Unmanned mine card failure detection method, device, terminal, equipment, medium and chip

Abstract

The application provides an unmanned mine card failure detection method and device, a terminal, equipment, a medium and a chip, and relates to the field of vehicle fault detection. The method comprises the following steps: obtaining an unmanned driving instruction of an unmanned mine card; the type of the unmanned driving instruction comprises at least one of a throttle instruction and a brake instruction; according to the type of the unmanned driving instruction, a corresponding failure detection mode is executed to detect a throttle failure fault or a brake failure fault of the unmanned mine card; wherein the failure detection mode comprises a detection mode of the unmanned mine card in different driving stages.

Description

Technical Field

[0001] This application relates to the field of vehicle fault detection, and in particular to a method, device, terminal, equipment, medium, and chip for detecting the failure of unmanned mining trucks. Background Technology

[0002] In open-pit mines and other similar operating scenarios, unmanned mining trucks typically require frequent application of throttle and brake to maintain stable speed control. Failure in any component of the throttle actuator or braking system can pose a significant safety hazard, potentially leading to loss of control, collisions, and other accidents.

[0003] Currently, although the drive-by-wire chassis of some unmanned mining trucks has a certain self-diagnostic capability and can detect and report some underlying faults that may cause throttle or brake failure, its detection range and fault coverage are limited, and there is still a possibility of missing faults. It cannot completely avoid throttle and brake failure caused by indirect or hidden faults. Summary of the Invention

[0004] In view of this, this application provides a method, device, terminal, equipment, medium and chip for detecting failures of unmanned mining trucks, which solves the problem of missed faults due to limited detection range.

[0005] In a first aspect, embodiments of this application provide a method for detecting the failure of unmanned mining trucks, including: Obtain unmanned driving instructions for the unmanned mining truck, wherein the type of unmanned driving instructions includes at least one of accelerator instructions and brake instructions; According to the type of the unmanned driving command, the corresponding failure detection mode is executed to detect throttle failure or brake failure of the unmanned mining truck; wherein, the failure detection mode includes the detection mode of the unmanned mining truck at different driving stages.

[0006] Secondly, embodiments of this application provide an unmanned mining truck failure detection device, comprising: The instruction acquisition module is used to acquire the unmanned driving instructions of the unmanned mining truck, wherein the type of the unmanned driving instructions includes at least one of throttle instructions and braking instructions; The failure detection module is used to execute the corresponding failure detection mode according to the type of the unmanned driving instruction, so as to detect the throttle failure or brake failure of the unmanned mining truck; wherein, the failure detection mode includes the detection mode of the unmanned mining truck at different driving stages.

[0007] Thirdly, embodiments of this application provide a terminal, which includes the apparatus as described in the second aspect.

[0008] Fourthly, embodiments of this application provide a computer device including a first processor and a first memory, the first memory storing a program or instructions that run on the first processor, the program or instructions implementing the steps of the method as described in the first aspect when executed by the first processor.

[0009] Fifthly, embodiments of this application provide a computer-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0010] In a sixth aspect, embodiments of this application provide a chip including at least one second processor and a communication interface, the communication interface being coupled to the at least one second processor, the at least one second processor being used to run programs or instructions to implement the steps of the method as described in the first aspect.

[0011] This application discloses a method, apparatus, terminal, device, medium, and chip for detecting failures in unmanned mining trucks. The method involves real-time acquisition of unmanned driving commands from the unmanned mining truck. These commands are longitudinal motion control commands and include at least one of throttle and braking commands. Based on the type of the unmanned driving command, a corresponding failure detection mode is executed to detect throttle or braking failures in the unmanned mining truck. Notably, both the throttle and braking failure detection modes include detection at different driving stages.

[0012] In this embodiment, by setting separate throttle failure detection modes and brake failure detection modes, and performing detection on different driving stages of the mining truck under each failure detection mode, the detection range of throttle and brake failures can be significantly broadened, the fault coverage rate can be improved, the fault omission can be effectively reduced, the accurate detection of faults can be achieved, and the safety and stability of unmanned mining truck operation can be guaranteed.

[0013] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 One of the flowcharts of the unmanned mining truck failure detection method according to an embodiment of this application is shown; Figure 2The second schematic flowchart of the unmanned mining truck failure detection method according to an embodiment of this application is shown; Figure 3 A structural block diagram of the unmanned mining truck failure detection device according to an embodiment of this application is shown; Figure 4 A schematic block diagram of the terminal structure according to an embodiment of this application is shown; Figure 5 A structural block diagram of a computer device according to an embodiment of this application is shown; Figure 6 A structural block diagram of a computer-readable storage medium according to an embodiment of this application is shown; Figure 7 A structural block diagram of a chip according to an embodiment of this application is shown. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0016] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0017] The following description, in conjunction with the accompanying drawings, details the unmanned mining truck failure detection method, device, terminal, equipment, medium, and chip provided in this application through specific embodiments and application scenarios. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0018] This application provides a method for detecting the failure of unmanned mining trucks, such as... Figure 1As shown, the method is executed by throttle and brake failure detectors, which include a throttle failure detector and a brake failure detector. The throttle failure detector is used to detect throttle failure, and the brake failure detector is used to detect brake failure. The throttle and brake failure detectors receive autonomous driving commands, namely throttle commands and braking commands, sent by the autonomous driving controller, and feed back the throttle and brake failure detection results to the autonomous driving controller.

[0019] like Figure 2 As shown, the method includes: Step 201: Obtain the unmanned driving command of the unmanned mining truck. The type of unmanned driving command includes at least one of the following: throttle command and brake command.

[0020] In this step, the unmanned driving commands of the mining truck are acquired in real time. These commands are longitudinal motion control commands for the vehicle, and their types include at least one of throttle and braking commands. The throttle command is used to adjust the truck's power output to achieve acceleration and constant speed, while the braking command is used to control the truck's service brake or parking brake to achieve deceleration, stopping, and preventing runaway. The command data is generated by the unmanned driving controller after fusing perception, positioning, and scheduling information, and is then executed via the drive-by-wire chassis interface.

[0021] After receiving the autonomous driving command, the speed following error is calculated. This speed following error is used for subsequent detection of throttle failure or brake failure. In one embodiment of this application, during the operation of the unmanned mining truck, the speed following error is first calculated:

[0022] in, For speed following error, For the target vehicle speed, This represents the current vehicle speed.

[0023] Step 202: Execute the corresponding failure detection mode according to the type of unmanned driving instruction to detect throttle failure or brake failure of the unmanned mining truck; wherein, the failure detection mode includes the detection mode of the unmanned mining truck at different driving stages.

[0024] In this step, after obtaining the throttle command (0~100%) and braking command (0~100%) output by the autonomous driving controller, the corresponding failure detection mode is executed according to the type of autonomous driving command. If the autonomous driving controller outputs a throttle command, the corresponding throttle failure detector is activated to execute the throttle failure detection mode, realizing throttle failure fault detection, and the braking failure detector is reset. Similarly, when the autonomous driving controller outputs a braking command, the corresponding braking failure detector is activated to execute the braking failure detection mode, realizing braking failure, and the throttle failure detector is reset.

[0025] It is worth noting that both the throttle failure detection mode and the brake failure detection mode include detection for different driving stages. For example, the throttle failure detection mode detects the starting and driving stages of the mining truck, while the brake failure detection mode detects the stopping and driving stages of the mining truck.

[0026] After obtaining the detection results of throttle failure or brake failure, the detection results are fed back to the autonomous driving controller for processing to ensure driving safety.

[0027] In this embodiment, by setting separate throttle failure detection modes and brake failure detection modes, and performing detection on different driving stages of the mining truck under each failure detection mode, the detection range of throttle and brake failures can be significantly broadened, the fault coverage rate can be improved, the fault omission can be effectively reduced, the accurate detection of faults can be achieved, and the safety and stability of unmanned mining truck operation can be guaranteed.

[0028] In one embodiment of this application, when the type of autonomous driving instruction includes an accelerator instruction, the corresponding failure detection mode is executed according to the type of autonomous driving instruction, including: Based on the throttle command, the throttle failure detection mode is executed, which includes the mining truck start detection mode and the first mining truck driving detection mode.

[0029] In this embodiment, throttle failure detection is divided into two scenarios: the mining truck starting scenario and the mining truck driving scenario. That is, failure detection can be performed during both the starting and driving stages of the mining truck, improving the detection range and reducing missed faults. Furthermore, it avoids the problem that a single detection scheme may have many false positives or false negatives in different scenarios.

[0030] In one embodiment of this application, the mining truck start-up detection mode is executed according to the throttle command, including: When the unmanned mining truck is in the initial stage, if the first preset condition is met, the integration calculation of the first throttle failure integrator of the current control cycle is performed. If the value of the first throttle failure integrator is greater than the starting throttle failure threshold, it is determined that a throttle failure fault has occurred in the initial stage. The first throttle failure integrator is used to characterize the throttle failure situation in the initial stage. If the first preset condition is not met or the starting phase is exited, the value of the first throttle failure integrator will be reset to 0. The first preset conditions include: throttle command greater than 0, no braking control, unmanned mining truck stationary or rolling, unmanned mining truck engaged in driving gear, and speed following error greater than 0.

[0031] In this embodiment, when the unmanned mining truck starts, the throttle command is generally increased gradually from a small value. In many cases, the start-up failure is not due to throttle failure, but because the throttle command is too small. In order to avoid false alarms of throttle failure due to this reason, a throttle failure detection scheme for unmanned mining trucks in the start-up stage is proposed.

[0032] Upon receiving the throttle command, while the unmanned mining truck is in the initial stage, if the following preset conditions are met simultaneously: 1) The throttle command is output by the unmanned driving controller. 2) No braking was applied, including braking command, loading brake, parking brake, and other braking methods; 3) The vehicle was stationary or rolling; 4) The vehicle was in a driving gear, including forward and reverse; 5) Speed ​​following error. Based on the throttle command, the integral coefficient of the integrator in the start-up phase, the scale coefficient of the actual vehicle calibration, the throttle failure threshold in the start-up phase, the throttle response time, and the detection operation cycle, the first throttle failure integrator is calculated. The value of the first throttle failure integrator is used to accumulate the integral value of the throttle command timeliness in the start-up phase.

[0033] in, This indicates that the controller has clearly issued an intention to accelerate from a standstill, ruling out the normal situation where the car doesn't accelerate because no accelerator is applied. The absence of any braking activity rules out the normal condition where the vehicle is stationary / rolling due to brakes, ensuring that the vehicle's power output is not being artificially limited by the braking system. A stationary or rolling vehicle directly indicates that an accelerator command has been issued, but the vehicle is not accelerating, a clear indication of accelerator malfunction. The presence of a drive gear eliminates the normal situation where the vehicle is in neutral / park, preventing power from being transmitted to the wheels, confirming that the vehicle is ready to move. This indicates that the vehicle did not keep up with the speed command from the controller, further confirming the problem of insufficient power output.

[0034] If all the above conditions are met simultaneously, it's equivalent to the autonomous driving controller issuing a start command and the vehicle being ready to drive, but it doesn't actually accelerate normally, which is a suspected scenario of throttle failure. At this point, integral calculation is initiated to continuously accumulate the deviation in the timeliness of the throttle command, and then a threshold judgment is used to confirm whether a throttle failure has actually occurred.

[0035] For example, by performing integration using the following formula, the first throttle failure integrator can be obtained:

[0036] Here, "+=" is the increment operator. For the first throttle failure integrator, The integral coefficient of the integrator in the starting scenario can be dynamically adjusted according to the vehicle's slippage. The more severe the slippage, the larger the value. The bias coefficient is set such that when the throttle command approaches 1, the denominator in the formula approaches 1. At this time, the integral increment is mainly affected by Impact: When the throttle command is small, the denominator in the formula is large, the integral increment is small, and false detection is avoided. The set 100% throttle response time is generally slightly longer than the response time tested in actual vehicles. This refers to the throttle command output by the autonomous driving controller (the value range here is 0~1). In the formula, 1 represents the maximum value of the throttle command. This refers to the detector's operating cycle, also known as the control cycle. It should be noted that 1+ - Under normal operating conditions, the value is greater than zero. If the denominator is less than or equal to zero due to parameter calibration, it is directly set to a small positive number (such as 0.001) to avoid division by zero errors.

[0037] The value of the integrator for first throttle failure Threshold failure during start-up Comparison, starting throttle failure threshold These are pre-defined criteria used to distinguish between normal operating conditions and failure conditions. If these criteria are not met... If this indicates that there is no throttle failure, continue with the integral calculation; when If the throttle fails during startup, a fault is detected and the autonomous driving controller is notified for processing. Only when the integrator value accumulates to a certain level, exceeding... Only if the throttle fails will it be considered a malfunction, thus avoiding false alarms caused by a single instantaneous deviation. It should be noted that the integrator continuously calculates in this scenario, and the comparison with the threshold is performed every cycle in this scenario. If the threshold is exceeded even once, it is considered a malfunction.

[0038] If none of the first preset conditions are met, it means that the process is still in the initial preparation stage. Reset it directly to 0 to prepare for the next testing cycle.

[0039] The advantage of this scheme is that the greater the throttle command, the faster the integration speed, thus effectively avoiding false alarms. Understandably, in a normal start-up scenario, after the throttle command is issued, the vehicle will quickly respond with acceleration; the deviation between the command and the response is very small and quickly corrected. Will be controlled The following will not trigger the threshold. In the throttle failure scenario, the throttle command persists, but the vehicle accelerates almost completely or not at all, and the deviation continues to accumulate. It will continue to rise, eventually exceeding At this point, it can be definitively determined that the throttle has failed.

[0040] Through the aforementioned mechanism, this application achieves accurate and low false alarm detection of throttle failure in the initial stage.

[0041] In one embodiment of this application, executing a first mining truck driving detection mode according to a throttle command includes: When the unmanned mining truck is in motion, if the second preset condition is met, the current acceleration and throttle command of the unmanned mining truck are detected. If the current acceleration is greater than the minimum acceleration threshold or the throttle command increases, the value of the second throttle failure integrator in the current control cycle remains the same as the value of the previous control cycle. The second throttle failure integrator is used to characterize the throttle failure situation during the driving phase. If the current acceleration is less than or equal to the minimum acceleration threshold and the throttle command does not increase, then the integration operation of the second throttle failure integrator in the current control cycle is performed, and if the value of the second throttle failure integrator is greater than the driving throttle failure threshold, then it is determined that a throttle failure fault has occurred during the driving phase. If the second preset condition is not met or the driving phase is exited, the value of the second throttle failure integrator will be reset to 0. The second preset conditions include: throttle command greater than 0, no braking control, speed following error greater than the allowable speed following error value, and the current speed of the unmanned mining truck greater than 0.

[0042] In this embodiment, after receiving the throttle command, while the mining truck is in the driving phase, if the following preset conditions are met simultaneously: 1) The throttle command is output by the unmanned driving controller. 2) No braking was engaged, including braking commands, loading brakes, parking brakes, and other braking methods; 3) Speed ​​following error. , 4) Current speed (allowable speed following error value) Based on the speed following error, the integral coefficient of the integrator during the driving phase, and the detection cycle, the second throttle failure integrator is calculated. The value of the second throttle failure integrator is used to accumulate the integral value of the speed error during the driving phase.

[0043] in, This indicates that the controller has clearly issued an acceleration command, ruling out the normal situation where the car did not accelerate due to lack of throttle input. The absence of any braking indicates that the vehicle's power is insufficient, which is a normal operating condition due to brake engagement. This quantitatively indicates that the deviation between the expected speed and the actual speed exceeds the allowable range, directly reflecting insufficient power output. This confirms that the vehicle is in the acceleration phase, rather than the starting or stopping phase.

[0044] If all the above conditions are met simultaneously, it is equivalent to the vehicle being in motion, the controller issuing an acceleration command, and there being no braking restrictions. However, the vehicle fails to accelerate as expected, and there is a continuous abnormality in power output. This is confirmed as a suspected fault scenario of throttle failure during driving. In this scenario, the calculation of the throttle failure integrator is initiated, and the speed deviation is continuously accumulated to provide a reliable basis for subsequent failure determination.

[0045] For example, by performing integration using the following formula, the second throttle failure integrator can be obtained:

[0046] That is, when the vehicle accelerates Exceeding the minimum acceleration threshold or throttle command It is rising, that is If the throttle failure integrator value remains unchanged, the throttle failure integrator value for the current control cycle will remain the value from the previous control cycle. When the vehicle accelerates... Not exceeding the minimum acceleration threshold and throttle commands If the throttle response does not increase, it indicates a continuous lack of power due to a mismatch between the command and response. Only then does the deviation accumulate, allowing for precise detection of the throttle failure fault characteristic. Integral calculations are then performed. . This indicates that the vehicle has achieved effective acceleration, meaning that the power output is normal and there is no need to accumulate fault deviations. This indicates that the throttle command is increasing, which is a normal acceleration adjustment process. Even if there is a brief deviation at this time, it should not be judged as a malfunction.

[0047] in, This is the second throttle failure integrator. For the current vehicle acceleration, The minimum acceleration threshold is typically set to a small value greater than 0. This is the throttle command output in the previous cycle. The integral coefficient of the integrator in the driving scenario. This refers to the detector's operating cycle, also known as the control cycle.

[0048] The value of the second throttle failure integrator Threshold for failure of driving throttle Comparison of driving throttle failure threshold These are pre-defined criteria used to distinguish between normal operating conditions and failure conditions. If these criteria are not met... If this indicates that there is no throttle failure, continue with the integral calculation; when If the speed deviation has accumulated to the limit of safety tolerance, ruling out the possibility of brief disturbances or normal adjustments, then it is considered that a throttle failure has occurred during driving, and a fault is reported to notify the autonomous driving controller for handling. Only when the integrator value continues to accumulate to a certain level, exceeding... Only if the throttle fails will it be considered a malfunction, thus avoiding false alarms caused by a single instantaneous deviation. It should be noted that the integrator continuously calculates in this scenario, and the comparison with the threshold is performed every cycle in this scenario. If the threshold is exceeded even once, it is considered a malfunction.

[0049] If none of the second preset conditions are met, then The value is directly reset to 0 to prepare for the next testing cycle and avoid historical biases interfering with subsequent judgments.

[0050] This application achieves accurate and low false alarm detection of throttle failure during the driving phase through the above mechanism.

[0051] In one embodiment of this application, when the type of autonomous driving instruction includes a braking instruction, the corresponding failure detection mode is executed according to the type of autonomous driving instruction, including: Based on the braking command, the brake failure detection mode is executed, which includes a mining truck parking detection mode and a second mining truck driving detection mode.

[0052] In this embodiment, brake failure detection is divided into two scenarios: a mining truck parking scenario and a mining truck driving scenario. That is, failure detection can be performed in both the parking and driving phases of the mining truck, improving the detection range and reducing missed faults. Furthermore, it avoids the problem that a single detection scheme may have many false detections or missed detections in different scenarios.

[0053] In one embodiment of this application, the mining truck parking detection mode is executed according to the braking command, including: When the unmanned mining truck is in the parking phase, if the third preset condition is met, the current acceleration of the unmanned mining truck is detected. If the current acceleration is greater than the minimum deceleration threshold, the braking failure integrator is integrated to obtain the braking failure integrator; if the current acceleration is less than or equal to the minimum deceleration threshold, the braking success integrator is integrated to obtain the braking success integrator. If the value of the brake failure integrator is greater than the parking brake failure threshold, then a brake failure fault is determined to have occurred during the parking phase. If the value of the successful braking integrator is greater than the integration threshold for resetting the failed braking integrator, then the value of the failed braking integrator will be reset to 0. The third preset condition includes: the braking command is greater than 0, the current speed of the unmanned mining truck is greater than 0, and the target speed of the unmanned mining truck is equal to 0.

[0054] In this embodiment, after receiving the braking command, if the following third preset condition is met simultaneously while the mining truck is in the process of stopping: 1) the braking command output by the unmanned driving controller. ;2) Current speed 3) Target vehicle speed If the following logic is not met, then all integrators will be reset.

[0055] in, This indicates that the controller has clearly issued a braking command, demonstrating that the system intends to stop. This indicates that the vehicle is currently still moving and is in the process of stopping. This indicates that the controller's target speed is 0, meaning the vehicle must come to a complete stop. If all three conditions are met simultaneously, a parking brake command has been issued; the vehicle is moving and the target is to remain stationary, but the actual braking effect is unknown. At this point, integral calculation is initiated to continuously accumulate the deviation in braking effect, providing a basis for subsequent judgments regarding brake failure.

[0056] Define two integrators: a braking success integrator. Brake failure integrator , Used to accumulate the duration of the braking failure state. Used to accumulate the duration of the effective braking state. Compare the current acceleration. With minimum deceleration threshold , The minimum deceleration threshold is set, and it is generally taken as a small value less than 0.

[0057] If this occurs, it indicates insufficient deceleration, meaning poor braking performance, the vehicle decelerates too slowly, and braking failure is suspected. The integrator then performs an integral calculation for braking failure.

[0058] in, This is the value of the integrator for braking failure. The integral coefficient for braking failure. This refers to the detector's operating cycle, also known as the control cycle.

[0059] When the braking speed is sufficient, it indicates that the braking effect is normal and the vehicle is effectively decelerating. The braking is considered successful, and the integrator performs an integral calculation on the successful braking.

[0060] in, The value of the integrator for successful braking. The integral coefficient for successful braking. This refers to the detector's operating cycle, also known as the control cycle.

[0061] Furthermore, With parking brake failure threshold When comparing, If the braking failure is detected, it indicates that the insufficient braking and slow deceleration have persisted for a sufficient period, ruling out transient fluctuations and confirming a failure in the braking system itself. This means that braking failure is considered to have occurred during parking, and a fault report is sent to the autonomous driving controller for processing. If the conditions are not met... If the braking insufficiency has not yet reached the point of failure, a fault will not be determined for the time being. In this case, the points will continue to accumulate, and the system will wait for a subsequent cycle to make a judgment.

[0062] Will Integral threshold of the integrator in case of brake failure reset When comparing, If the braking success time during the parking process is deemed sufficiently long and the braking system is currently operating stably and effectively, then the braking failure integrator is reset, i.e., the braking failure integrator is made to... This clears up previously accumulated braking under-braking deviations and prevents subsequent false alarms due to temporary anomalies. When the conditions are not met... If the braking effect is not sustained for a sufficient period, further observation is required. In this case, the integrator will continue to accumulate and will not be reset.

[0063] In one embodiment of this application, a second mining truck driving detection mode is executed according to a braking command, including: When the unmanned mining truck is in motion, if the fourth preset condition is met, the current acceleration of the unmanned mining truck will be detected. If the current acceleration is greater than the minimum deceleration threshold, the integration operation of the deceleration failure integrator is performed to obtain the deceleration failure integrator; if the current acceleration is less than or equal to the minimum deceleration threshold, the integration operation of the deceleration success integrator is performed to obtain the deceleration success integrator. If the value of the deceleration failure integrator is greater than the driving brake failure threshold, then a brake failure fault is determined to have occurred during the driving phase. If the value of the integrator for successful deceleration is greater than the integration threshold for resetting the integrator for failed deceleration, then the value of the integrator for failed deceleration will be reset to 0. The fourth preset condition includes: the braking command is greater than 0, the speed following error is less than the negative value of the speed following error allowable value, and the target speed of the unmanned mining truck is greater than 0.

[0064] In this embodiment, after receiving the braking command, if the following fourth preset condition is met simultaneously while the mining truck is in motion: 1) the braking command is output by the unmanned driving controller. 2) Speed ​​following error , 3) Target vehicle speed (allowable speed following error) Then, the following logic will be used to determine the result; if the condition is not met, all integrators will be reset.

[0065] in, This indicates that the controller has clearly issued a braking command, demonstrating that the system intends to decelerate. This indicates that the speed following error is negative and exceeds the allowable range, meaning that the actual speed is much greater than the target speed, the vehicle did not decelerate as expected, and the power response is abnormal. This indicates that the vehicle is decelerating while in motion, rather than coming to a complete stop. Meeting all three conditions simultaneously signifies that a braking command for deceleration while in motion has been issued, and the vehicle's actual speed significantly exceeds the target speed, but the braking effect is insufficient. At this point, integral calculation is initiated to continuously accumulate this mismatch between the braking command and the actual deceleration response, providing a reliable basis for subsequent judgments regarding brake failure.

[0066] Define two integrators: a deceleration success integrator. and deceleration failure integrator , The integral value of the deviation used to accumulate braking failure states, combined with the current speed and error, quantifies the severity of the fault. Used to accumulate the duration of the effective braking state. Compare the current acceleration. With minimum deceleration threshold , The minimum deceleration threshold is set, and it is generally taken as a small value less than 0.

[0067] If this occurs, it indicates insufficient deceleration, meaning poor braking performance, the vehicle decelerating too slowly, and a suspected deceleration failure. The integrator then performs an integral calculation for the deceleration failure.

[0068] in, The value of the integrator in case of deceleration failure. The integral coefficient for deceleration failure. This refers to the detector's operating cycle, also known as the control cycle.

[0069] When the deceleration is sufficient, indicating normal braking effect and effective vehicle deceleration, the deceleration is considered successful, and the integrator performs integral calculations on the successful deceleration.

[0070] in, The value of the integrator for successful deceleration. The integral coefficient for successful deceleration. This refers to the detector's operating cycle, also known as the control cycle.

[0071] Furthermore, With driving brake failure threshold When comparing, If the condition is not met, it indicates that insufficient braking and slow deceleration have accumulated to the safety tolerance limit, ruling out transient fluctuations and confirming a failure in the braking system itself. This means that braking failure has occurred during driving, and a fault report is sent to the autonomous driving controller for processing. If the braking insufficiency has not yet reached the point of failure, a fault will not be determined for the time being. In this case, the points will continue to accumulate, and the system will wait for a subsequent cycle to make a judgment.

[0072] Will Integral threshold of integrator in case of deceleration failure When comparing, If the time for successful deceleration during driving is sufficiently long and the braking system is currently operating stably and effectively, then the integrator for failed deceleration is reset, i.e., so that... This clears up previously accumulated braking under-braking deviations and prevents subsequent false alarms due to temporary anomalies. When the conditions are not met... If the braking effect is not sustained for a sufficient period, further observation is required. In this case, the integrator will continue to accumulate and will not be reset.

[0073] This application proposes a fault detection scheme at the unmanned driving control level for throttle and brake failure faults. It detects different driving stages of mining trucks under various failure detection modes, which can significantly broaden the detection range of throttle and brake failures, improve fault coverage, effectively reduce fault omissions, achieve accurate fault detection, and ensure the safety and stability of unmanned mining truck operation.

[0074] Specifically, a detection scheme is proposed for both the starting and driving scenarios to detect throttle failure, and a detection scheme is proposed for both the stopping and driving scenarios to detect brake failure. These schemes do not rely on high-precision drive system dynamics models or require the collection of large amounts of historical data. Furthermore, all the different detection schemes include integrators, avoiding false alarms caused by execution lag.

[0075] Furthermore, it should be noted that traditional drive-by-wire chassis typically only receive throttle and braking control commands from the autonomous driving controller, without acquiring higher-level planning information such as the vehicle's target speed. This makes it difficult to comprehensively judge whether the execution effect of the control commands meets expectations based on the vehicle's actual motion state. Moreover, since no one is inside the unmanned mining truck during operation, it is impossible to rely on human driving experience and intuition to determine whether the vehicle's power or braking is abnormal. This application provides real-time auxiliary drive-by-wire module synchronous detection during the operation of the unmanned mining truck, enabling the vehicle to promptly enter the fault handling process. It not only avoids frequent false alarms but also possesses a high degree of failure detection capability, ensuring the safe, 24 / 7, unmanned operation of the unmanned mining truck.

[0076] As a specific implementation of the above-mentioned unmanned mining truck failure detection method, this application provides an unmanned mining truck failure detection device, which can also be called an unmanned mining truck throttle and brake failure detector. Figure 3 As shown, the unmanned mining truck failure detection device 300 includes: an instruction acquisition module 301 and a failure detection module 302.

[0077] The instruction acquisition module 301 is used to acquire the unmanned driving instructions of the unmanned mining truck, and the type of the unmanned driving instructions includes at least one of throttle instructions and braking instructions. The failure detection module 302 is used to execute the corresponding failure detection mode according to the type of the unmanned driving instruction, so as to detect the throttle failure or brake failure of the unmanned mining truck; wherein, the failure detection mode includes the detection mode of the unmanned mining truck at different driving stages.

[0078] Furthermore, when the type of autonomous driving command includes an accelerator command, the failure detection module 302 is specifically used for: According to the throttle command, the throttle failure detection mode is executed, which includes a mining truck start detection mode and a first mining truck driving detection mode.

[0079] Furthermore, the failure detection module 302 is specifically used for: When the unmanned mining truck is in the start-up phase, if the first preset condition is met, the integration calculation of the first throttle failure integrator of the current control cycle is performed. If the value of the first throttle failure integrator is greater than the start-up throttle failure threshold, it is determined that a throttle failure fault has occurred in the start-up phase. The first throttle failure integrator is used to characterize the throttle failure situation in the start-up phase. If the first preset condition is not met, the value of the first throttle failure integrator will be reset to 0.

[0080] The first preset conditions include: throttle command greater than 0, no braking control, unmanned mining truck stationary or rolling, unmanned mining truck engaged in driving gear, and speed following error greater than 0.

[0081] Furthermore, the failure detection module 302 is specifically used for: When the unmanned mining truck is in the driving phase, if the second preset condition is met, the current acceleration and throttle command of the unmanned mining truck are detected. If the current acceleration is greater than the minimum acceleration threshold or the throttle command increases, the value of the second throttle failure integrator in the current control cycle remains the value of the previous control cycle. The second throttle failure integrator is used to characterize the throttle failure situation during the driving phase. If the current acceleration is less than or equal to the minimum acceleration threshold and the throttle command does not increase, then the integration operation of the second throttle failure integrator in the current control cycle is performed, and if the value of the second throttle failure integrator is greater than the driving throttle failure threshold, then it is determined that a throttle failure fault has occurred in the driving phase. If the second preset condition is not met, the value of the second throttle failure integrator will be reset to 0. The second preset conditions include: throttle command greater than 0, no braking control, speed following error greater than the allowable speed following error value, and the current speed of the unmanned mining truck greater than 0.

[0082] Furthermore, when the type of autonomous driving command includes a braking command, the failure detection module 302 is specifically used for: According to the braking command, the braking failure detection mode is executed, which includes a mining truck parking detection mode and a second mining truck driving detection mode.

[0083] Furthermore, the failure detection module 302 is specifically used for: When the unmanned mining truck is in the parking phase, if the third preset condition is met, the current acceleration of the unmanned mining truck is detected. If the current acceleration is greater than the minimum deceleration threshold, the braking failure integrator is integrated to obtain the braking failure integrator; if the current acceleration is less than or equal to the minimum deceleration threshold, the braking success integrator is integrated to obtain the braking success integrator. If the value of the brake failure integrator is greater than the parking brake failure threshold, then it is determined that a brake failure has occurred during the parking phase. If the value of the braking success integrator is greater than the integration threshold for resetting the braking failure integrator, then the value of the braking failure integrator is reset to 0. The third preset condition includes: the braking command is greater than 0, the current speed of the unmanned mining truck is greater than 0, and the target speed of the unmanned mining truck is equal to 0.

[0084] Furthermore, the failure detection module 302 is specifically used for: When the unmanned mining truck is in the driving phase, if the fourth preset condition is met, the current acceleration of the unmanned mining truck is detected. If the current acceleration is greater than the minimum deceleration threshold, the integration operation of the deceleration failure integrator is performed to obtain the deceleration failure integrator; if the current acceleration is less than or equal to the minimum deceleration threshold, the integration operation of the deceleration success integrator is performed to obtain the deceleration success integrator. If the value of the deceleration failure integrator is greater than the driving brake failure threshold, then it is determined that a brake failure fault has occurred during the driving phase. If the value of the deceleration success integrator is greater than the integration threshold for resetting the deceleration failure integrator, then the value of the deceleration failure integrator is reset to 0. The fourth preset condition includes: the braking command is greater than 0, the speed following error is less than the negative value of the speed following error allowable value, and the target speed of the unmanned mining truck is greater than 0.

[0085] The unmanned mining truck failure detection device 300 in this application embodiment can be a computer device or a component within a computer device, such as an integrated circuit or a chip. The unmanned mining truck failure detection device 300 provided in this application embodiment can achieve... Figure 1 and Figure 2 The various processes implemented in the embodiment of the unmanned mining truck failure detection method will not be described again here to avoid repetition.

[0086] This application also provides a terminal, such as... Figure 4 As shown, the terminal 400 includes the aforementioned unmanned mining truck failure detection device 300.

[0087] The aforementioned terminal 400 can execute the unmanned mining truck failure detection method described in the above embodiments through the unmanned mining truck failure detection device 300. It is understood that the implementation method by which the terminal 400 controls the unmanned mining truck failure detection device 300 can be set according to the actual application scenario, and this application embodiment does not impose specific limitations.

[0088] The aforementioned terminal 400 includes, but is not limited to, vehicles, vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radar, or vehicle-mounted cameras, and other sensors. Vehicles can implement the methods provided in this application through these vehicle-mounted terminals, controllers, modules, components, chips, units, radar, or cameras. Vehicles in this application include passenger cars and commercial vehicles. Common commercial vehicle models include, but are not limited to, pickup trucks, mini-trucks, light trucks, mini-vans, dump trucks, cargo trucks, tractors, trailers, special-purpose vehicles, and mining vehicles. Mining vehicles include, but are not limited to, mining trucks, wide-body trucks, articulated trucks, excavators, electric shovels, and bulldozers. This application does not further limit the type of intelligent vehicle; any type of vehicle is within the scope of protection of this application.

[0089] This application also provides a computer device, such as... Figure 5 As shown, the computer device 500 includes a first processor 501 and a first memory 502. The first memory 502 stores programs or instructions that can run on the first processor 501. When the program or instructions are executed by the first processor 501, they implement the various steps of the above-described unmanned mining truck failure detection method embodiment and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0090] The first memory 502 can be used to store software programs and various data. The first memory 502 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback function, image playback function, etc.). Furthermore, the first memory 502 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The first memory 502 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0091] The first processor 501 may include one or more processing units; optionally, the first processor 501 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the first processor 501.

[0092] This application also provides a computer-readable storage medium, such as... Figure 6 As shown, a program or instruction 601 is stored on the computer-readable storage medium 600. When the program or instruction 601 is executed by the processor, it implements the various processes of the above-described unmanned mining truck failure detection method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0093] The methods described in the above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. The computer-readable storage medium 600 may include computer storage media and communication media, and may also include any medium capable of transferring a computer program from one place to another. The storage medium can be any target medium accessible by a computer.

[0094] As one possible design, computer-readable storage medium 600 may include a compact optical disc read-only memory (CD-ROM), RAM, ROM, EEPROM, or other optical disc storage; computer-readable storage medium 600 may also include a disk storage device or other disk storage device. Furthermore, any connecting cable may also be appropriately referred to as a computer-readable storage medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL (Digital Subscriber Line), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs (CD), laser discs, optical discs, digital versatile discs (DVD), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers.

[0095] This application also provides a chip, such as... Figure 7 As shown, the chip 700 includes at least one second processor 701 and a communication interface 702. The communication interface 702 is coupled to the second processor 701. The second processor 701 is used to run programs or instructions to implement the various processes of the above-described unmanned mining truck failure detection method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0096] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0097] Preferably, the chip 700 further includes a memory, such as a second memory 703, which stores executable modules or data structures, or subsets thereof, or extended sets thereof.

[0098] In this embodiment, the second memory 703 may include read-only memory and random access memory, and provides instructions and data to the second processor 701. A portion of the second memory 703 may also include non-volatile random access memory (NVRAM).

[0099] In this embodiment, the second processor 701, the communication interface 702, and the second memory 703 are coupled together via a bus system 704. The bus system 704 may include a data bus, a power bus, a control bus, and a status signal bus, in addition to the data bus. For ease of description, in... Figure 7 The general designated all buses as Bus System 704.

[0100] The unmanned mining truck failure detection method described in the embodiments of this application can be applied to, or implemented by, the second processor 701. The second processor 701 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware or by instructions in software form within the second processor 701. The second processor 701 can be a general-purpose processor (e.g., a microprocessor or conventional processor), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates, transistor logic devices, or discrete hardware components. The second processor 701 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention.

[0101] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0102] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for detecting failures of unmanned mining trucks, characterized in that, include: Obtain unmanned driving instructions for the unmanned mining truck, wherein the type of unmanned driving instructions includes at least one of accelerator instructions and brake instructions; According to the type of the unmanned driving command, the corresponding failure detection mode is executed to detect throttle failure or brake failure of the unmanned mining truck; wherein, the failure detection mode includes the detection mode of the unmanned mining truck at different driving stages; the type of the unmanned driving command includes throttle command and brake command; When the type of the autonomous driving command is an accelerator command, the execution of the corresponding failure detection mode according to the type of the autonomous driving command includes: According to the throttle command, the throttle failure detection mode is executed, which includes a mining truck start detection mode and a first mining truck driving detection mode. Based on the throttle command, the mining truck start-up detection mode is executed, including: When the unmanned mining truck is in the start-up phase, if the first preset condition is met, the integration calculation of the first throttle failure integrator of the current control cycle is performed. If the value of the first throttle failure integrator is greater than the start-up throttle failure threshold, it is determined that a throttle failure fault has occurred in the start-up phase. The first throttle failure integrator is used to characterize the throttle failure situation in the start-up phase. If the first preset condition is not met, the value of the first throttle failure integrator will be reset to 0. The first preset conditions include: throttle command greater than 0, no braking control, unmanned mining truck stationary or rolling, unmanned mining truck engaged in driving gear, and speed following error greater than 0.

2. The method according to claim 1, characterized in that, Based on the throttle command, the first mining truck driving detection mode is executed, including: When the unmanned mining truck is in the driving phase, if the second preset condition is met, the current acceleration and throttle command of the unmanned mining truck are detected. If the current acceleration is greater than the minimum acceleration threshold or the throttle command increases, the value of the second throttle failure integrator in the current control cycle remains the value of the previous control cycle. The second throttle failure integrator is used to characterize the throttle failure situation during the driving phase. If the current acceleration is less than or equal to the minimum acceleration threshold and the throttle command does not increase, then the integration operation of the second throttle failure integrator in the current control cycle is performed, and if the value of the second throttle failure integrator is greater than the driving throttle failure threshold, it is determined that a throttle failure fault has occurred in the driving phase. If the second preset condition is not met, the value of the second throttle failure integrator will be reset to 0. The second preset conditions include: throttle command greater than 0, no braking control, speed following error greater than the allowable speed following error value, and the current speed of the unmanned mining truck greater than 0.

3. The method according to claim 1, characterized in that, When the type of autonomous driving instruction includes a braking instruction, the step of executing the corresponding failure detection mode according to the type of autonomous driving instruction includes: According to the braking command, the braking failure detection mode is executed, which includes a mining truck parking detection mode and a second mining truck driving detection mode.

4. The method according to claim 3, characterized in that, According to the braking command, the mining truck stop detection mode is executed, including: When the unmanned mining truck is in the parking phase, if the third preset condition is met, the current acceleration of the unmanned mining truck is detected. If the current acceleration is greater than the minimum deceleration threshold, the braking failure integrator is integrated to obtain the braking failure integrator; if the current acceleration is less than or equal to the minimum deceleration threshold, the braking success integrator is integrated to obtain the braking success integrator. If the value of the brake failure integrator is greater than the parking brake failure threshold, then it is determined that a brake failure has occurred during the parking phase. If the value of the braking success integrator is greater than the integration threshold for resetting the braking failure integrator, then the value of the braking failure integrator is reset to 0. The third preset condition includes: the braking command is greater than 0, the current speed of the unmanned mining truck is greater than 0, and the target speed of the unmanned mining truck is equal to 0.

5. The method according to claim 3, characterized in that, According to the braking command, the second mining truck driving detection mode is executed, including: When the unmanned mining truck is in the driving phase, if the fourth preset condition is met, the current acceleration of the unmanned mining truck is detected. If the current acceleration is greater than the minimum deceleration threshold, the integration operation of the deceleration failure integrator is performed to obtain the deceleration failure integrator; if the current acceleration is less than or equal to the minimum deceleration threshold, the integration operation of the deceleration success integrator is performed to obtain the deceleration success integrator. If the value of the deceleration failure integrator is greater than the driving brake failure threshold, then it is determined that a brake failure fault has occurred during the driving phase. If the value of the deceleration success integrator is greater than the integration threshold for resetting the deceleration failure integrator, then the value of the deceleration failure integrator is reset to 0. The fourth preset condition includes: the braking command is greater than 0, the speed following error is less than the negative value of the speed following error allowable value, and the target speed of the unmanned mining truck is greater than 0.

6. A failure detection device for unmanned mining trucks, characterized in that, include: The instruction acquisition module is used to acquire the unmanned driving instructions of the unmanned mining truck, wherein the type of the unmanned driving instructions includes at least one of throttle instructions and braking instructions; The failure detection module is used to execute the corresponding failure detection mode according to the type of the unmanned driving command, so as to detect the throttle failure or brake failure of the unmanned mining truck; wherein, the failure detection mode includes the detection mode of the unmanned mining truck at different driving stages; the type of unmanned driving command includes throttle command and brake command; When the type of the autonomous driving command is an accelerator command, the failure detection module is specifically used for: According to the throttle command, the throttle failure detection mode is executed, which includes a mining truck start detection mode and a first mining truck driving detection mode. Based on the throttle command, the mining truck start-up detection mode is executed, including: When the unmanned mining truck is in the start-up phase, if the first preset condition is met, the integration calculation of the first throttle failure integrator of the current control cycle is performed. If the value of the first throttle failure integrator is greater than the start-up throttle failure threshold, it is determined that a throttle failure fault has occurred in the start-up phase. The first throttle failure integrator is used to characterize the throttle failure situation in the start-up phase. If the first preset condition is not met, the value of the first throttle failure integrator will be reset to 0. The first preset conditions include: throttle command greater than 0, no braking control, unmanned mining truck stationary or rolling, unmanned mining truck engaged in driving gear, and speed following error greater than 0.

7. A terminal, characterized in that, The terminal includes the unmanned mining truck failure detection device as described in claim 6.

8. A computer device, characterized in that, It includes a first processor and a first memory, the first memory storing a program or instructions that run on the first processor, the program or instructions being executed by the first processor to implement the steps of the unmanned mining truck failure detection method as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the unmanned mining truck failure detection method as described in any one of claims 1 to 5.

10. A chip, characterized in that, The chip includes at least one second processor and a communication interface, the communication interface being coupled to the at least one second processor, the at least one second processor being used to run programs or instructions to implement the steps of the unmanned mining truck failure detection method as described in any one of claims 1 to 5.

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