Auxiliary driving monitoring method and related equipment

Abstract

The invention provides an auxiliary driving monitoring method and related equipment, and relates to the technical field of vehicle monitoring, and the method comprises the steps: obtaining real-time resource usage information of an auxiliary driving system, the real-time resource usage information comprising resource usage information with a timestamp as a dimension; acquiring auxiliary driving mode information, wherein the auxiliary driving mode information comprises effective time period information of at least one auxiliary driving mode; based on the auxiliary driving mode information, establishing an association relationship between the auxiliary driving mode and the real-time resource use information of the corresponding time period, and determining the auxiliary driving mode use information; determining whether the auxiliary driving mode use information is abnormal or not based on a pre-constructed resource use rule, wherein the resource use rule of each auxiliary driving mode can be determined based on the corresponding historical resource use information; and when it is determined that the auxiliary driving mode use information is abnormal, generating warning information indicating that the auxiliary driving system is abnormal. The state of the auxiliary driving system can be accurately monitored.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle monitoring, and in particular to an auxiliary driving monitoring method and related equipment. BACKGROUND

[0002] With the vigorous development of the intelligentization of automobiles, the auxiliary driving function is evolving in a more complex direction. From the early simple adaptive cruise, lane keeping function, to the high-order function integrating automatic lane changing, traffic signal recognition, obstacle avoidance, high-precision map navigation and other multi-task cooperation. In the face of the increasing complexity of auxiliary driving functions, the performance stability requirements of the auxiliary driving system are increasingly prominent.

[0003] At present, in the related technology, performance analysis and problem positioning are generally performed by reading resource usage log data of the auxiliary driving system, that is, the resource usage log data is recorded in the auxiliary driving system as a whole dimension, and subsequent performance analysis and problem positioning. The existing auxiliary driving system generally supports multiple auxiliary driving modes (for example, automatic parking assistance mode, adaptive cruise mode, automatic auxiliary navigation driving mode, etc.), and the above-mentioned method ignores the resource usage difference between each auxiliary driving mode, resulting in poor performance analysis and problem positioning effect. SUMMARY

[0004] Therefore, the present application provides an auxiliary driving monitoring method and related equipment, which can solve the problem that the related technology records and analyzes resource usage data in the auxiliary driving system as a whole dimension, resulting in poor effect.

[0005] In a first aspect, an auxiliary driving monitoring method is provided, which is applied to a vehicle. The auxiliary driving monitoring method comprises: obtaining real-time resource usage information of an auxiliary driving system, wherein the real-time resource usage information comprises resource usage information with a time stamp as a dimension, and the auxiliary driving system comprises multiple auxiliary driving modes; obtaining auxiliary driving mode information, wherein the auxiliary driving mode information comprises effective time period information of at least one auxiliary driving mode; establishing an association relationship between the auxiliary driving mode and the real-time resource usage information of the corresponding time period based on the auxiliary driving mode information, determining auxiliary driving mode usage information, and the auxiliary driving mode usage information is the resource usage information associated with the auxiliary driving mode; determining whether the auxiliary driving mode usage information is abnormal based on a pre-constructed resource usage rule, wherein multiple auxiliary driving modes correspond to multiple resource usage rules, and the resource usage rule corresponding to each auxiliary driving mode is determined based on historical resource usage information of each auxiliary driving mode; and generating warning information that the auxiliary driving system is abnormal in a case where it is determined that the auxiliary driving mode usage information is abnormal.

[0006] Compared with the related art, the embodiments of the present application have at least the following advantages: when recording the resource usage information of the auxiliary driving system, the auxiliary driving mode information is recorded synchronously, and through the combination of the auxiliary driving mode information and the resource usage information, the problem time and the auxiliary driving function state can be quickly confirmed according to the combined information when subsequent fault positioning is performed, the performance is analyzed and the problem is positioned in combination with the effective auxiliary driving mode, the process state associated with the corresponding auxiliary driving mode is queried, the problem range can be narrowed, the problem analysis efficiency is improved, and through the classification statistics and monitoring of the information of different auxiliary driving modes, the abnormal warning information is generated when an abnormality is monitored, the state of the auxiliary driving system is accurately monitored, real-time warning is realized, and subsequent analysis and confirmation of the abnormal warning information are facilitated.

[0007] In some possible embodiments, the vehicle is deployed with an in-vehicle system, and the auxiliary driving system is integrated in the in-vehicle system, and before the real-time resource usage information of the auxiliary driving system is acquired, the method further includes: defining a standardized acquisition interface and information formatting method of the resource usage information of the auxiliary driving system for the in-vehicle system based on a preset compilation macro.

[0008] Compared with the related art, the embodiments of the present application have at least the following advantages: the standardized acquisition interface and information formatting method of the resource usage information of the auxiliary driving system are defined based on a preset compilation macro, the differences of different auxiliary driving systems or in-vehicle systems are shielded, and then the usage resource information in a unified output format can be obtained, without additional processing by a cloud platform.

[0009] In some possible embodiments, the resource usage rule of a first auxiliary driving mode in the plurality of auxiliary driving modes is constructed by: acquiring first historical resource usage information and second historical resource usage information of the first auxiliary driving mode, the first historical resource usage information including historical resource usage information of the first auxiliary driving mode when the auxiliary driving system is in one or more historical versions, and the second historical resource usage information including historical resource usage information of the first auxiliary driving mode when the auxiliary driving system is in a current version; and determining the resource usage rule of the first auxiliary driving mode based on the first historical resource usage information and the second historical resource usage information.

[0010] Compared with the related art, the embodiments of the present application have at least the following advantages: the resource usage rule of the auxiliary driving mode is determined based on the historical resource usage information of one or more historical versions and the historical resource usage information of the current version, so that the resource usage rule of the current version can be accurately determined while the differences of the resource usage information of different versions are comprehensively considered, and the accuracy of abnormal warning is improved.

[0011] In some possible embodiments, the determining, based on the first historical resource usage information and the second historical resource usage information, of the resource usage rule of the first auxiliary driving mode comprises: performing normalization processing on the first historical resource usage information and the second historical resource usage information, and establishing a mapping relationship between a resource usage feature and a resource usage benchmark based on a normalization processing result, the resource usage feature comprising each process in the first auxiliary driving mode.

[0012] Compared with the related art, the embodiments of the application have at least the following advantages: the scale difference of different resource usage information can be eliminated through normalization processing, and the resource usage state of the auxiliary driving mode is subdivided into the resource usage state of each process in the auxiliary driving mode by establishing a mapping relationship between the resource usage feature and the resource usage benchmark for each process, so as to accurately evaluate whether the resource usage of the currently effective auxiliary driving mode is abnormal.

[0013] In some possible embodiments, the auxiliary driving monitoring method further comprises: establishing a mapping relationship between each resource change monitoring item in the first auxiliary driving mode and a resource change benchmark based on the normalization processing result, the each resource change monitoring item comprising one or more of a CPU resource change, a memory resource change, a storage resource change, a network resource change, and a number change of a process file descriptor.

[0014] Compared with the related art, the embodiments of the application have at least the following advantages: by monitoring the resource change trend of each resource change monitoring item in the auxiliary driving mode, it is determined whether the resource change trend is abnormal based on the resource change benchmark, and early warning can be performed before the auxiliary driving system is abnormal.

[0015] In some possible embodiments, the auxiliary driving monitoring method further comprises: setting a weight coefficient of each resource change monitoring item in the first auxiliary driving mode; comparing a monitoring result of the each resource change monitoring item with a corresponding resource change benchmark to determine a comparison result of the each resource change monitoring item; determining an operation state index of the first auxiliary driving mode based on the comparison result of the each resource change monitoring item and the weight coefficient of the each resource change monitoring item; and generating warning information associated with the first auxiliary driving mode in a case where the operation state index does not satisfy a preset operation index condition.

[0016] Compared with the related art, the embodiments of the present application have at least the following advantages: by assigning different weight coefficients to each resource change monitoring item, the current auxiliary driving mode can have different pre-warning influence factors for resource change monitoring items with different influence degrees, thereby more accurately reflecting whether the resource change trend of the auxiliary driving system under the current auxiliary driving mode is abnormal, and realizing pre-warning before the auxiliary driving system is abnormal, and improving the accuracy of the pre-warning.

[0017] In some possible embodiments, after the auxiliary driving mode use information is determined, the method further includes: obtaining internal running data of the auxiliary driving system and external environment data collected by the auxiliary driving system; binding the internal running data and the external environment data with the auxiliary driving mode use information in the time stamp dimension to determine comprehensive auxiliary driving information; adding a preset identifier to the comprehensive auxiliary driving information, the preset identifier including a current version number of the auxiliary driving system and a vehicle frame number of the vehicle; and uploading the comprehensive auxiliary driving information added with the preset identifier to a preset cloud server.

[0018] Compared with the related art, the embodiments of the present application have at least the following advantages: by matching the running environment of the auxiliary driving system with the external environment in the time granularity and uploading to the cloud server, it is convenient to analyze whether the auxiliary driving system abnormality is related to the external environment, and the cloud server can be used to obtain, analyze or visually display the data of a specified vehicle in any time period, improving the convenience of obtaining problem data, and the cloud server can be used to analyze the data, and the graphical comparison of the problem time data and the historical data can help developers to find and locate problems.

[0019] In a second aspect, the embodiments of the present application further provide an auxiliary driving monitoring device applied to a vehicle, the device comprising: a first obtaining module configured to obtain real-time resource usage information of an auxiliary driving system, the real-time resource usage information comprising resource usage information with time stamp as a dimension, and the auxiliary driving system comprising a plurality of auxiliary driving modes; a second obtaining module configured to obtain auxiliary driving mode information, the auxiliary driving mode information comprising effective time period information of at least one of the auxiliary driving modes; a first determining module configured to establish an association between the auxiliary driving mode and real-time resource usage information of a corresponding time period based on the auxiliary driving mode information, and determine auxiliary driving mode usage information, the auxiliary driving mode usage information being resource usage information associated with the auxiliary driving mode; a second determining module configured to determine whether the auxiliary driving mode usage information is abnormal based on a pre-constructed resource usage rule, wherein a plurality of the auxiliary driving modes correspond to a plurality of resource usage rules, and the resource usage rule corresponding to each of the auxiliary driving modes is determined based on historical resource usage information of each of the auxiliary driving modes; and a generating module configured to generate warning information indicating that the auxiliary driving system is abnormal when it is determined that the auxiliary driving mode usage information is abnormal.

[0020] In a third aspect, the embodiments of the present application further provide an electronic device, which comprises a processor and a memory, the memory being configured to store instructions, and the processor being configured to invoke the instructions in the memory, so that the electronic device performs the auxiliary driving monitoring method according to the first aspect.

[0021] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on an electronic device, the electronic device performs the auxiliary driving monitoring method according to the first aspect.

[0022] The technical effects obtained by the second aspect, the third aspect and the fourth aspect are similar to the technical effects obtained by the corresponding technical means in the first aspect, and thus are not described herein. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A functional module block diagram of an automatic driving domain controller is provided for an embodiment of the present application.

[0024] Figure 2 A step flowchart of an auxiliary driving monitoring method is provided for an embodiment of the present application.

[0025] Figure 3 A step flowchart of an auxiliary driving monitoring method is provided for another embodiment of the present application.

[0026] Figure 4A flowchart of a cloud server provided by an embodiment of the present application for visualizing information is shown.

[0027] Figure 5 A function module diagram of an auxiliary driving monitoring device provided by an embodiment of the present application is shown.

[0028] Figure 6 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above objectives, features and advantages of the present application, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0030] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application. The described embodiments are only some of the embodiments of the present application, and are not all the embodiments.

[0031] Unless otherwise defined, all technical and scientific terms used in the present application have the same meanings as those commonly understood by one skilled in the art to which the present application belongs. The terms used in the present application are only for the purpose of describing the specific embodiments of the present application, and are not intended to limit the present application.

[0032] It should be further noted that in the present application, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0033] In the present application, "at least one" means one or more, and "multiple" means two or more than two. The association relationship of the associated objects is described by "and / or", which means that there can be three relationships, for example, A and / or B can represent the following cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0034] In the embodiments of the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application is not necessarily to be construed as preferred or advantageous over other embodiments or design solutions. Rather, use of the word "exemplary" or "for example" is intended to present concepts in a particular manner. The present application is directed to the following aspects.

[0035] An assisted driving system is a vehicle-mounted intelligent system composed of sensors (cameras, radars, etc.), domain controllers (for example, autonomous driving control units (ADCU)), actuators (accelerator, brake, steering, etc.), and the like. By perceiving the surrounding environment of the vehicle, combining the vehicle state and navigation information, the assisted driving system provides automatic assistance for the driver in driving / parking scenarios, reduces the driving burden, and improves driving safety. The assisted driving system can support multiple assisted driving modes, for example, the multiple assisted driving modes can include driving-class assisted modes and parking-class assisted modes. The driving-class assisted modes can include adaptive cruise control modes (ACC modes), automatic assisted navigation driving modes (NOA modes), and the like, and the parking-class assisted modes can include automatic parking assistance modes (APA modes), remote parking modes (RPA modes), and the like.

[0036] In the related art, performance analysis and problem positioning are generally performed by reading the running log data of the assisted driving system, that is, the assisted driving system is taken as a whole dimension for performance analysis and problem positioning. In various assisted driving use scenarios, many different functional modules are involved. Before problem analysis, the occurrence scene of the problem needs to be confirmed, and the vehicle is in which assisted driving function state, so that the problem occurrence reason can be positioned more quickly and accurately.

[0037] Therefore, the embodiments of the present application provide an assisted driving monitoring method to solve the above problems.

[0038] Figure 1 is a functional module block diagram of an autonomous driving domain controller in a vehicle provided by the embodiments of the present application.

[0039] The automatic driving domain controller 100 can include a resource platformization module 101, a resource monitoring module 102, an auxiliary driving state machine module 103, and a data uploading module 104. The resource platformization module 101 is configured to provide a unified resource information acquisition interface for the resource monitoring module 102, so as to shield the differences in resource information acquisition of different vehicle-mounted systems. For example, the resource platformization module 101 can provide a standardized acquisition interface and information formatting method of resource usage information of the auxiliary driving system based on a preset compilation macro, so that the resource monitoring module 102 can acquire resource usage information in a preset format through the unified resource information acquisition interface, so as to shield the differences between different vehicle-mounted systems and different resource information formats.

[0040] The auxiliary driving state machine module 103 can be used for switching control of the auxiliary driving mode, and the resource monitoring module 102 can acquire the current auxiliary driving mode information through the auxiliary driving state machine module 103. For example, the resource monitoring module 102 can acquire the current auxiliary driving mode information by subscribing to the auxiliary driving mode topic published by the auxiliary driving state machine module 103.

[0041] The resource monitoring module 102 can read the resource usage information of the auxiliary driving system through the resource information acquisition interface in real time or periodically (for example, every first preset time, which can be set according to actual needs). The resource monitoring module 102 can also store the resource usage information to a preset memory (for example, a vehicle-mounted storage chip, a vehicle-mounted solid state disk, etc.) in the vehicle according to the configuration file, or send the resource usage information to the host computer 200 through the vehicle-mounted network. The host computer 200 can be a computer device in communication connection with the vehicle, for example, the host computer 200 can be a diagnostic computer.

[0042] The data uploading module 104 can check the data storage log of the preset memory periodically (for example, every second preset time, which can be set according to actual needs), so as to upload the resource usage information stored in the preset memory to the cloud server 300.

[0043] For example, after the vehicle is powered on, the data upload module 104 can check the storage directory of resource usage information in the preset memory and upload the newly added resource usage information to the cloud server 300. After the vehicle is powered on, the resource monitoring module 102 can read the configuration file to confirm the currently enabled resource monitoring items. The resource monitoring module 102 can also read the current assisted driving mode information from the assisted driving state machine module 103, and adjust the enabled resource monitoring items and their monitoring frequency according to the current assisted driving mode information to match the resource monitoring requirements of the current assisted driving mode. The resource monitoring module 102 can also read the corresponding resource usage information based on the adjusted resource monitoring items and monitoring frequency. The read resource usage information can be combined with the previously obtained assisted driving mode information to obtain combined information, which can be stored in the cache.

[0044] When the information outgoing function is enabled, the resource monitoring module 102 can send the combined information in the cache to the specified network port, so that the host computer 200 can obtain the combined information through the network port. The host computer 200 can visualize the combined information and can also analyze the combined information to locate abnormal problems.

[0045] When the information outgoing function is disabled, the resource monitoring module 102 can also write the cached combined information to a preset storage device, waiting for the data upload module 104 to upload the written combined information to the cloud server 300. The cloud server 300 can visualize the combined information.

[0046] The following section provides a detailed description of how to implement the assisted driving monitoring method provided in this application.

[0047] The assisted driving monitoring method provided in this application can be applied to vehicles, including gasoline vehicles, pure electric vehicles, hybrid vehicles, range-extended vehicles, and so on.

[0048] Figure 2 This is a flowchart illustrating an assisted driving monitoring method provided in an embodiment of this application. Figure 2 As shown, this assisted driving monitoring method can be applied to vehicles, such as to the vehicle's autonomous driving domain controller. The vehicle is equipped with an onboard system, which may integrate an assisted driving system. This assisted driving system may include multiple assisted driving modes, such as ACC mode, NOA mode, APA mode, RPA mode, etc. The steps and flow can be adjusted or combined according to actual needs; this application embodiment does not limit this. Specifically, the assisted driving monitoring method may include: At step S210, real-time resource usage information of the ADAS is acquired, and the real-time resource usage information includes resource usage information with time stamp as a dimension.

[0049] In some embodiments, the resource usage information of the ADAS can be read in real time or periodically through the resource information acquisition interface described above, and the resource usage information includes a time stamp, which can be the monitoring time of the resource usage information. For example, the resource usage information can include one or more of central processing unit (CPU) / domain controller resource usage information, memory resource usage information, storage resource usage information, network resource usage information, etc.

[0050] For another example, the resource usage information can include process file descriptor (fdinfo) information, file system state information (fsinfo), memory remaining information, process resource occupation information, and resource occupation information of the ADAS as a whole.

[0051] In some embodiments, the acquired resource usage information can be resource usage information in a preset format. If the acquired resource usage information is not in the preset format, a formatting process can be performed to obtain resource usage information in the preset format, so that the vehicle can subsequently transmit resource usage information in a uniform format to the cloud server or the upper computer.

[0052] In some embodiments, different vehicles of different manufacturers or different models of the same manufacturer can be deployed with different in-vehicle systems, and / or the ADAS integrated with the in-vehicle systems can also be different. That is, for different vehicles, the acquisition method and information format of the resource usage information of the ADAS can be different. In order to realize difference shielding, a standardized acquisition interface and information formatting method of the resource usage information of the ADAS can be defined for the in-vehicle system based on a preset compilation macro before the vehicle is shipped, so as to realize consistent output of the resource usage information of multiple ADAS. For example, through a conditional compilation mechanism to match the underlying interface and code of the in-vehicle system, the implementation code for reading the resource usage information is adaptively adjusted and converted, so that the user can obtain consistent output results without paying attention to the underlying differences of the in-vehicle system.

[0053] At step S220, ADAS mode information is acquired, and the ADAS mode information includes effective time period information of at least one ADAS mode.

[0054] In some embodiments, the ADAS mode information can include information of the currently effective ADAS mode and effective time period information. For example, the current ADAS mode information can be acquired by subscribing to the ADAS mode topic mentioned above.

[0055] In some embodiments, step S220 can also be performed before step S210, for example, after obtaining the assisted driving mode signal, based on the currently effective assisted driving mode, the resource monitoring item and the monitoring frequency of the resource monitoring item are determined, and then the resource usage information of the assisted driving system is read with the determined resource monitoring item and monitoring frequency.

[0056] In some embodiments, if the vehicle currently does not exit the assisted driving function abnormally, the obtained assisted driving mode information can include the related information of the currently effective assisted driving mode (for example, mode identifier, effective time period information), and if the assisted driving function exits abnormally, the obtained assisted driving mode information can be signal data inside the assisted driving system, for example, decision-making type data and control type data inside the assisted driving system.

[0057] Step S230, based on the assisted driving mode information, the assisted driving mode and the real-time resource usage information of the corresponding time period are associated, the assisted driving mode usage information is determined, and the assisted driving mode usage information is the resource usage information associated with the assisted driving mode.

[0058] In some embodiments, based on the assisted driving mode information, the assisted driving mode and the real-time resource usage information of the corresponding time period can be associated, and then the resource usage information is associated with the assisted driving mode. The resource usage information associated with the assisted driving mode can be defined as the assisted driving mode usage information (i.e. the resource usage information of the assisted driving mode), which indicates which resource usage information of the assisted driving mode, facilitates classification and statistics based on different assisted driving modes, and facilitates subsequent confirmation of the occurrence of the problem scene, that is, which assisted driving mode the vehicle is in, and whether the assisted driving mode has resource usage abnormality. Compared with the related art which cannot confirm which assisted driving mode has resource usage abnormality, the embodiment can quickly and accurately locate the problem occurrence reason.

[0059] Step S240, based on the pre-constructed resource usage rule, it is determined whether the assisted driving mode usage information has an abnormality, wherein a plurality of assisted driving modes correspond to a plurality of resource usage rules, and the resource usage rule corresponding to each assisted driving mode is determined based on the historical resource usage information of each assisted driving mode.

[0060] In some embodiments, a plurality of assisted driving modes can correspond to a plurality of resource usage rules, for example, each assisted driving mode corresponds to a different resource usage rule. The resource usage rule corresponding to each assisted driving mode can be determined based on the historical resource usage information of each assisted driving mode.

[0061] For example, each of the assistant driving modes can correspond to start of different processes, process resource usage standards can be set for each of the processes, and a combination of the process resource usage standards of each of the processes in each of the assistant driving modes forms a resource usage rule of each of the assistant driving modes. The process resource usage standards can be determined based on historical resource usage information of the processes, for example, historical resource usage information of the processes in the assistant driving mode in a normal running state.

[0062] For example, in a case where the assistant driving system is started, each of the processes in the currently effective assistant driving mode has a preset process resource usage standard, and one or more processes in other non-effective assistant driving modes can also be started, and the one or more processes have another preset process resource usage standard in a case where the corresponding assistant driving mode is not effective, and then whether the resource usage of each of the processes is abnormal can be determined based on the process resource usage standard. For example, in the APA mode, the parking-related processes are enabled, the corresponding resource occupancy rate is increased, and the driving-related processes are in a suppressed state, in which case, the standard of the resource occupancy rate of the parking-related processes can be set to a larger value, and the standard of the resource occupancy rate of the driving-related processes can be set to a smaller value. For example, in the NOA mode, the driving-related processes are enabled, the corresponding resource occupancy rate is increased, and the parking-related processes are in a suppressed state, in which case, the standard of the resource occupancy rate of the parking-related processes can be set to a smaller value, and the standard of the resource occupancy rate of the driving-related processes can be set to a larger value.

[0063] In some embodiments, taking a plurality of assistant driving modes including a first assistant driving mode as an example, the first assistant driving mode can be the APA mode, the NOA mode, the ACC mode, or the like, and a resource usage rule of the first assistant driving mode can be constructed in the following manner: (1) obtaining first historical resource usage information and second historical resource usage information of the first assistant driving mode, the first historical resource usage information can include historical resource usage information of the first assistant driving mode in one or more historical versions of the assistant driving system, and the second historical resource usage information can include historical resource usage information of the first assistant driving mode in a current version of the assistant driving system; For example, the first historical resource usage information can include historical resource usage information of the first assistant driving mode in a previous version of the assistant driving system. For example, the first historical resource usage information can include historical resource usage information of the first assistant driving mode in a previous version of the assistant driving system and historical resource usage information of the first assistant driving mode in a version two steps behind.

[0064] (2) determining a resource usage rule of the first assistant driving mode based on the first historical resource usage information and the second historical resource usage information.

[0065] In some embodiments, different weight coefficients can be assigned to the first historical resource usage information and the second historical resource usage information, and the resource usage rule of the first auxiliary driving mode can be determined based on the statistical analysis result of the first historical resource usage information, the statistical analysis result of the second historical resource usage information, and the corresponding weight coefficients. For example, the weight coefficient of the first historical resource usage information is 0.3 or 0.4, and the weight coefficient of the second historical resource usage information is 0.7 or 0.6.

[0066] In some embodiments, the statistical analysis result can be a statistical analysis result of historical resource usage information of each process, and the historical resource usage information can include resource usage information in normal operation scenarios and abnormal operation scenarios.

[0067] In some embodiments, if the auxiliary driving system is just upgraded or upgraded only, the second historical resource usage information can be empty or have a small amount of data, and the statistical analysis result of the first historical resource usage information can be directly used to determine the resource usage rule of the first auxiliary driving mode. After accumulating a certain amount of second historical resource usage information, the resource usage rule of the first auxiliary driving mode can be determined based on the first historical resource usage information and the second historical resource usage information.

[0068] For example, the resource usage information of a certain process in the last version and the resource usage information of the process in the second last version are respectively statistically analyzed with a weight of 50%, an estimated deviation constant t is added according to the fluctuation range requirement to calculate the expected resource usage information V1 of the process in the current version; the resource usage information mean V2 of the process in the current version is obtained within one day, and whether the process has resource usage abnormality is determined based on the comparison result of V1 and V2.

[0069] In some embodiments, based on the first historical resource usage information and the second historical resource usage information, the resource usage rule of the first auxiliary driving mode can also specifically include: normalizing the first historical resource usage information and the second historical resource usage information, and establishing a mapping relationship between resource usage features and resource usage benchmarks based on the normalization result, the resource usage features can include each process in the first auxiliary driving mode. The resource usage features can also include each started process in other auxiliary driving modes that have not yet taken effect.

[0070] Step S250, in the case that the auxiliary driving mode usage information is determined to have abnormality, generating warning information that the auxiliary driving system has abnormality.

[0071] In some embodiments, in a case where it is determined that the assisted driving mode usage information is abnormal, warning information that the assisted driving system is abnormal can be generated. The warning information can be displayed through a display screen of the vehicle, for example, through a vehicle-mounted central control screen or an instrument screen, and the warning information can also be directly stored in the form of a log.

[0072] In some embodiments, whether a process is abnormal in resource usage can be determined by comparing the resource usage of each process of the assisted driving system with the corresponding process resource usage standard. If one or more processes are abnormal in resource usage, it can be determined that the assisted driving mode usage information is abnormal.

[0073] In some embodiments, in order to realize early warning of the assisted driving system, a running state monitoring system of the assisted driving system can also be constructed, and the running state index of the assisted driving system is monitored based on the running state monitoring system, and early warning is performed when the running state index is not up to standard.

[0074] For example, a mapping relationship between each resource change monitoring item in the first assisted driving mode and a resource change benchmark can be established based on the normalized processing result of the first historical resource usage information and the second historical resource usage information. Each resource change monitoring item can include one or more of CPU resource change, memory resource change, disk resource change, network resource change, number of process file descriptors, and the like. The running state index can be determined based on the comparison result of the data of the real-time acquired resource change monitoring item and the resource change benchmark. For example, scoring is performed based on the difference between the data of each resource change monitoring item and the resource change benchmark, and the running state index is determined based on the total score result of each resource change monitoring item.

[0075] In some embodiments, for each assisted driving mode that is in effect, different weight coefficients can be set for each resource change monitoring item in the assisted driving mode. For example, the first assisted driving mode is currently in effect, the weight coefficients of each resource change monitoring item in the first assisted driving mode are first set, the monitoring results of each resource change monitoring item are compared with the corresponding resource change benchmark to determine the comparison result of each resource change monitoring item, and then the running state index of the first assisted driving mode is determined based on the comparison result of each resource change monitoring item and the weight coefficient of each resource change monitoring item. If the running state index does not satisfy a preset running index condition, warning information associated with the first assisted driving mode is generated. The preset running index condition can be set according to actual needs, which is not limited in the embodiments of the present application.

[0076] In some embodiments, the warning information can be stored together with the assisted driving mode usage information. If it is determined that the assisted driving mode usage information is not abnormal, no warning information will be generated.

[0077] The above-mentioned auxiliary driving monitoring method synchronously records auxiliary driving mode information when recording resource usage information of the auxiliary driving system, and through the combination of the auxiliary driving mode information and the resource usage information, the problem time and the auxiliary driving function state can be quickly confirmed according to the combined information when subsequent fault positioning is performed, the performance is analyzed and the problem is positioned in combination with the effective auxiliary driving mode, the process state associated with the corresponding auxiliary driving mode is queried, the problem range can be narrowed, the problem analysis efficiency is improved, and through the classified statistics and monitoring of the information of different auxiliary driving modes, abnormal warning information is generated when an abnormality is monitored, accurate monitoring of the state of the auxiliary driving system and real-time warning are realized, and through the compilation of the macro, the differences of different auxiliary driving systems or vehicle-mounted systems are shielded, unified output is realized, subsequent special processing of the cloud platform is not required, and at the same time, the running state monitoring system of the auxiliary driving system can be constructed, the running state index of the auxiliary driving system is monitored based on the running state monitoring system, and early warning before the auxiliary driving system appears abnormal is further realized.

[0078] Please refer to Figure 3 , a flowchart of an auxiliary driving monitoring method provided by an embodiment of the present application. As Figure 3 shown, the auxiliary driving monitoring method can be applied to a vehicle, and compared with Figure 2 , the auxiliary driving monitoring method can further upload the related monitoring information of the auxiliary driving system to a preset cloud server for visual display, and the auxiliary driving monitoring method can specifically include: Step S310, real-time resource usage information of an auxiliary driving system is acquired, and the real-time resource usage information includes resource usage information with time stamp as a dimension.

[0079] The step S310 of the embodiment of the present application is similar to the step S210 of the foregoing embodiment, which will not be described here again.

[0080] Step S320, auxiliary driving mode information is acquired, and the auxiliary driving mode information includes effective time period information of at least one auxiliary driving mode.

[0081] The step S320 of the embodiment of the present application is similar to the step S220 of the foregoing embodiment, which will not be described here again.

[0082] Step S330, based on the auxiliary driving mode information, an auxiliary driving mode and real-time resource usage information of a corresponding time period are associated to determine auxiliary driving mode usage information, and the auxiliary driving mode usage information is resource usage information associated with the auxiliary driving mode.

[0083] The step S330 of the embodiment of the present application is similar to the step S230 of the foregoing embodiment, which will not be described here again.

[0084] Step S340: Obtain the internal operating data of the driver assistance system and the external environment data collected by the driver assistance system.

[0085] In some embodiments, the internal operating data of the driver assistance system can refer to data reflecting the execution status of the intelligent driving algorithm within the driver assistance system. The external environment data collected by the driver assistance system can refer to the external environment data collected by the sensors of the driver assistance system, such as parking space environment data collected by cameras and lidar.

[0086] Step S350: Bind internal operating data and external environmental data with assisted driving mode usage information using timestamps to determine comprehensive assisted driving information.

[0087] In some embodiments, by binding internal operating data and external environmental data with assisted driving mode usage information with timestamps as the dimension, the vehicle software environment and external environment are matched at the time granularity. That is, resource usage information, assisted driving mode, internal operating data and external environmental data are combined, and the combined information is comprehensive assisted driving information.

[0088] Step S360: Add a preset identifier to the integrated driver assistance information. The preset identifier includes the current version number of the driver assistance system and the vehicle identification number (VIN) of the vehicle.

[0089] In some embodiments, since the cloud server can connect to multiple vehicles, in order to facilitate the differentiation and analysis of comprehensive assisted driving information on the cloud server or to visualize it, the current version number of the assisted driving system and the vehicle identification number of the vehicle can be added to the comprehensive assisted driving information.

[0090] Step S370: Upload the integrated driver assistance information with the preset identifier to the preset cloud server.

[0091] In some embodiments, after adding a preset identifier to the integrated driver assistance information, the integrated driver assistance information with the preset identifier can be uploaded to a preset cloud server. For example, the integrated driver assistance information with the preset identifier can be uploaded to the cloud server via an in-vehicle network.

[0092] In some embodiments, a pre-defined cloud server can read comprehensive assisted driving information for a specified vehicle and a specified time period, and complete data visualization display based on the read comprehensive assisted driving information. For example, developers can access the cloud server from other computer devices to trigger the cloud server to generate and display information in visual charts.

[0093] like Figure 4 As shown, the cloud server can be triggered to display visual charts in the following ways: (1) log in to the cloud server, for example, the cloud server can be logged in by inputting a pre-registered account on a computer device; (2) the cloud server determines the comprehensive auxiliary driving information of the specified vehicle and the specified version in response to the input vehicle frame number and software version number; (3) the cloud server determines the comprehensive auxiliary driving information of the specified time in response to the input time period; (4) the cloud server generates and displays a visual chart based on the comprehensive auxiliary driving information of the specified time.

[0094] For example, the visual chart can include CPU total usage, remaining available memory size, CPU usage of each process, and memory occupation information, etc.

[0095] In some embodiments, the auxiliary driving monitoring method of the embodiments of the present application can also perform the steps of determining whether the auxiliary driving mode usage information is abnormal after step S330 and generating warning information of the auxiliary driving system in the presence of abnormalities, which will not be repeated here.

[0096] The above auxiliary driving monitoring method, when recording the resource usage information of the auxiliary driving system, synchronously records the auxiliary driving mode information, and through the combination of the auxiliary driving mode information and the resource usage information, the problem time and the auxiliary driving function state can be quickly confirmed according to the combined information when subsequent fault positioning is performed, the performance is analyzed and the problem is positioned in combination with the effective auxiliary driving mode, the process state associated with the corresponding auxiliary driving mode is queried, the problem range can be narrowed, the problem analysis efficiency is improved, and through matching the running environment of the auxiliary driving system with the external environment in the time granularity and uploading to the cloud server, it is convenient for subsequent analysis of whether the auxiliary driving system abnormality is related to the external environment, and the data of any time period of the specified vehicle can be acquired, analyzed or visually displayed on the cloud server, improving the convenience of problem data acquisition, and the data analysis can be performed with the computing power of the cloud server, and the problem can be found and positioned through the graphical comparison of the problem time data and the historical data.

[0097] As shown in Figure 5 The embodiments of the present application also provide an auxiliary driving monitoring device 50, which can be integrated in a vehicle. The auxiliary driving monitoring device 50 can include: A first acquisition module 501 for acquiring real-time resource usage information of an auxiliary driving system, the real-time resource usage information including resource usage information with time stamp as a dimension, and the auxiliary driving system including a plurality of auxiliary driving modes.

[0098] The second obtaining module 502 is configured to obtain auxiliary driving mode information, wherein the auxiliary driving mode information comprises at least one auxiliary driving mode and the effective time period information of the auxiliary driving mode.

[0099] The first determining module 503 is configured to establish an association between the auxiliary driving mode and the real-time resource usage information of the corresponding time period based on the auxiliary driving mode information, and determine auxiliary driving mode usage information, wherein the auxiliary driving mode usage information is the resource usage information associated with the auxiliary driving mode.

[0100] The second determining module 504 is configured to determine whether the auxiliary driving mode usage information is abnormal based on the pre-constructed resource usage rule, wherein a plurality of auxiliary driving modes correspond to a plurality of resource usage rules, and the resource usage rule corresponding to each auxiliary driving mode is determined based on the historical resource usage information of each auxiliary driving mode.

[0101] The generating module 505 is configured to generate warning information indicating that the auxiliary driving system is abnormal when it is determined that the auxiliary driving mode usage information is abnormal.

[0102] The above modules can be programmable software instructions stored in the memory and executable by the processor. It can be understood that in other embodiments, the above modules can also be program instructions or firmware fixed in the processor.

[0103] Please refer to Figure 6 , Figure 6 FIG. 1 is a schematic diagram of an embodiment of an electronic device according to the present application. The electronic device 1000 can be integrated into a vehicle. For example, the electronic device 1000 can include an automatic driving domain controller 100 as shown in FIG. 1. Figure 1

[0104] The electronic device 1000 includes a memory 1010, a processor 1020, and a computer program 1030 stored in the memory 1010 and executable on the processor 1020. The processor 1020 implements the steps in the above-mentioned auxiliary driving monitoring method embodiments when executing the computer program 1030, such as the steps shown in FIG. 2. Figure 2 、 Figure 3

[0105] For example, the computer program 1030 can also be divided into one or more modules / units, which are stored in the memory 1010 and executed by the processor 1020. One or more modules / units can be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program 1030 in the electronic device 1000.

[0106] ​​Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 1000, and does not constitute a limitation on the electronic device 1000, and can include more or fewer components than the diagram, or combine certain components, or different components, for example, the electronic device 1000 can also include a network access device, a bus, etc.

[0107] The processor 1020 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor, a single-chip computer or the processor 1020 can also be any conventional processor.

[0108] The memory 1010 can be used to store the computer program 40 and / or modules / units, and the processor 1020 realizes various functions of the electronic device 1000 by running or executing the computer program and / or modules / units stored in the memory 1010, and calling the data stored in the memory 1010. The memory 1010 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; the data storage area can store data (such as audio data) created according to the use of the electronic device 1000, etc. In addition, the memory 1010 can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device.

[0109] The modules / units integrated in the electronic device 1000, if implemented in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer readable storage medium. The computer program can be executed by a processor to implement the steps of each method embodiment. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0110] The embodiment also provides a computer readable storage medium, which stores computer instructions. When the computer instructions run on an electronic device, the electronic device executes the related method steps to implement the above-mentioned auxiliary driving monitoring method.

[0111] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An assisted driving monitoring method applied to a vehicle, characterized in that, The method comprises: obtaining real-time resource usage information of an assisted driving system, the real-time resource usage information comprising resource usage information with time stamp as dimension, the assisted driving system comprising a plurality of assisted driving modes; obtaining assisted driving mode information, the assisted driving mode information comprising effective time period information of at least one of the assisted driving modes; based on the assisted driving mode information, establishing a correlation between the assisted driving mode and real-time resource usage information of a corresponding time period, determining assisted driving mode usage information, the assisted driving mode usage information being resource usage information correlated with the assisted driving mode; based on a pre-constructed resource usage rule, determining whether the assisted driving mode usage information is abnormal, wherein a plurality of the assisted driving modes correspond to a plurality of resource usage rules, and the resource usage rule corresponding to each of the assisted driving modes is determined based on historical resource usage information of each of the assisted driving modes; in a case where it is determined that the assisted driving mode usage information is abnormal, generating warning information that the assisted driving system is abnormal.

2. The assisted driving monitoring method according to claim 1, characterized in that, The vehicle is deployed with an in-vehicle system, and the assisted driving system is integrated in the in-vehicle system, and before the real-time resource usage information of the assisted driving system is obtained, the method further comprises: based on a pre-set compilation macro, defining a standardized resource usage information acquisition interface and information formatting method of the assisted driving system for the in-vehicle system.

3. The assisted driving monitoring method of claim 1, wherein The resource usage rule of a first assisted driving mode in the plurality of assisted driving modes is constructed by: obtaining first historical resource usage information and second historical resource usage information of the first assisted driving mode, the first historical resource usage information comprising historical resource usage information of the first assisted driving mode when the assisted driving system is in one or more historical versions, and the second historical resource usage information comprising historical resource usage information of the first assisted driving mode when the assisted driving system is in a current version; based on the first historical resource usage information and the second historical resource usage information, determining the resource usage rule of the first assisted driving mode.

4. The assisted driving monitoring method of claim 3, wherein The determination of the resource usage rule of the first assisted driving mode based on the first historical resource usage information and the second historical resource usage information comprises: normalizing the first historical resource usage information and the second historical resource usage information, and establishing a mapping relationship between resource usage characteristics and resource usage benchmarks based on the normalization result, the resource usage characteristics comprising each process under the first assisted driving mode.

5. The assisted driving monitoring method of claim 4, wherein The method further comprises: based on the normalization result, establishing a mapping relationship between each resource change monitoring item under the first assisted driving mode and a resource change benchmark, the each resource change monitoring item comprising one or more of CPU resource change, memory resource change, storage resource change, network resource change, and number change of process file descriptor.

6. The assisted driving monitoring method according to claim 5, characterized in that, The method further comprises: setting a weight coefficient of each resource change monitoring item under the first assisted driving mode; The monitoring result of each resource change monitoring item is compared with the corresponding resource change benchmark to determine a comparison result of each resource change monitoring item; An operation state index of the first auxiliary driving mode is determined based on the comparison result of each resource change monitoring item and the weight coefficient of each resource change monitoring item; In a case where the operation state index does not satisfy a preset operation index condition, warning information associated with the first auxiliary driving mode is generated.

7. The assisted driving monitoring method of claim 1, wherein After the auxiliary driving mode usage information is determined, the method further includes: obtaining internal operation data of the auxiliary driving system and vehicle external environment data collected by the auxiliary driving system; binding the internal operation data and the vehicle external environment data with the auxiliary driving mode usage information in a time stamp dimension to determine comprehensive auxiliary driving information; adding a preset identifier to the comprehensive auxiliary driving information, the preset identifier including a current version number of the auxiliary driving system and a vehicle frame number of the vehicle; uploading the comprehensive auxiliary driving information with the preset identifier to a preset cloud server.

8. An assisted driving monitoring apparatus characterized by comprising: The device is applied to a vehicle and includes: a first obtaining module configured to obtain real-time resource usage information of an auxiliary driving system, the real-time resource usage information including resource usage information in a time stamp dimension, and the auxiliary driving system including a plurality of auxiliary driving modes; a second obtaining module configured to obtain auxiliary driving mode information, the auxiliary driving mode information including effective time period information of at least one auxiliary driving mode; a first determining module configured to associate the auxiliary driving mode with real-time resource usage information of a corresponding time period based on the auxiliary driving mode information to determine auxiliary driving mode usage information, the auxiliary driving mode usage information being resource usage information associated with the auxiliary driving mode; a second determining module configured to determine whether the auxiliary driving mode usage information is abnormal based on a pre-constructed resource usage rule, wherein a plurality of auxiliary driving modes correspond to a plurality of resource usage rules, and a resource usage rule corresponding to each auxiliary driving mode is determined based on historical resource usage information of each auxiliary driving mode; a generating module configured to generate warning information indicating that the auxiliary driving system is abnormal in a case where it is determined that the auxiliary driving mode usage information is abnormal. 9.An electronic device comprising a processor and a memory, wherein, The memory is configured to store instructions, and the processor is configured to invoke the instructions in the memory to enable the electronic device to perform the auxiliary driving monitoring method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, which, when executed on an electronic device, enable the electronic device to perform the auxiliary driving monitoring method of any one of claims 1 to 7.

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