Laser radar power supply monitoring device and domain control system

Abstract

The invention provides a laser radar power supply monitoring device and a domain control system, which are applied to an automatic driving vehicle. The laser radar power supply monitoring device comprises a microcontroller, a relay, a monitoring chip and a communication port, the microcontroller is electrically connected with the relay and the monitoring chip and is externally connected with a domain controller of an automatic driving vehicle through the communication port, the relay is connected with the monitoring chip in series, and the relay is externally connected with a power supply of a laser radar. The monitoring chip is externally connected with a laser radar; the MCU can send an abnormal message to the domain controller when determining that the power supply state of the laser radar is abnormal according to the laser radar power supply information monitored by the monitoring chip. On the premise that the complexity of the domain controller and the heat dissipation risk of the domain controller are not increased and the internal electromagnetic interference of the domain controller is reduced, the power supply state of the laser radar can be monitored in real time, and meanwhile it is ensured that the domain controller can know the power supply abnormity of the laser radar in real time.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of autonomous driving, and in particular, to a laser radar power supply monitoring device and a domain control system. BACKGROUND

[0002] In the technical field of autonomous driving, as one of the environment perception sensors, the working state of laser radar (LiDAR) is directly related to the safety and reliability of the system. Therefore, it is necessary to monitor the data stream and power supply state of the laser radar in real time, and when the laser radar is monitored to occur conditions such as voltage fluctuation, voltage drop, etc., it can timely trigger safety mechanisms such as function degradation, control vehicle safe parking, etc.

[0003] At present, the power supply scheme of the laser radar mainly relies on direct power supply from the vehicle main battery. However, under this architecture, the domain controller (Domain Controller) usually cannot effectively perceive the actual state of the laser radar power supply, forming a kind of "black box" state. The domain controller can only receive the data collected by the laser radar, but it cannot effectively perceive the power supply state such as whether the voltage is stable, whether there is abnormal fluctuation or interruption of the voltage, etc. in real time, which leads to the difficulty of the domain controller to respond in time when the laser radar power supply fails, resulting in safety hazards in vehicle driving.

[0004] To solve this problem, the related technology is to integrate the power supply monitoring function into the domain controller. That is, the domain controller monitors the power supply state of the laser radar through the internal circuit of the domain controller. However, this scheme will occupy valuable PCB area and increase the hardware volume and design complexity of the domain controller due to the need to integrate the power supply monitoring circuit in the domain controller. In addition, since the laser radar may be accompanied by large instantaneous current changes when working, the power supply monitoring circuit integrated in the domain controller will inevitably introduce signals carrying these large current changes into the domain controller, which will increase electromagnetic interference and affect the normal work of other components in the domain controller, resulting in safety hazards in vehicle driving.

[0005] Therefore, there is an urgent need for a solution that can monitor the power supply state of the laser radar in real time and avoid the above problems to improve the overall safety of the autonomous driving system. SUMMARY

[0006] Therefore, the present disclosure provides a laser radar power supply monitoring device and a domain control system.

[0007] According to a first aspect of the present disclosure, a laser radar power supply monitoring device is provided, which is applied to an autonomous vehicle, and comprises a microcontroller (MCU), a relay, a monitoring chip and a communication port. The microcontroller is electrically connected to the relay and the monitoring chip, and is externally connected to a domain controller of the autonomous vehicle through the communication port. The relay is connected in series with the monitoring chip to form a power supply path of a laser radar. The relay is externally connected to a power supply of the laser radar, and the monitoring chip is externally connected to the laser radar.

[0008] The monitoring chip is configured to monitor power supply information of the laser radar and provide the power supply information to the MCU.

[0009] The MCU is configured to determine whether a power supply state of the laser radar is abnormal according to the power supply information of the laser radar, generate state information indicating an abnormality degree of the power supply state of the laser radar according to the power supply information of the laser radar when the power supply state of the laser radar is abnormal, pack the state information into an abnormality message, and send the abnormality message to the domain controller through the communication port.

[0010] In some embodiments of the first aspect of the present disclosure, the MCU is further configured to control the monitoring chip to power on / off and the relay to switch on / off to control the power supply path to be connected or disconnected, so that the laser radar is synchronized with the domain controller to power on / off.

[0011] In some embodiments of the first aspect of the present disclosure, the power supply information of the laser radar comprises a real-time voltage value and / or a real-time current value of the laser radar. The MCU is specifically configured to compare the real-time voltage value of the laser radar with a preconfigured voltage threshold to determine whether the power supply voltage of the laser radar is abnormal and an abnormality degree of the power supply voltage, and / or compare the real-time current value of the laser radar with a preconfigured current threshold to determine whether the power supply current of the laser radar is abnormal and an abnormality degree of the power supply current.

[0012] In some embodiments of the first aspect of the present disclosure, the voltage threshold comprises a reference voltage threshold for determining whether the power supply voltage of the laser radar is abnormal and one or more level voltage thresholds for determining the abnormality degree of the power supply voltage of the laser radar, and / or the current threshold comprises a reference current threshold for determining whether the power supply current of the laser radar is abnormal and one or more level current thresholds for determining the abnormality degree of the power supply current of the laser radar.

[0013] In some embodiments of the first aspect of the present disclosure, the MCU is specifically configured to: generate a status code indicating an abnormality level of the power supply voltage and / or an abnormality level of the power supply current of the laser radar by querying a preconfigured status mapping table according to the abnormality degree of the power supply voltage and / or the abnormality degree of the power supply current of the laser radar, and pack the status code as data content into the abnormality packet.

[0014] In some embodiments of the first aspect of the present disclosure, the MCU is connected to the monitoring chip through an I2C interface.

[0015] According to a second aspect of the present disclosure, a domain control system is provided, which is applied to an autonomous vehicle and includes a domain controller, a laser radar, a power supply of the laser radar, and the laser radar power supply monitoring device described above.

[0016] In some embodiments of the second aspect of the present disclosure, the domain controller is configured to receive and analyze the abnormality packet from the laser radar power supply monitoring device to obtain the status information of the laser radar, and perform a fault handling action according to the status information of the laser radar and a preconfigured fault response table.

[0017] In some embodiments of the second aspect of the present disclosure, the fault handling action includes one or more of the following:

[0018] warning;

[0019] degrading to a working mode of other sensors except the laser radar;

[0020] requesting a driver to take over;

[0021] reducing the vehicle speed and controlling the vehicle to drive into a next parking area to park;

[0022] autonomously parking by the roadside.

[0023] In some embodiments of the second aspect of the present disclosure, the power supply of the laser radar is a vehicle-mounted power supply of the autonomous vehicle.

[0024] As can be seen from the above technical solutions, the embodiments of the present disclosure can realize real-time monitoring of the power supply state of the laser radar while ensuring that the domain controller can learn about the power supply abnormality of the laser radar in real time, without increasing the complexity of the domain controller, the risk of heat dissipation of the domain controller, and reducing the electromagnetic interference inside the domain controller, so that the domain controller can make timely processing such as degradation and safe parking when the power supply of the laser radar is abnormal, thereby effectively improving the system reliability and safety of the autonomous vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below only illustrate some of the embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0026] Figure 1 A structural schematic diagram of a laser radar power supply monitoring device provided by an embodiment of the present disclosure is shown in the figure.

[0027] Figure 2 A structural schematic diagram of a domain control system provided by an embodiment of the present disclosure is shown in the figure. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present disclosure.

[0029] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "an" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0030] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0031] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (a stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)".

[0032] As described above, in the related art, the domain controller cannot learn the power supply state of the lidar in time or needs to integrate the power supply monitoring circuit of the lidar into the domain controller, which at least has the following problems: 1) when the power supply state of the lidar is abnormal, the domain controller cannot learn the power supply state of the lidar in time and is difficult to respond in time, which brings a safety hazard; 2) integrating the power supply monitoring circuit of the lidar into the domain controller increases the hardware size and design complexity of the domain controller; 3) integrating the power supply monitoring circuit of the lidar into the domain controller introduces a large current into the domain controller, increases electromagnetic interference, and affects the normal work of other components in the domain controller.

[0033] In view of this, the embodiment of the present disclosure provides a lidar power supply monitoring device and a domain control system, which decouples the lidar power supply monitoring device and the domain controller, monitors the power supply state of the lidar in real time through the lidar power supply monitoring device, and reports the abnormal power supply state of the lidar to the domain controller in time, which not only solves the above problems of the related art, but also improves the system reliability while reducing the hardware cost.

[0034] The autonomous vehicle of the embodiment of the present disclosure refers to a vehicle with an autonomous driving function. The embodiment of the present disclosure can be applied to but is not limited to intelligent control of devices such as multiple wheeled mobile robots, mobile robots, vehicles, aircraft, ships, intelligent rail rapid transit systems (ART, Autonomous rail Rapid Transit), industrial automation equipment, etc. The vehicle can be but is not limited to a passenger car, a commercial vehicle (for example, a truck, a bus, a van, etc.), a special purpose vehicle (for example, an ambulance, a fire truck, an engineering vehicle, a rescue vehicle, etc.), an agricultural and industrial vehicle (for example, a harvester, a forklift, etc.), a transportation logistics vehicle (for example, a truck, a refrigerated truck, etc.), a new energy vehicle (for example, an electric vehicle, a hybrid electric vehicle), a special carrier (for example, a garbage truck, a watering truck, etc.). In other words, the "vehicle" in the embodiment of the present disclosure is equivalent to the various devices described above.

[0035] The embodiment of the present disclosure can be applied to urban traffic, highways, ports, mines, farms, closed parks, industrial production, etc., and can be applied to many aspects such as car travel, public transportation, logistics distribution, unmanned transportation, end distribution, automated agricultural operation, and automated sanitation. Of course, the embodiment of the present disclosure can also be applied to other arbitrary scenes of the autonomous vehicle and other devices. The embodiment of the present disclosure does not limit this.

[0036] Figure 1 A structure diagram of a lidar power supply monitoring device provided by the embodiment of the present disclosure is shown, which can be applied to an autonomous vehicle or a wheeled robot with autonomous driving and other devices. Referring to FIG. 1, the lidar power supply monitoring device includes a power supply monitoring circuit 101, a power supply state detection circuit 102, a power supply state reporting circuit 103, and a power supply state monitoring circuit 104. Figure 1The laser radar power supply monitoring device 100 of the embodiment of the present disclosure can include a microcontroller 101 (MCU), a relay 103, a monitoring chip 102, and a communication port 104.

[0037] Referring to Figure 1 The MCU 101 is electrically connected to the relay 103 and the monitoring chip 102 respectively and externally connected to a domain controller 200 of an autonomous vehicle through the communication port 104, the relay 103 is connected in series with the monitoring chip 102 to form a power supply path, the relay 103 is externally connected to a power supply 400 of a laser radar 300, the monitoring chip 102 is externally connected to the laser radar 300, and the relay 103 is externally connected to the power supply 400 of the laser radar.

[0038] The monitoring chip 102 can be used to monitor power supply information of the laser radar 300 and provide the information to the MCU 101, and the MCU 101 can be used to determine whether a power supply state of the laser radar 300 is abnormal according to the power supply information of the laser radar 300, generate state information indicating an abnormality degree of the power supply state of the laser radar 300 according to the power supply information of the laser radar 300 when the power supply state of the laser radar 300 is abnormal, and pack the state information into an abnormality message and send the abnormality message to the domain controller 200 through the communication port 104.

[0039] In a specific application, the monitoring chip 102 can be implemented as a monitoring IC (also known as a monitoring integrated circuit or a power management integrated circuit), which can monitor analog quantities such as real-time voltage and real-time current and convert these analog quantities into digital quantities (i.e., real-time voltage values and real-time current values) so that the MCU can directly obtain the real-time current values and the real-time voltage values.

[0040] Further, the MCU 101 can also be used to not perform the following processing when the power supply state of the laser radar 300 is normal: packing the state information into an abnormality message, and sending the abnormality message to the domain controller 200 through the communication port 104. Thus, the laser radar power supply monitoring device 100 can report to the domain controller 200 only when the power supply state of the laser radar 300 is abnormal, thereby reducing the occupation of resources of the domain controller 200 on the premise of ensuring that the domain controller 200 can learn in real time that the power supply of the laser radar 300 is abnormal.

[0041] In addition, the MCU 101 can also be used to report the state information of the laser radar 300 to the domain controller 200 in the form of a message at the request of the domain controller 200. Thus, whether the power supply state of the laser radar 300 is abnormal or not, as long as the domain controller 200 needs to obtain the power supply information of the laser radar 300, the MCU 101 can provide the domain controller 200 according to the demand of the domain controller 200.

[0042] Further, the MCU 101 can also be configured to control the relay 103 and the monitoring chip 102 to synchronize the power on and off of the lidar 300 according to the power on and off instructions from the domain controller 200. That is, the MCU 101 can also be configured to control the power on and off of the monitoring chip 102 and the switching of the relay 103 to control the on and off of the power supply path, so as to synchronize the power on and off of the lidar 300 with the domain controller 200.

[0043] Specifically, the MCU 101 can be configured to receive a power on instruction from the domain controller 200, and control the power on of the monitoring chip 102 and the switching of the relay 103 to the ON state to turn on the power supply path, so that the power supply 400 of the lidar 300 is connected with the lidar 300, and the lidar 300 is powered on. The MCU 101 can be configured to receive a power off instruction from the domain controller 200, and control the power off of the monitoring chip 102 and the switching of the relay 103 to the OFF state to turn off the power supply path, so that the power supply 400 of the lidar 300 is disconnected with the lidar 300, and the lidar 300 is powered off.

[0044] In this way, the lidar power supply monitoring device 100 can not only monitor the power supply state of the lidar 300 in real time, but also control the lidar 300 to synchronize the power on and off with the domain controller 200.

[0045] Further, the MCU 101 and the monitoring chip 102 can be connected through an Inter-Integrated Circuit (I2C) interface.

[0046] In some examples, the MCU 101 can control the power on of the monitoring chip 102 and the switching of the relay 103 to the ON state through the following steps a1-a4:

[0047] In step a1, the MCU 101 outputs a high level signal (GPIO_PIN_SET) to the enable pin (EN) of the monitoring chip 102 through a General-Purpose Input / Output (GPIO) interface and keeps the enable state for a predetermined time length, so as to ensure that the internal power supply of the monitoring chip 102 is stable and initialization is completed.

[0048] In step a2, the MCU 101 continuously polls the state of the interrupt pin (INT) of the monitoring chip 102, and waits for the interrupt pin to change from low level to high level. The change of the interrupt pin to high level indicates that the monitoring chip 102 is ready.

[0049] Step a3, MCU 101 sends a configuration instruction through the I2C bus, and the monitoring chip 102 reads the configuration parameters according to the register address in the configuration command after receiving the configuration instruction and refreshes its own configuration according to the configuration parameters. The configuration parameters can include but are not limited to over-voltage protection threshold, over-current protection threshold, etc.

[0050] Step a4, MCU 101 sends a control instruction through I2C, and the monitoring chip 102 reads the enable output (OE, Output Enable) information according to the register address in the control instruction after receiving the control instruction, and controls the relay 103 to switch to the open state to turn on the power supply path from the input port to the output port according to the OE information.

[0051] The process of MCU 101 controlling the monitoring chip 102 to power off and the relay 103 to switch to the off state is similar to the foregoing process and will not be described again.

[0052] In some examples, the monitoring chip 102 can provide the power supply information of the lidar 300 to the MCU 101 in the following way: after the monitoring chip 102 monitors the power supply information of the lidar 300, it writes the power supply information of the lidar 300 into the corresponding status register, and the MCU 101 can obtain the power supply information of the lidar 300 by reading the status register in a predetermined mode. Specifically, the MCU 101 can read the status register in a predetermined mode such as polling mode, interrupt mode, etc. In polling mode, the MCU 101 can read the status register at a fixed time to obtain the power supply information of the lidar 300. In interrupt mode, after the monitoring chip 102 monitors the power supply information of the lidar 300, it generates an over-voltage and / or over-current interrupt event according to the over-voltage protection threshold and the over-current protection threshold. The interrupt event triggers the interrupt pin of the monitoring chip 102 to be pulled high, and the interrupt pin being pulled high triggers the MCU 101 to read the power supply information of the lidar 300 in the status register.

[0053] Exemplarily, when the power supply information includes real-time current value and real-time voltage value, the I2C register (i.e. the status register mentioned above) for communication between the monitoring chip 102 and the MCU 101 can be defined as Table 1 below.

[0054] State register address Explanation 0x11 Real-time voltage value 0x22 Real-time current value

[0055] Table 1

[0056] The power supply information of the lidar 300 can be used to indicate the power supply status of the lidar 300, and may include, but is not limited to, the real-time voltage value and real-time current value of the lidar 300. In some examples, the power supply information of the lidar 300 may only include the real-time voltage value of the lidar 300. In some examples, the power supply information of the lidar 300 may include both the real-time voltage value and the real-time current value of the lidar 300. In other examples, the power supply information of the lidar 300 may only include the real-time current value of the lidar 300. This disclosure does not limit the specific content of the power supply information of the lidar 300.

[0057] Furthermore, the MCU 101 can be used to determine whether the power supply status of the lidar 300 is abnormal and the degree of abnormality based on the real-time voltage value and / or real-time current value of the lidar 300 and their corresponding threshold values. Specifically, the MCU 101 can be used to: compare the real-time voltage value of the lidar 300 with a pre-configured voltage threshold to determine whether the power supply voltage of the lidar 300 is abnormal and the degree of abnormality; and / or compare the real-time current value of the lidar 300 with a pre-configured current threshold to determine whether the power supply current of the lidar 300 is abnormal and the degree of abnormality.

[0058] The voltage and current thresholds can be determined based on the voltage and current reference values ​​of the LiDAR 300. Here, the voltage and current reference values ​​are the factory parameters of the LiDAR 300.

[0059] Specifically, the voltage thresholds include a reference voltage threshold for determining whether the power supply voltage of the LiDAR 300 is abnormal, and a graded voltage threshold for determining the degree of abnormality in the LiDAR 300's power supply voltage. One or more graded voltage thresholds can be set as needed. The current thresholds include a reference current threshold for determining whether the power supply current of the LiDAR 300 is abnormal, and a graded current threshold for determining the degree of abnormality in the LiDAR 300's power supply current. One or more graded current thresholds can be set as needed. In practical applications, each graded voltage threshold and each graded current threshold represent a different degree of power supply abnormality and correspond to different fault handling actions of the domain controller 200.

[0060] Table 2 provides an example of the state mapping table below, showing examples of voltage and current thresholds. In the examples in Table 2, the reference voltage threshold is ±2% of the voltage reference value of the LiDAR 300, and the reference current threshold is ±1% of the current reference value of the LiDAR 300. There are two levels of voltage thresholds: ±5% of the voltage reference value and ±10% of the voltage reference value. There are also two levels of current thresholds: ±3% of the current reference value and ±5% of the voltage reference value.

[0061] For example, if the real-time voltage value of the lidar 300 exceeds the reference voltage value of the lidar 300 by +5% and is lower than the reference voltage value by +10%, it indicates that the power supply state of the lidar 300 is abnormal and the abnormality degree of the voltage of the lidar 300 is low, corresponding to the voltage abnormality level 1. If the real-time voltage value of the lidar 300 is lower than the reference voltage value of the lidar 300 by -5% and is higher than the reference voltage value by -10%, it also indicates that the power supply state of the lidar 300 is abnormal and the abnormality degree of the voltage of the lidar 300 is low, corresponding to the voltage abnormality level 1. Here, the reference voltage value +5% refers to the sum of the reference voltage value and 5% of the reference voltage value, and the reference voltage value -5% refers to the difference obtained by subtracting 5% of the reference voltage value from the reference voltage value. Other similar, not described here.

[0062] Further, the state information can be represented in the form of a state code. That is, the MCU 101 can be specifically used to generate a state code indicating the power supply voltage abnormality level and / or the power supply current abnormality level of the lidar 300 by querying a preconfigured state mapping table according to the abnormality degree of the power supply voltage and / or the abnormality degree of the power supply current of the lidar 300, and pack the state code as data content into an abnormality message. In specific applications, the specific format of the state code can be flexibly defined as needed. Table 2 is an example of a state mapping table.

[0063]

[0064] Table 2

[0065] For example, if the real-time voltage value of the lidar 300 exceeds the reference voltage value of the lidar 300 by +5% and is lower than the reference voltage value by +10%, it indicates that the power supply state of the lidar 300 is abnormal and the abnormality degree of the voltage of the lidar 300 is low, corresponding to the voltage abnormality level 1. If the real-time voltage value of the lidar 300 is lower than the reference voltage value of the lidar 300 by -5% and is higher than the reference voltage value by -10%, it also indicates that the power supply state of the lidar 300 is abnormal and the abnormality degree of the voltage of the lidar 300 is low, corresponding to the voltage abnormality level 1. Here, the reference voltage value +5% refers to the sum of the reference voltage value and 5% of the reference voltage value, and the reference voltage value -5% refers to the difference obtained by subtracting 5% of the reference voltage value from the reference voltage value. Other similar, not described here.

[0066] Further, the communication port 104 in the laser radar power supply monitoring device 100 can be, but is not limited to, a network port such as a vehicle-mounted Ethernet interface, an industrial Ethernet interface, etc. Exemplarily, the message exchanged between the MCU 101 and the domain controller 200 can include five parts, namely, a packet header, a source address, a destination address, data, and a check code. The status information (i.e., a status code) can be encapsulated in the "data" part as the content of the "data". In specific applications, the message format exchanged between the MCU 101 and the domain controller 200 is related to the network port type and the transmission protocol between the MCU 101 and the domain controller 200, and the present embodiment does not limit the same.

[0067] Figure 2 A structure diagram of the domain control system provided by the present embodiment is shown, which can be applied to an automatic driving vehicle or an automatic driving wheeled robot, etc. Referring to Figure 2 The domain control system of the present embodiment can include a domain controller 200, a laser radar 300, a power supply 400 of the laser radar, and the aforementioned laser radar power supply monitoring device 100.

[0068] The domain controller 200 can be configured to receive and analyze the abnormal message from the laser radar power supply monitoring device 100 to obtain the status information of the laser radar 300, and perform a fault handling action according to the status information of the laser radar 300 and a preconfigured fault response table. Specifically, after the domain controller 200 analyzes the abnormal message to obtain the status code, the domain controller 200 queries the fault handling strategy corresponding to the status code in the fault response table and performs the fault handling action according to the corresponding fault handling strategy. Here, the fault handling action can include, but is not limited to, alarming, downgrading, parking, etc.

[0069] In some examples, the fault handling action can include, but is not limited to, one or more of the following:

[0070] 1) Alarming, i.e., issuing an alarm to prompt the driver or operator to pay attention to the power supply of the laser radar 300 while keeping the vehicle normally driving. The alarming manner can be, but is not limited to, playing a voice prompt, displaying a corresponding prompt on a central control screen or an operator's device, or other various applicable manners.

[0071] 2) Downgrading to a working mode of other sensors except the laser radar 300, i.e., the domain controller 200 can switch to an automatic driving mode without using the laser radar 300 while keeping the vehicle normally driving.

[0072] 3) Requesting the driver to take over, i.e., in a scenario with a driver, the domain controller 200 can request the driver to take over to switch the vehicle from an automatic driving mode to a driver takeover mode.

[0073] 4) Reduce the vehicle speed and control the vehicle to park in the next parking area, that is, the domain controller 200 can keep the vehicle trajectory unchanged, reduce the vehicle speed to below the predetermined speed, and re-plan the vehicle driving path to control the vehicle to park in the next parking area, so that the staff can check in time.

[0074] 5) Autonomous parking, for example, L4 scenario where the vehicle can completely autonomously perform driving tasks without the intervention of the driver, such as unmanned automatic driving scenarios in areas such as parks, airports, ports, mining areas, closed highways, etc. The domain controller 200 can control the vehicle to autonomously park. After autonomous parking, the staff can also be reminded by means such as double flashing, laser radar 300 prompt light flashing, etc.

[0075] The fault response table can include the state code of the power supply abnormality of the laser radar 300 and the corresponding fault handling action. The domain controller 200 can quickly respond to the power supply abnormality of the laser radar 300 by querying the fault mapping table. Table 3 is an example of the fault response table. The fault response table can be pre-configured in the domain controller 200, and the state code in the fault response table can be the same as the state code in the aforementioned state mapping table.

[0076] State code Fault handling action 0F 0E 00 11 Reduce vehicle speed and park in the next parking area 0F 0E 00 11 Autonomous parking, double flash, laser radar warning light flashing 0A 0A 00 11 Warning 0A 0A 01 00 Reduce vehicle speed and park in the next parking area

[0077] Table 3

[0078] In specific applications, the process of the domain controller 200 executing the fault handling action can include but is not limited to: the domain controller 200 obtains perception data from sensors other than the laser radar 300, combines the perception data and the fault handling action to be executed to plan the vehicle path and make vehicle driving decisions, outputs vehicle control instructions to the vehicle chassis system, and executes the vehicle control instructions by the vehicle chassis system, thereby completing the aforementioned fault handling action.

[0079] The laser radar 300 can be used to collect point cloud data of the environment where the vehicle is located, and can be implemented as a single radar or a radar array.

[0080] In specific applications, the power supply of the laser radar can be but not limited to the vehicle-mounted power supply of the autonomous vehicle, such as a 12V storage battery, a 12V low-voltage power supply converted from a high-voltage battery, etc.

[0081] The laser radar power supply monitoring device 100 and the domain controller 200 are decoupled in the embodiments of the present disclosure, so that the real-time monitoring of the power supply state such as the power supply voltage and the power supply current of the laser radar 300 can be implemented without increasing the complexity of the domain controller 200, the risk of heat dissipation of the domain controller, and reducing the internal electromagnetic interference of the domain controller 200. Meanwhile, the laser radar 300 power supply state abnormality can be reported to the domain controller 200 in real time, so that the domain controller 200 can execute responses such as degradation and safe parking in a timely manner when the laser radar 300 power supply state is abnormal, thereby improving system reliability and safety.

[0082] The above describes the technical solutions provided by the present disclosure in detail, and the principles and implementation manners of the present disclosure are described by applying specific examples. The above description of the embodiments is only for helping to understand the method of the present disclosure and its core idea; meanwhile, for those skilled in the art, according to the idea of the present disclosure, the specific implementation manners and application ranges can be changed. In summary, the content of the specification should not be understood as a limitation of the present disclosure.

[0083] The above only describes the preferred embodiments of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A lidar power monitoring device, comprising: The laser radar power supply monitoring device is applied to an autonomous vehicle, and comprises a microcontroller (MCU), a relay, a monitoring chip and a communication port. The microcontroller is electrically connected with the relay and the monitoring chip and externally connected with a domain controller of the autonomous vehicle through the communication port. The relay is connected with the monitoring chip in series to form a power supply path of the laser radar. The relay is externally connected with a power supply of the laser radar. The monitoring chip is externally connected with the laser radar. The monitoring chip is configured to monitor power supply information of the laser radar and provide the power supply information to the MCU. The MCU is configured to determine whether a power supply state of the laser radar is abnormal according to the power supply information of the laser radar. When the power supply state of the laser radar is abnormal, the MCU is configured to generate state information indicating an abnormality degree of the power supply state of the laser radar according to the power supply information of the laser radar, pack the state information into an abnormality message, and send the abnormality message to the domain controller through the communication port.

2. The apparatus of claim 1, wherein, The MCU is further configured to control the monitoring chip to power on / off and the relay to switch on / off according to a power on / off instruction from the domain controller, so as to control the power supply path to be turned on / off, thereby synchronizing the laser radar with the domain controller to power on / off.

3. The device of claim 1, wherein The power supply information of the laser radar comprises a real-time voltage value and / or a real-time current value of the laser radar. The MCU is specifically configured to compare the real-time voltage value of the laser radar with a preconfigured voltage threshold to determine whether the power supply voltage of the laser radar is abnormal and an abnormality degree of the power supply voltage, and / or compare the real-time current value of the laser radar with a preconfigured current threshold to determine whether the power supply current of the laser radar is abnormal and an abnormality degree of the power supply current.

4. The apparatus of claim 3, wherein, The voltage threshold comprises a reference voltage threshold for determining whether the power supply voltage of the laser radar is abnormal and one or more level voltage thresholds for determining the abnormality degree of the power supply voltage of the laser radar, and / or the current threshold comprises a reference current threshold for determining whether the power supply current of the laser radar is abnormal and one or more level current thresholds for determining the abnormality degree of the power supply current of the laser radar.

5. The apparatus of claim 3, wherein, The MCU is specifically configured to generate a state code indicating an abnormality level of the power supply voltage and / or an abnormality level of the power supply current of the laser radar by querying a preconfigured state mapping table according to the abnormality degree of the power supply voltage and / or the abnormality degree of the power supply current of the laser radar, and pack the state code as data content into the abnormality message.

6. The apparatus of claim 1, wherein, The MCU is connected with the monitoring chip through an I2C interface.

7. A domain control system, characterized by The domain control system is applied to an autonomous vehicle, and comprises a domain controller, a laser radar, a power supply of the laser radar and the laser radar power supply monitoring device of any one of claims 1 to 6.

8. The system of claim 7, wherein, The domain controller is configured to receive and analyze an abnormality message from the laser radar power supply monitoring device to obtain state information of the laser radar, and perform a fault handling action according to the state information of the laser radar and a preconfigured fault response table.

9. The system of claim 8, wherein, The fault handling action comprises one or more of the following: warning; Downgrade to other sensor working mode except the laser radar; Request the driver to take over; Reduce the vehicle speed and control the vehicle to drive into the next parking area to park; Autonomously pull over to park.

10. The system of claim 7, wherein, The power supply of the laser radar is the on-board power supply of the autonomous vehicle.

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