32. The detection end 311 of the sensing element 31 moves out of the inside of the assembly tube 102. At this time, the rotating seat 5 can drive the main sensing component 3 and the auxiliary sensing component 4 to rotate, switching the position of the auxiliary sensing component 4, so that the detection end 311 of the auxiliary sensing component 4 is aligned and assembled with the assembly tube 102.

[0050] Thus, the driving device 6 can achieve axial unlocking of the sensing element 31, enabling the rotating seat 5 to switch the positions of the main sensing component 3 and the auxiliary sensing component 4, and using the auxiliary sensing component 4 for data acquisition.

[0051] The push cylinder 61 is an electric push rod, a hydraulic cylinder, a pneumatic cylinder, or the like; The elastic member 32 is an elastic component such as a spring or a reed.

[0052] Please refer to Figure 3 , as an alternative way of this embodiment, a bevel block 103 is provided on the inner wall of the housing 1. The bevel block 103 is adjacent to the assembly tube 102 and is located between the assembly tube 102 and the auxiliary sensing component 4.

[0053] By providing the bevel block 103, during the process of the rotating seat 5 driving the main sensing component 3 and the auxiliary sensing component 4 to rotate and switch positions, when the sensing element 31 in the auxiliary sensing component 4 rotates, the bevel block 103 squeezes the detection end 311 of the sensing element 31, causing the sensing element 31 to compress the corresponding elastic member 32. When the detection end 311 is completely aligned with the assembly tube 102, through the elastic action of the corresponding elastic member 32, the sensing element 31 is pushed, and its detection end 311 passes through the assembly tube 102 to achieve automatic assembly with the assembly tube 102.

[0054] As another alternative way of this embodiment, a beveled surface portion can also be provided on the side of the detection end 311 of the auxiliary sensing component 4 facing the main sensing component 3. During rotation, the beveled surface portion of the detection end 311 acts on the assembly tube 102, causing it to push the corresponding detection end 311 to drive the sensing element 31 to compress the elastic member 32. When the detection end 311 is aligned with the assembly tube 102, the corresponding elastic member 32 pushes the sensing element 31 to drive the detection end 311 to pass through the assembly tube 102 to achieve assembly.

[0055] Please refer to Figure 3 and Figure 4, in this embodiment, the rotating base 5 includes a mounting table 51, a rotating shaft 52 and a rotating member. The rotating shaft 52 is rotatably mounted in the housing 1. The mounting table 51 is mounted on the rotating shaft 52. The rotating member is used to drive the rotating shaft 52 to rotate. Both the main sensing assembly 3 and the auxiliary sensing assembly 4 are mounted on the mounting table 51.

[0056] When it is necessary to switch between the main sensing assembly 3 and the auxiliary sensing assembly 4, the rotating member drives the rotating shaft 52 to rotate, and the rotating shaft 52 drives the mounting table 51 to rotate, so as to switch the positions of the main sensing assembly 3 and the auxiliary sensing assembly 4.

[0057] Among them, the main sensing assembly 3 and the auxiliary sensing assembly 4 are arranged on the mounting table 51 at a preset angle with the rotating shaft 52 as the center line. The specific angle is specifically set according to the size of the sensing element 31, so that the two sensing elements 31 are arranged adjacent to each other.

[0058] Among them, a sliding groove is formed on the mounting table 51, and a sliding block is arranged at the bottom of the sensing element 31. The sliding block slides into the sliding groove to form a sliding assembly.

[0059] Please refer to Figure 3 , as an alternative way of this embodiment, the rotating member is a gear 53. The gear 53 is mounted on the rotating shaft 52. A tooth surface 62 is arranged at the output end of the push cylinder 61. When the push cylinder 61 drives the sensing element 31 in the main sensing assembly 3 to move through the U-shaped sleeve 63 and the driving block 312, so that the detection end 311 of the sensing element 31 moves out of the assembly pipe 102, the tooth surface 62 meshes with the gear 53.

[0060] After the detection end 311 of the sensing element 31 in the main sensing assembly 3 moves out of the assembly pipe 102, at this time the tooth surface 62 meshes with the gear 53. Thus, the push cylinder 61 continues to drive the sensing element 31 to move towards the direction of the rotating shaft 52 through the U-shaped sleeve 63 and the driving block 312. At this time, the tooth surface 62 drives the rotating shaft 52 to rotate a preset angle through the gear 53, so that the mounting table 51 drives the detection end 311 of the sensing element 31 in the auxiliary sensing assembly 4 to be aligned and assembled with the assembly pipe 102, as shown in Figure 9 and Figure 10 .

[0061] Thus, the driving device 6 can successively drive the cleaning assembly 2 to perform an occlusion treatment on the detection end 311 of the sensing element 31, drive the detection end 311 of the sensing element 31 in the main sensing assembly 3 to be separated from the assembly pipe 102 to achieve axial unlocking, and can drive the mounting table 51 to rotate to realize the position switching of the main sensing assembly 3 and the auxiliary sensing assembly 4.

[0062] During the switching process, the sensing element 31 in the main sensing assembly 3 continues to compress the elastic member 32.

[0063] Among them, the U-shaped sleeve 63 and the driving block 312 are adaptively set to be arc-shaped, and the U-shaped sleeve 63 and the driving block 312 are in clearance fit, so as to better adapt. During the rotation process, the U-shaped sleeve 63 can maintain the assembly with the driving block 312.

[0064] As another alternative of this embodiment, the rotating member includes a bracket and a motor. The motor is installed in the housing 1 through the bracket. The output end of the motor is connected to the rotating shaft 52. The rotating shaft 52 is driven by the motor to rotate, driving the mounting table 51 to rotate a preset angle.

[0065] A sealing ring is arranged on the circumferential side surface of the end cover 22.

[0066] By arranging the sealing ring, the sealing performance between the end cover 22 and the inner wall of the assembly cylinder 101 is ensured.

[0067] Among them, the sensing element 31 is a camera, a lidar, etc. In the figure of this embodiment, it is shown as a camera. When it is a lidar, the sensing element 31 is replaced with a lidar, and an opening corresponding to the shape of the lidar detection part is arranged at the position corresponding to the assembly pipe 102.

[0068] The working principle of the abnormal handling device for an autonomous vehicle provided by the present invention is as follows: When it is necessary to handle the obstacle on the detection end 311 of the main sensing component 3, the driving device 6 pushes the infusion tube 21 to move outward from the housing 1. The infusion tube 21 drives the end cover 22 and the nozzle 23 out of the housing 1 and is located above the detection end 311 of the main sensing component 3, and the obliquely arranged nozzle 23 faces the detection end 311, as Figure 7 shown. At this time, the cleaning liquid is input through the infusion tube 21 and sprayed out from the nozzle 23 to the lens of the detection end 311, realizing the treatment of the obstacle on the lens.

[0069] At this time, since the U-shaped sleeve 63 and the driving block 312 are in clearance fit and move relative to each other, the U-shaped sleeve 63 will not act on the driving block 312; When the nozzle 23 is retracted into the assembly cylinder 101 and the end cover 22 seals the assembly cylinder 101, as Figure 4 shown, the inner wall on the right side of the U-shaped sleeve 63 abuts against the driving block 312.

[0070] When the auxiliary sensing component 4 needs to be used, the push cylinder 61 drives the infusion tube 21 to move, so that the nozzle 23 continues to move towards the inside of the assembly cylinder 101. At this time, the U-shaped sleeve 63 acts on the driving block 312, driving the sensing element 31 to move accordingly, causing the sensing element 31 to compress the elastic member 32. The detection end 311 of the sensing element 31 moves out of the inside of the assembly tube 102. At this time, the tooth surface 62 meshes with the gear 53. Thus, the push cylinder 61 continues to drive the sensing element 31 towards the direction of the rotating shaft 52 through the U-shaped sleeve 63 and the driving block 312. At this time, the tooth surface 62 drives the rotating shaft 52 to rotate a preset angle through the gear 53, so that the mounting table 51 drives the detection end 311 of the sensing element 31 in the auxiliary sensing component 4 to be aligned and assembled with the assembly tube 102, as Figure 9 and Figure 10 ; Thus, the driving device 6 can successively drive the cleaning component 2 to perform an occlusion treatment on the detection end 311 of the sensing element 31, drive the detection end 311 of the sensing element 31 in the main sensing component 3 to separate from the assembly tube 102 to achieve axial unlocking, and can drive the mounting table 51 to rotate to achieve the position switching of the main sensing component 3 and the auxiliary sensing component 4.

[0071] Among them, during the rotation of the sensing element 31 in the auxiliary sensing component 4, the inclined plane block 103 presses the detection end 311 of the sensing element 31, causing the sensing element 31 to compress the corresponding elastic member 32. When the detection end 311 is completely aligned with the assembly tube 102, through the elastic action of the corresponding elastic member 32, the sensing element 31 is pushed, so that its detection end 311 passes through the assembly tube 102 to achieve automatic assembly with the assembly tube 102.

[0072] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An abnormal handling system for an autonomous vehicle, characterized in that, Including: Anomaly monitoring module, the anomaly monitoring module includes a control - end monitoring unit and a sensing - end monitoring unit. The control - end monitoring unit is used to collect data of the vehicle software system, and the sensing - end monitoring unit is used to collect data of the vehicle sensing sensors; Anomaly diagnosis module, the anomaly diagnosis module determines whether the vehicle is operating abnormally according to the data collected by the anomaly monitoring module; Anomaly handling module, the anomaly handling module includes an independent control unit and a sensing processing unit; When the sensing sensor is abnormal, the sensing processing unit determines whether it is a power - supply anomaly. When it is a power - supply anomaly, the backup power supply of the corresponding abnormal sensing sensor is enabled. When the power supply is normal, the sensing processing unit determines whether the outside of the sensing sensor is blocked. When there is no blockage outside the sensing sensor, the anomaly handling module switches to the backup sensing sensor; When the software system is abnormal, the independent control unit is used to control the driving state of the vehicle.

2. The exception handling system for an autonomous vehicle according to claim 1, wherein The anomaly handling system for autonomous vehicles further includes a hierarchical response module, and the hierarchical response module is used to determine the fault type and risk level and execute corresponding strategies according to the fault type and risk level.

3. The exception handling system for an autonomous vehicle according to claim 1, wherein The steps for judging the anomaly of the sensing sensor include: when the detection results of different types of sensors for the same target are different, determine the sensor with a detection result different from that of other multiple sensors as the sensor to be verified, enable the backup sensor of the sensor to be verified. When the detection result of the backup sensor is the same as that of other sensors, judge that the sensor to be verified is damaged. When the detection result of the backup sensor is different from that of other multiple sensors, enable the backup sensors of other multiple sensors for verification.

4. An abnormal handling device for an autonomous vehicle, characterized in that, The anomaly handling device for autonomous vehicles is used in the anomaly handling system for autonomous vehicles as described in any one of claims 1 - 3, and includes: a housing, a cleaning component, a main sensing component, an auxiliary sensing component, and a rotating base; The rotating base is installed inside the housing, the main sensing component and the auxiliary sensing component are adjacently installed on the rotating base, and the detection end of the main sensing component passes through the housing through an assembly pipe; The cleaning component is used to clean the detection end of the main sensing component to determine whether there is a blockage at the detection end of the main sensing component; When the auxiliary sensing component needs to be used, the rotating base rotates to switch the positions of the auxiliary sensing component and the main sensing component, so that the detection end of the auxiliary sensing component passes through the housing through the assembly pipe.

5. The abnormal handling device for an autonomous vehicle according to claim 4, characterized in that, The cleaning component includes an infusion pipe, an end cap, and a nozzle. The end cap is installed at one end of the infusion pipe, and the nozzle is obliquely installed at the bottom of the infusion pipe and is adjacent to the infusion pipe; An assembly cylinder is communicated above the assembly pipe on the housing, one end of the infusion pipe passes through the assembly cylinder, and the end cap plugs the other end of the assembly cylinder; The anomaly handling device for autonomous vehicles further includes a driving device, and the driving device is used to drive the infusion pipe to move along the assembly cylinder.

6. The exception handling device for an autonomous vehicle according to claim 5, characterized in that, The main sensing assembly includes a sensing element, an elastic member, and a stopper. The sensing element is slidably mounted on the rotating base. The stopper is mounted on the rotating base and is spaced apart from the sensing element. The elastic member connects the stopper and the sensing element. The auxiliary sensing assembly has the same structure as the main sensing assembly; A driving block is mounted on the top of the sensing element. The driving device includes a push cylinder and a U-shaped sleeve. The push cylinder is mounted on the housing. The U-shaped sleeve is mounted at the bottom of the output shaft of the push cylinder and is sleeved on the driving block. The U-shaped sleeve is in clearance fit with the driving block. The infusion tube is connected to the output end of the push cylinder through a connecting block.

7. The abnormal handling device for an autonomous vehicle according to claim 6, characterized in that, An inclined plane block is provided on the inner wall of the housing. The inclined plane block is adjacent to the assembly tube and is located between the assembly tube and the auxiliary sensing assembly.

8. The abnormal handling device for an autonomous vehicle according to claim 6, characterized in that, The rotating base includes a mounting table, a rotating shaft, and a rotating member. The rotating shaft is rotatably mounted in the housing. The mounting table is mounted on the rotating shaft. The rotating member is used to drive the rotating shaft to rotate. The main sensing assembly and the auxiliary sensing assembly are both mounted on the mounting table.

9. The exception handling device for an autonomous vehicle according to claim 8, wherein The rotating member is a gear. The gear is mounted on the rotating shaft. A tooth surface is provided at the output end of the push cylinder. When the push cylinder drives the sensing element in the main sensing assembly to move through the U-shaped sleeve and the driving block so that the detection end of the sensing element moves out of the assembly tube, the tooth surface meshes with the gear.

10. The exception handling device for an autonomous vehicle according to claim 5, wherein, A sealing ring is provided on the circumferential side surface of the end cover.

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