Intelligent driving platform health management system, electronic device and vehicle
The intelligent driving platform health management system provides multiple reporting interfaces and monitoring modules, which solves the problem that traditional systems cannot respond to various faults, realizes comprehensive monitoring of key vehicle modules, reduces integration costs and improves data processing efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- MOMENTA (SUZHOU) TECHNOLOGY CO LTD
- Filing Date
- 2024-11-28
- Publication Date
- 2026-05-29
AI Technical Summary
Traditional vehicle health management systems cannot effectively respond to various fault conditions, leading to increased difficulty and cost in integrating different modules, as well as significant communication latency and performance loss.
The intelligent driving platform health management system provides multiple reporting interfaces and monitoring modules. Through software reporting interfaces and modular design, it achieves comprehensive monitoring of key vehicle modules and systems, and utilizes shared memory communication to reduce latency and improve data processing efficiency.
It enables comprehensive monitoring of key vehicle modules and systems, reduces the difficulty and cost of integrating different modules, improves data processing efficiency and system real-time performance, and reduces performance loss.
Smart Images
Figure CN122116505A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle monitoring technology, and more specifically, to an intelligent driving platform health management system, electronic devices, and vehicles. Background Technology
[0002] For autonomous vehicles, safety and stability are paramount. Traditional vehicle health management systems provide basic vehicle diagnostics and monitoring of critical components. However, with the development of autonomous driving technology, the safety requirements for vehicles are becoming increasingly stringent. Traditional health management systems have some bottlenecks and limitations: the monitored modules report their status directly through socket links, and the mode is singular, unable to respond to various fault conditions, thus increasing the difficulty and integration cost of centralized monitoring of multiple modules. Summary of the Invention
[0003] This application provides a health management system for an intelligent driving platform, electronic devices, and vehicles, which can provide multiple monitoring modes and realize comprehensive monitoring of all key modules and systems of the vehicle; through software reporting interfaces and modular design, the difficulty and cost of integrating different modules are reduced.
[0004] The specific technical solution is as follows:
[0005] In a first aspect, embodiments of this application provide a health management system for an intelligent driving platform. The system includes: multiple reporting interfaces and a daemon process. Each reporting interface corresponds to a monitoring mode. The daemon process includes multiple monitoring modules. Each monitoring module corresponds one-to-one with the reporting interface, and each monitoring module is used to implement a monitoring mode.
[0006] The intelligent driving module in the intelligent driving platform connects to at least one reporting interface and reports its own operation information to the daemon process, wherein the operation information includes the operation status and its corresponding timestamp;
[0007] The daemon process performs health monitoring on the intelligent driving module based on the monitoring module corresponding to each reported interface and the running information.
[0008] As can be seen from the above scheme, the intelligent driving platform health management system provided in this application embodiment can provide multiple reporting interfaces and a daemon process including multiple monitoring modules. Each reporting interface corresponds one-to-one with a monitoring module, and each monitoring module is used to implement a monitoring mode. The intelligent driving module in the intelligent driving platform can access at least one reporting interface as needed to report its own operating information to the daemon process. The daemon process then performs health monitoring on the intelligent driving module based on the monitoring module and operating information corresponding to each accessed reporting interface. Therefore, the system provided in this application embodiment, by providing multiple monitoring modes, can achieve comprehensive monitoring of all key modules and systems of the vehicle. Through software reporting interfaces and modular design, the difficulty and cost of integrating different modules can be reduced.
[0009] In one possible implementation, reporting its own operational information to the daemon process includes:
[0010] The intelligent driving module reports its own operating information to the daemon process via a shared memory communication method.
[0011] As can be seen from the above scheme, the shared memory communication method in this application embodiment greatly reduces communication latency, improves data processing efficiency, ensures the real-time performance of the health management system, and reduces the performance loss of the access module.
[0012] In one possible implementation, the at least one reporting interface includes at least one of a heartbeat reporting interface, an execution time reporting interface, and a logic reporting interface;
[0013] The monitoring module corresponding to the heartbeat reporting interface is used to monitor whether the number of times the intelligent driving module calls the heartbeat reporting interface within a predetermined period is within a preset range, based on the operation information.
[0014] The monitoring module corresponding to the execution time reporting interface is used to monitor whether the tasks executed by the intelligent driving module are completed within the predetermined time range based on the operation information.
[0015] The monitoring module corresponding to the logic reporting interface is used to monitor and verify whether the intelligent driving module follows the preset execution logic during the execution of tasks based on the operation information.
[0016] As can be seen from the above scheme, different intelligent driving modules can select the same interface according to their own needs to quickly achieve effective monitoring of at least one of heartbeat, execution time, and algorithm logic.
[0017] In one possible implementation, the monitoring module corresponding to the logical reporting interface is used to determine whether the sending order of the repeatedly reported running information satisfies the legal path of the directed graph. If the sending order satisfies the legal path of the directed graph, it is determined that the intelligent driving module follows the preset execution logic during the execution of the task.
[0018] As can be seen from the above scheme, the embodiments of this application can quickly and accurately determine whether the sending order of multiple reported operation information satisfies the legal path of the directed graph, without having to recalculate the result based on the correct algorithm code and use the correct result to verify the current operation information, thereby greatly improving the verification efficiency of the execution logic.
[0019] In one possible implementation, the logical reporting interface is pre-embedded at a specific location in the logic code of the intelligent driving module, wherein the specific location is a key node in the logic code.
[0020] In one possible implementation, the key nodes include at least one of the different branch nodes in an if conditional control statement and different branch nodes in a switch conditional control statement.
[0021] In one possible implementation, when any monitoring module in the daemon process detects an abnormality in the operating status of the intelligent driving module, the daemon process identifies the abnormality as an abnormal event and adds the abnormal event to a task management queue with a min-heap structure, so that the abnormal events in the task management queue are processed in the order of their preset occurrence time.
[0022] As can be seen from the above scheme, the embodiments of this application improve the efficiency of task processing in time-sensitive application scenarios by adding abnormal times to the minimum heap structure management task queue for processing.
[0023] In one possible implementation, the intelligent driving module includes at least one of a perception module, a positioning module, a planning module, a control module, and a decision-making module.
[0024] Secondly, embodiments of this application provide an electronic device, which includes:
[0025] One or more processors;
[0026] The processor is coupled to a storage device for storing one or more programs;
[0027] When one or more programs are executed by one or more processors, the electronic device enables the function of the intelligent driving platform health management system as described in any possible implementation of the first aspect.
[0028] Thirdly, embodiments of this application provide a vehicle that includes the electronic equipment described in the second aspect.
[0029] Fourthly, embodiments of this application provide a computer program product containing instructions that, when executed on a computer or processor, cause the computer or processor to perform the functions of the intelligent driving platform health management system described in any possible implementation of the first aspect. Attached Figure Description
[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.
[0031] Figure 1 This application provides a schematic diagram of the structure of a health management system for an intelligent driving platform.
[0032] Figure 2 A schematic diagram of another intelligent driving platform health management system provided in this application embodiment;
[0033] Figure 3 A schematic diagram of the structure of another intelligent driving platform health management system provided in this application embodiment;
[0034] Figure 4 This is a schematic diagram of the structure of an electronic device or computer device provided in an embodiment of this application. Detailed Implementation
[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0036] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.
[0037] Figure 1 This is a schematic diagram of a health management system for an intelligent driving platform. This system can be applied to electronic devices or computer equipment, specifically vehicles. The system includes: multiple reporting interfaces 110 and a daemon process 120. Each reporting interface 110 corresponds to a monitoring mode. The daemon process 120 includes multiple monitoring modules, each corresponding one-to-one with a reporting interface 110, and each monitoring module is used to implement a specific monitoring mode.
[0038] The intelligent driving module in the intelligent driving platform connects to at least one reporting interface 110 and reports its own operation information to the daemon process 120. The operation information includes the operation status and its corresponding timestamp.
[0039] The daemon process 120 performs health monitoring on the intelligent driving module based on the monitoring module and operation information corresponding to each of the at least one reporting interface 110 that is accessed.
[0040] In this embodiment, the intelligent driving module in the intelligent driving platform includes at least one of the following modules: perception module, positioning module, planning module, control module, and decision-making module. Figure 2 As shown, at least one reporting interface 110 includes at least one of a heartbeat reporting interface, an execution time reporting interface, and a logic reporting interface.
[0041] Among them, the monitoring module corresponding to the heartbeat reporting interface ( Figure 2 The heartbeat monitoring module (hereinafter referred to as the heartbeat monitoring module) is used to monitor whether the number of times the intelligent driving module calls the heartbeat reporting interface within a predetermined period is within a preset range, based on the operation information. For example, operation information can be reported multiple times. The module calculates the number of times the intelligent driving module calls the heartbeat reporting interface within a predetermined period. If the number of reports is within the preset range, it is determined that the monitored intelligent driving module is operating at the normal frequency within the predetermined period; if the number of reports is not within the preset range, it is determined that the monitored intelligent driving module is not executing at the normal frequency, thus identifying an abnormal heartbeat of the intelligent driving module.
[0042] The monitoring module corresponding to the execution time reporting interface ( Figure 2The execution time monitoring module (hereinafter referred to as the "execution time monitoring module") is used to determine whether the task executed by the intelligent driving module is completed within a predetermined time range. For example, it can obtain the running status representing the start of task execution and the running status representing the end of task execution from multiple running information, and calculate the difference between the timestamps of the two running statuses. If the difference between the timestamps is within the predetermined time range, it is determined that the task is completed within the predetermined time range; if the difference between the timestamps is not within the predetermined time range, it is determined that the task is not completed within the predetermined time range.
[0043] The monitoring module corresponding to the logical reporting interface ( Figure 2 The logic monitoring module (abbreviated as "logic monitoring module") is used to monitor and verify whether the intelligent driving module follows the preset execution logic during the execution of tasks based on the operation information.
[0044] To enable the logical calculations of the monitoring module corresponding to the logical reporting interface, the logical reporting interface can be embedded in a specific location within the logic code of the intelligent driving module. The monitoring module corresponding to the logical reporting interface can then determine whether the sending order of multiple reported operation information satisfies a valid path in a directed graph. If the sending order satisfies the valid path in the directed graph, it is determined that the intelligent driving module follows the preset execution logic during task execution; otherwise, it is determined that the intelligent driving module does not follow the preset execution logic during task execution.
[0045] The specific location refers to a key node in the logic code. Key nodes include at least one of the following: different branch nodes in an if conditional control statement, different branch nodes in a switch conditional control statement, etc.
[0046] This application embodiment can quickly and accurately determine whether the intelligent driving module follows the preset execution logic during task execution by directly judging whether the sending order of multiple reported operation information satisfies the legal path of the directed graph, without having to recalculate the result based on the correct algorithm code and use the correct result to verify the current operation information, thereby greatly improving the verification efficiency of the execution logic.
[0047] The monitoring process described above is illustrated below using the sensing module and the monitoring module as examples:
[0048] The perception module can connect to two interfaces: a heartbeat reporting interface and a logic reporting interface, and report its operational information to daemon process 120. The monitoring module corresponding to the heartbeat reporting interface in daemon process 120 can monitor the execution cycle, ensuring that the perception module's computational tasks are continuously executed according to the predetermined cycle. The perception module can also adopt a logic monitoring mode, where daemon process 120 can track and verify the correctness of the sensor data processing logic through the monitoring module corresponding to the logic reporting interface, ensuring error-free identification of road conditions.
[0049] The control module can connect to the execution time reporting interface and report the running information to daemon process 120. The monitoring module corresponding to the execution time reporting interface in daemon process 120 can ensure that control commands are completed within a specified time range through the execution time monitoring mode. This is especially important for control systems that require rapid response, as it can avoid the risk of accidents caused by execution delays.
[0050] Based on the health management system provided in this application embodiment, the perception and control functions of intelligent driving vehicles can work together more reliably and efficiently, further improving the safety performance and intelligence level of the entire vehicle.
[0051] For example, in an Automatic Emergency Braking (AEB) system, the perception unit monitors obstacles ahead using sensors such as cameras and radar. If an obstacle is detected, the control unit needs to quickly calculate and issue a braking command. This process involves multiple monitoring modes:
[0052] (1) Heartbeat monitoring mode: can confirm that the sensor is in normal condition and provides data at the expected frequency;
[0053] (2) Logical monitoring mode: This ensures that the obstacle detection algorithm is executed correctly and without errors;
[0054] (3) Execution time monitoring mode: can ensure that control commands are issued within the critical time window.
[0055] The intelligent driving platform health management system provided in this application embodiment can provide multiple reporting interfaces and a daemon process including multiple monitoring modules. Each reporting interface corresponds one-to-one with a monitoring module, and each monitoring module implements a specific monitoring mode. The intelligent driving module in the intelligent driving platform can connect to at least one reporting interface as needed to report its own operating information to the daemon process. The daemon process then performs health monitoring on the intelligent driving module based on the monitoring module and operating information corresponding to each accessed reporting interface. Therefore, the system provided in this application embodiment, by providing multiple monitoring modes, can achieve comprehensive monitoring of all key modules and systems of the vehicle. Through software reporting interfaces and modular design, the difficulty and cost of integrating different modules can be reduced.
[0056] Furthermore, the intelligent driving platform health management system provided in this application embodiment has high scalability. Technicians can add or delete reporting interfaces and corresponding monitoring modules in the intelligent driving platform health management system according to subsequent actual needs, without having to redevelop the entire intelligent driving platform health management system.
[0057] In one possible implementation, such asFigure 3 As shown, when the intelligent driving module reports its own operating information to the daemon process, it can report its own operating information to the daemon process 120 through the communication method of shared memory 130.
[0058] The communication link between the reporting interface 110 and the daemon process 120 can also be established via Socket communication.
[0059] Taking the system's integration into a mass-produced vehicle project as an example, the following table shows the performance impact of different communication methods on this project: Table 1 includes the load and remaining memory of the intelligent driving platform when it is not connected to the health management system, and the load, remaining memory, and fault reporting time of the intelligent driving platform when it is connected to the health management system and reports operating information via Socket communication; Table 2 includes the load and remaining memory of the intelligent driving platform when it is not connected to the health management system, and the load, remaining memory, and fault reporting time of the intelligent driving platform when it is connected to the health management system and reports operating information via shared memory communication.
[0060] Table 1 Socket Communication Methods
[0061]
[0062] Table 2 Communication methods for shared memory
[0063]
[0064] The comparison shows that under traditional Socket communication, the total load increases by about 5%, which is quite significant, and the fault reporting time also has a large delay. If the shared memory 130 communication method is used, the total load only increases by about 1%, and the fault reporting time is reduced to 1 / 4 of the original. Using the shared memory 130 communication link can greatly reduce the performance loss and transmission latency of the health management system.
[0065] In one possible implementation, when any monitoring module in the daemon process 120 detects an abnormality in the operating status of the intelligent driving module, the daemon process 120 identifies the abnormality as an abnormal event and adds the abnormal event to a minimum heap structure task management queue, so that the abnormal events in the task management queue are processed in the order of their preset occurrence time.
[0066] In this embodiment, different monitoring methods use a unified underlying algorithm interface. For example, when calculating the window time reported by the calculation module, each monitoring method employs a unified time-heap scheduling algorithm. For instance, each abnormal event can be added to a task management queue with a min-heap structure, and a timer can be created for each abnormal event in the queue, representing the preset occurrence time (i.e., future occurrence time) of each abnormal event. The abnormal events in the queue are processed sequentially according to the preset occurrence time. For example, after a future timer cycle ends, it is determined whether the abnormal event will occur based on certain conditions. If the abnormal event occurs, the callback function will be executed; otherwise, the callback function will not be executed. This embodiment improves the efficiency of task processing in time-sensitive application scenarios by executing abnormal events using a time-heap scheduling algorithm. This algorithm reduces code redundancy and improves the data processing efficiency of the daemon process 120 by creating an independent reporting window and callback function for each monitored object.
[0067] Based on the above method embodiments, another embodiment of this application provides an electronic device, such as... Figure 4 As shown, the electronic device includes:
[0068] One or more processors 210;
[0069] The processor 210 is coupled to a storage device 220, the storage device 220 being used to store one or more programs;
[0070] When the one or more programs are executed by the one or more processors 210, the electronic device enables the function of the intelligent driving platform health management system as described in any of the above embodiments.
[0071] The electronic device provided in this application embodiment can provide multiple reporting interfaces and a daemon process including multiple monitoring modules. Each reporting interface corresponds one-to-one with a monitoring module, and each monitoring module is used to implement a monitoring mode. The intelligent driving module in the intelligent driving platform can access at least one reporting interface as needed to report its own operating information to the daemon process. The daemon process then performs health monitoring on the intelligent driving module based on the monitoring module and operating information corresponding to each accessed reporting interface. Therefore, the system provided in this application embodiment, by providing multiple monitoring modes, can achieve comprehensive monitoring of all key modules and systems of the vehicle. Through software reporting interfaces and modular design, the difficulty and cost of integrating different modules can be reduced.
[0072] Based on the above method embodiments, another embodiment of this application provides a vehicle, which includes the electronic equipment described in any of the above embodiments.
[0073] The vehicle provided in this application embodiment can provide multiple reporting interfaces and a daemon process including multiple monitoring modules. Each reporting interface corresponds one-to-one with a monitoring module, and each monitoring module implements a specific monitoring mode. The intelligent driving module in the intelligent driving platform can access at least one reporting interface as needed to report its own operational information to the daemon process. The daemon process then performs health monitoring on the intelligent driving module based on the monitoring module and operational information corresponding to each accessed reporting interface. Therefore, the system provided in this application embodiment, by providing multiple monitoring modes, can achieve comprehensive monitoring of all key modules and systems of the vehicle. Through software reporting interfaces and modular design, the difficulty and cost of integrating different modules can be reduced.
[0074] Based on the above embodiments, another embodiment of this application provides a computer program product, which includes instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any of the above embodiments.
[0075] The above-described device and system embodiments correspond to the method embodiments and have the same technical effects. For detailed descriptions, please refer to the method embodiments. The device embodiments are derived from the method embodiments; detailed descriptions can be found in the method embodiments section, and will not be repeated here. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.
[0076] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.
[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A health management system for an intelligent driving platform, characterized in that, The system includes: multiple reporting interfaces and a daemon process. Each reporting interface corresponds to a monitoring mode. The daemon process includes multiple monitoring modules. Each monitoring module corresponds one-to-one with the reporting interface, and each monitoring module is used to implement a monitoring mode. The intelligent driving module in the intelligent driving platform connects to at least one reporting interface and reports its own operation information to the daemon process, wherein the operation information includes the operation status and its corresponding timestamp; The daemon process performs health monitoring on the intelligent driving module based on the monitoring module corresponding to each of the at least one reporting interface and the running information.
2. The system according to claim 1, characterized in that, Reporting its own operational information to the daemon process includes: The intelligent driving module reports its own operating information to the daemon process via a shared memory communication method.
3. The system according to claim 1, characterized in that, The at least one reporting interface includes at least one of a heartbeat reporting interface, an execution time reporting interface, and a logic reporting interface; The monitoring module corresponding to the heartbeat reporting interface is used to monitor whether the number of times the intelligent driving module calls the heartbeat reporting interface within a predetermined period is within a preset range, based on the operation information. The monitoring module corresponding to the execution time reporting interface is used to monitor whether the tasks executed by the intelligent driving module are completed within the predetermined time range based on the operation information. The monitoring module corresponding to the logic reporting interface is used to monitor and verify whether the intelligent driving module follows the preset execution logic during the execution of tasks based on the operation information.
4. The system according to claim 3, characterized in that, The monitoring module corresponding to the logical reporting interface is used to determine whether the sending order of the multiple reported operation information satisfies the legal path of the directed graph. If the sending order satisfies the legal path of the directed graph, it is determined that the intelligent driving module follows the preset execution logic during the execution of the task.
5. The system according to claim 4, characterized in that, The logic reporting interface is pre-embedded at a specific location in the logic code of the intelligent driving module, wherein the specific location is a key node in the logic code.
6. The system according to claim 5, characterized in that, The key nodes include at least one of the different branch nodes in an if conditional control statement and a different branch node in a switch conditional control statement.
7. The system according to claim 1, characterized in that, When any monitoring module in the daemon process detects an abnormality in the operating status of the intelligent driving module, the daemon process identifies the abnormality as an abnormal event and adds the abnormal event to a task management queue with a min-heap structure, so that the abnormal events in the task management queue are processed in the order of their preset occurrence time.
8. The system according to any one of claims 1-7, characterized in that, The intelligent driving module includes at least one of the following: a perception module, a positioning module, a planning module, a control module, and a decision-making module.
9. An electronic device, characterized in that, The electronic device includes: One or more processors; The processor is coupled to a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the electronic device enables the function of the intelligent driving platform health management system as described in any one of claims 1-8.
10. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 9.