Method and apparatus for health detection of functional module

Abstract

The embodiment of the application provides a health detection method and device of a function module, the method comprises the following steps: acquiring checkpoint information reported by a first checkpoint, and acquiring a detection method corresponding to the first checkpoint according to the checkpoint information of the first checkpoint; detecting the checkpoint information of the first checkpoint by using the detection method corresponding to the first checkpoint to obtain a detection result, and updating first running state information of a first entity to which the first checkpoint belongs according to the detection result; updating second running state information of a first function module to which the first entity belongs according to the updated first running state information; and generating a health detection result of the first function module according to the updated first running state information and the updated second running state information.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a health detection method and apparatus for a functional module. Background Technology

[0002] Currently, autonomous driving technology has become a significant trend in the automotive industry. The development of autonomous vehicles can not only improve traffic efficiency and reduce traffic accidents, but also provide greater convenience for people's travel. As the concept of "software-defined vehicles" gains widespread acceptance, autonomous driving technology is rapidly evolving. Currently, vehicle fault information is collected, summarized, rated, and analyzed using deployed sensors or diagnostic units to generate health reports. However, this method of monitoring health status through specific hardware devices or diagnostic units has limitations and specificities, leading to inaccurate health reports. Maintenance personnel cannot promptly identify the causes of abnormalities for repair, thus failing to guarantee the normal operation of the entire autonomous driving function. Summary of the Invention

[0003] In view of the above problems, embodiments of this application provide a health detection method and apparatus for a functional module that overcomes or at least partially solves the above problems.

[0004] In a first aspect, embodiments of this application provide a health detection method for a functional module, applied to a health management system, the method comprising: Obtain the checkpoint information reported by the first checkpoint, and obtain the detection method corresponding to the first checkpoint based on the checkpoint information of the first checkpoint; The detection method corresponding to the first checkpoint is used to detect the checkpoint information of the first checkpoint to obtain the detection result, and the first running status information of the first entity to which the first checkpoint belongs is updated according to the detection result. Based on the updated first running status information, update the second running status information of the first functional module to which the first entity belongs; Based on the updated first operating status information and the updated second operating status information, the health detection result of the first functional module is generated.

[0005] Secondly, embodiments of this application provide a health detection device for a functional module, applied in a health management system, the device comprising: The acquisition module is used to acquire the checkpoint information reported by the first checkpoint, and to acquire the detection method corresponding to the first checkpoint based on the checkpoint information of the first checkpoint. The detection module is used to detect the checkpoint information of the first checkpoint using the detection method corresponding to the first checkpoint to obtain the detection result, and update the first running status information of the first entity to which the first checkpoint belongs based on the detection result. The update module is used to update the second running status information of the first functional module to which the first entity belongs, based on the updated first running status information; The generation module is used to generate the health detection result of the first functional module based on the updated first running status information and the updated second running status information.

[0006] Thirdly, embodiments of this application provide an electronic device, including a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and execute the health detection methods of the functional modules as described above.

[0007] Fourthly, embodiments of this application provide a processor-readable storage medium storing a computer program for causing the processor to execute the health detection method of the functional modules described above.

[0008] Fifthly, embodiments of this application provide a computer program product, the program product being stored in a storage medium, and the program product being executed by at least one processor to implement the method as described in the first aspect.

[0009] One of the above technical solutions has the following advantages or beneficial effects: The system acquires checkpoint information reported by the first checkpoint and obtains the corresponding detection method for the first checkpoint based on this information. It then uses the detection method to detect the checkpoint information of the first checkpoint, obtaining a detection result. Based on this result, it updates the first operating status information of the first entity to which the first checkpoint belongs. Based on the updated first operating status information, it updates the second operating status information of the first functional module to which the first entity belongs. Finally, based on the updated first and second operating status information, it generates a health detection result for the first functional module. This scheme, through proactive reporting by checkpoints, allows the health management system to detect real-time changes in the operating status of the entity to which each checkpoint belongs, using the corresponding detection method. This determines the changes in the operating status of the functional module to which the entity belongs, thus obtaining a health detection result for that functional module. This health detection result can then be used to determine whether the functional module is abnormal. By performing health checks on all functional modules in this way, the health management system can identify abnormal functional modules and the specific reasons for these abnormalities. This allows maintenance personnel to promptly identify and repair the abnormalities, ensuring the normal operation of the entire autonomous driving function. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating the steps of a health detection method for a functional module provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the relationship between functional modules, entities, checkpoints, and detection methods provided in the embodiments of this application; Figure 3 A communication diagram illustrating the functional modules, health management system, and control unit provided in the embodiments of this application; Figure 4 A schematic diagram of the detection process of a detection method provided in an embodiment of this application; Figure 5 A schematic diagram of the detection process for another detection method provided in an embodiment of this application; Figure 6 A schematic diagram of the detection process for another detection method provided in an embodiment of this application; Figure 7 A schematic diagram of the detection process for another detection method provided in this application embodiment; Figure 8 This is a schematic diagram illustrating the update of the first operating status information provided in an embodiment of this application; Figure 9 This is a schematic diagram illustrating the update of the second operating status information provided in an embodiment of this application; Figure 10 This is an interaction diagram of the health management system and control unit provided in an embodiment of this application; Figure 11 This is an interaction diagram of the health management system and control unit provided in an embodiment of this application; Figure 12 This is a structural block diagram of a health detection device for functional modules provided in the embodiments of this application; Figure 13 A structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0012] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0013] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0014] 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 the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0015] Specifically, this application provides a health detection method for a functional module, which can be applied to a health management system, such as... Figure 1 As shown, the specific steps may include the following: Step 101: Obtain the checkpoint information reported by the first checkpoint, and obtain the detection method corresponding to the first checkpoint based on the checkpoint information of the first checkpoint.

[0016] Specifically, based on functional requirements, multiple functional modules can be decomposed into multiple entities, and multiple entities can be decomposed into multiple checkpoints. Different checkpoints correspond to different detection methods and are stored in the JavaScript Object Notation (JSON) service configuration file. JSON is a data exchange format with a structure similar to a Python dictionary, and can be used to store configuration information.

[0017] The functional module runs on the domain controller as a software process. When it reaches the first checkpoint, it actively reports the checkpoint information of the first checkpoint to the health management system. The health management system obtains the detection method corresponding to the first checkpoint according to the service configuration file.

[0018] It should be noted that the first checkpoint can be any one of multiple checkpoints.

[0019] The following example illustrates the relationship between functional modules, entities, and checkpoints: like Figure 2 As shown, a domain controller can have multiple System-on-a-Chip (SoC) chips, such as SoC 1 and SoC 2. Each SoC chip can have multiple functional modules; for example, SoC 1 has functional modules A and B, and SoC 2 has a functional module C. Each functional module can have multiple supervision entities; for example, functional module A has entities 1, 2, and 3; functional module B has entity 4; and functional module C has entity 5. Each entity has multiple checkpoints; for example, entity 1 has checkpoint 1 and checkpoint 2, entity 2 has checkpoint 3, entity 3 has checkpoint 4, entity 4 has checkpoints 5 and 6, and entity 5 has checkpoints 7 and 8.

[0020] A detection method can correspond to one or more checkpoints under the same functional module. For example, the detection methods corresponding to checkpoint 1, checkpoint 2, and checkpoint 3 are all detection method 1; the detection method corresponding to checkpoint 4 is detection method 2; the detection methods corresponding to checkpoint 5 and checkpoint 6 are all detection method 3; and the detection methods corresponding to checkpoint 7 and checkpoint 8 are all detection method 4.

[0021] In the Portable Operating System Interface (POSIX), an entity is equivalent to a process, meaning that a functional module can contain multiple processes, and checkpoint information reporting for each checkpoint can be performed on different threads.

[0022] Step 102: Detect the checkpoint information of the first checkpoint using the detection method corresponding to the first checkpoint to obtain the detection result, and update the first running status information of the first entity to which the first checkpoint belongs based on the detection result.

[0023] Specifically, the health management system detects the checkpoint information of the first checkpoint using the detection method corresponding to the first checkpoint, and obtains the detection result. The detection results of all checkpoints belonging to the same entity are obtained in the same way. Since the entity to which the first checkpoint belongs is the first entity, the health management system updates the first operational status information (i.e., local supervision status information, LocalSupervisionStatus) of the first entity based on the detection result of the first checkpoint and the detection results of other checkpoints under the first entity besides the first checkpoint.

[0024] Step 103: Update the second running status information of the first functional module to which the first entity belongs, based on the updated first running status information.

[0025] Specifically, the health management system obtains the updated first operating status information of entities belonging to the same functional module based on the update method of the first entity's first operating status information. Since the functional module to which the first entity belongs is the first functional module, the health management system updates the second operating status information (i.e., the global supervision status information GlobalSupervisionStatus) of the first functional module based on the updated first operating status information of the first entity and the updated first operating status information of other entities under the first functional module besides the first entity.

[0026] Step 104: Generate the health detection result of the first functional module based on the updated first running status information and the updated second running status information.

[0027] Specifically, the health management system obtains the health detection results of the first functional module based on the first entity's updated first operating status information and the first functional module's updated second operating status information.

[0028] Furthermore, since the functional modules communicate with the health management system through an intermediate transmission layer, after the health management system obtains the health detection results of each functional module, each functional module can obtain the second operating status information of other functional modules from the health management system through the intermediate transmission layer. This greatly facilitates the connection of different functional modules by users and ensures the normal operation of the entire autonomous driving function.

[0029] For example, such as Figure 3 As shown, functional module A of SOC 1 communicates with the intermediate transmission layer of the health management system through the intermediate transmission layer, and the health management system communicates with the intermediate transmission layer of functional module C of SOC 2 through the intermediate transmission layer. Furthermore, the intermediate transmission layer of the health management system and the intermediate transmission layer of functional module C are connected through a virtual bus.

[0030] In the above embodiments of this application, through the active reporting of checkpoints, the health management system detects the real-time operating status changes of the entity to which each checkpoint belongs based on the detection methods corresponding to different checkpoints, thereby determining the operating status changes of the functional module to which the entity belongs, and thus obtaining the health detection result of the functional module. Through the health detection result, it can be determined whether the functional module is abnormal. The health management system performs health detection on all functional modules in the above manner, thereby identifying the functional modules that are operating abnormally, and also knowing the specific reasons for the abnormality of the functional modules, so that maintenance personnel can promptly determine the cause of the abnormality for repair, ensuring the normal operation of the entire autonomous driving function.

[0031] As an optional specific embodiment, the detection method in step 101 includes at least one of the following four: The first method: whether the number of times the checkpoint information of the first checkpoint is reported within a certain period is within a first preset range.

[0032] Specifically, such as Figure 4 As shown, the first detection method is the AliveSupervision method, which involves obtaining the number of times the checkpoint information of the first checkpoint is reported within a detection cycle and determining whether the number of reports is within a first preset range. If the number of reports is within the first preset range, it indicates that the operating status of the first entity to which the first checkpoint belongs is normal, and the detection result is normal; otherwise, it indicates that the operating status of the first entity to which the first checkpoint belongs is abnormal, and the detection result is abnormal.

[0033] If the detection method corresponding to the checkpoint is a non-operational frequency detection method, the health management system will ignore the checkpoint information reported by that checkpoint.

[0034] It should be noted that the detection period of the first checkpoint is obtained from the service configuration file, and the first reporting count minTimes and the second reporting count maxTimes are obtained. The first reporting count minTimes is less than the second reporting count maxTimes. The first preset range is the range formed by the first reporting count minTimes and the second reporting count maxTimes. The first preset range is the range of [minTimes, maxTimes].

[0035] The second method: whether the time interval between the first reporting time of the checkpoint information of the first checkpoint and the second reporting time of the checkpoint information of the second checkpoint is within a second preset range, wherein the first checkpoint is the source checkpoint and the second checkpoint is the target checkpoint corresponding to the source checkpoint.

[0036] Specifically, such as Figure 5 As shown, the second detection method is the Deadline Supervision method. This method uses the first checkpoint as the source checkpoint, obtains the first reporting time of the source checkpoint's checkpoint information, and determines whether a second checkpoint has been reported within a second preset range after the first reporting time. If a second checkpoint is reported within the second preset range after the first reporting time, it indicates that the first entity to which the first checkpoint belongs is operating normally, and the detection result is normal. Otherwise, it indicates that the first entity to which the first checkpoint belongs is operating abnormally, and the detection result is abnormal. In other words, it determines whether the time interval between the first reporting time of the first checkpoint and the second reporting time of the second checkpoint is within the second preset range. If the time interval is within the second preset range, the detection result is normal; if the time interval is outside the second preset range, the detection result is abnormal.

[0037] If the detection method corresponding to the checkpoint is a non-operational time interval detection method, the health management system will ignore the checkpoint information reported by that checkpoint.

[0038] It should be noted that the first time interval minDeadline and the second time interval maxDeadline are obtained from the service configuration file. The first time interval minDeadline is less than the second time interval maxDeadline. The second preset range is the range formed by the first time interval minDeadline and the second time interval maxDeadline, which is the range of (minDeadline, maxDeadline).

[0039] The third type: whether the reporting order of the checkpoint information of the first checkpoint and the associated third checkpoint conforms to the preset reporting order.

[0040] Specifically, such as Figure 6 As shown, the third detection method is the Logical Supervision method. This involves acquiring multiple checkpoints under the first entity to which the first checkpoint belongs, and categorizing these checkpoints into start checkpoints, intermediate checkpoints, and end checkpoints according to a preset reporting order. Adjacent checkpoints are associated. Within a detection cycle, if the reporting order of the checkpoint information of the first checkpoint matches the preset reporting order of the checkpoint information of the associated third checkpoint, it indicates that the operating status of the first entity to which the first checkpoint belongs is normal, and the detection result is normal. If the reporting order of the checkpoint information of the first checkpoint does not match the preset reporting order of the checkpoint information of the associated third checkpoint, it indicates that the operating status of the first entity to which the first checkpoint belongs is abnormal, and the detection result is abnormal.

[0041] If the detection method corresponding to the checkpoint is a non-operational logic detection method, the health management system will ignore the checkpoint information reported by that checkpoint.

[0042] The fourth type: whether the value carried in the checkpoint information of the first checkpoint is within the third preset range.

[0043] Specifically, such as Figure 7 As shown, the fourth detection method is the Threshold Supervision method. The checkpoint information of the first checkpoint carries a value. It is determined whether the value is within the third preset range. If the value is within the third preset range, the detection result is that the first entity to which the first checkpoint belongs is in normal operating status and the detection result is normal. If the value is outside the third preset range, it indicates that the first entity to which the first checkpoint belongs is in abnormal operating status and the detection result is abnormal.

[0044] If the detection method corresponding to the checkpoint is a non-threshold detection method, the health management system will ignore the checkpoint information reported by that checkpoint.

[0045] It should be noted that the first and second thresholds are obtained from the service configuration file, and the first threshold is less than the second threshold; therefore, the third preset range is the range formed by the first and second thresholds. Alternatively, the third threshold and the error value are obtained from the service configuration file, and the third preset range is the range formed by the third threshold ± the error value.

[0046] As an optional specific embodiment, step 102 involves detecting the checkpoint information of the first checkpoint using the detection method corresponding to the first checkpoint to obtain a detection result, and updating the first operating status information of the first entity to which the first checkpoint belongs based on the detection result. Specifically, this includes steps 1021 to 1023: Step 1021: Obtain the process status of the first entity; Step 1022: When the process state of the first entity is in the started state, the checkpoint information of the first checkpoint is detected by the detection method corresponding to the first checkpoint to obtain the detection result. Step 1023: Update the first operating status information of the first entity based on the detection results.

[0047] Specifically, the health management system obtains the process status of the first entity to which the first checkpoint belongs. If the process status of the first entity is "started," the checkpoint information of the first checkpoint is checked using the detection method corresponding to the first checkpoint, and the detection result is obtained. The detection results of all checkpoints belonging to the same entity are obtained in the same way. Since the entity to which the first checkpoint belongs is the first entity, the health management system updates the first running status of the first entity based on the detection result of the first checkpoint and the detection results of other checkpoints under the first entity besides the first checkpoint.

[0048] Furthermore, the method may also include, but is not limited to, the following situations: If the process state of the first entity is in the starting state, the first running state information of the first entity is determined to be a successful local state. If the process state of the first entity is not started, the first running state information of the first entity is determined to be local state sleep. If the process state of the first entity changes from started to stopped or suspended, and the first running state information of the first entity is local state successful, then the first running state information of the first entity is updated from local state successful to local state hibernation. If the process state of the first entity changes from started to stopped or suspended, and the first running state information of the first entity is a local state failure, then the first running state information of the first entity is updated from local state failure to local state hibernation. If the process state of the first entity changes from started to stopped or suspended, and the first running state information of the first entity is a local state failure, then the first running state information of the first entity is updated from local state failure to local state sleep. If the process state of the first entity changes from stopped or suspended to started, and the first running state information of the first entity is in a local state of hibernation, then the first running state information of the first entity is updated from the local state of hibernation to the local state of success.

[0049] Specifically, such as Figure 8 As shown, if the process state of the first entity is started, the default first running status information of the first entity is the local state of success (LOCAL_STATUS_OK). If the process state of the first entity is not started, the first running status information of the first entity is the local state of hibernation (LOCAL_STATUS_DEACTIVATED).

[0050] When the first running status information of the first entity is LOCAL_STATUS_OK (local state successful), if the process status of the first entity changes from started to stopped or suspended, the health management system will update the first running status information of the first entity from LOCAL_STATUS_OK (local state successful) to LOCAL_STATUS_DEACTIVATED (local state dormant).

[0051] When the first running status information of the first entity is in the local state of hibernation (LOCAL_STATUS_DEACTIVATED), if the process status of the first entity changes from stopped or suspended to started, the health management system will update the first running status information of the first entity from the local state of hibernation (LOCAL_STATUS_DEACTIVATED) to the local state of success (LOCAL_STATUS_OK).

[0052] When the first running status information of the first entity is Local State Failure LOCAL_STATUS_EXPIRED, if the process status of the first entity changes from Start to Stop or Suspended, the health management system will update the first running status information of the first entity from Local State Failure LOCAL_STATUS_EXPIRED to Local State Dormancy LOCAL_STATUS_DEACTIVATED.

[0053] When the first running status information of the first entity is Local State Failure LOCAL_STATUS_FAILED, if the process status of the first entity changes from Start to Stop or Suspended, the health management system will update the first running status information of the first entity from Local State Failure LOCAL_STATUS_FAILED to Local State Dormancy LOCAL_STATUS_DEACTIVATED.

[0054] Furthermore, step 1023 updates the first operating state information of the first entity based on the detection result, which may specifically include the following situations: The first scenario is as follows: If the first operating status information of the first entity is a local state success, and the number of consecutive cycles of the checkpoint information of the first checkpoint is greater than the first preset number within the first preset range, or the time interval between the first reporting time and the second reporting time is not within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint does not conform to the preset reporting order, or the value carried in the checkpoint information of the first checkpoint is not within the third preset range, then the first operating status information of the first entity is updated from a local state success to a local state failure.

[0055] Specifically, such as Figure 8 As shown, the first running status information of the first entity is local state success LOCAL_STATUS_OK. The detection method corresponding to the first checkpoint is the running frequency detection (AliveSupervion) ​​method. If the number of times the checkpoint information of the first checkpoint is reported within the current period is not within the first preset range, the number of consecutive periods in which the number of times the checkpoint information of the first checkpoint is reported within the first preset range is obtained. If the number of consecutive periods is less than or equal to the first preset number, the first running status information of the first entity is not updated; if the number of consecutive periods is greater than the first preset number, the first running status information of the first entity is updated from local state success LOCAL_STATUS_OK to local state failure LOCAL_STATUS_EXPIRED.

[0056] The first running status information of the first entity is local state success LOCAL_STATUS_OK. The detection method corresponding to the first checkpoint is the running time interval detection (DeadlineSupervision) method. If the time interval between the first reporting time of the first checkpoint and the second reporting time of the second checkpoint is within the second preset range, the first running status information of the first entity will not be updated. If the time interval between the first reporting time and the second reporting time is not within the second preset range, the first running status information of the first entity will be updated from local state success LOCAL_STATUS_OK to local state failure LOCAL_STATUS_EXPIRED.

[0057] The first running status information of the first entity is local state success LOCAL_STATUS_OK. The detection method corresponding to the first checkpoint is the Logical Supervision method. If the reporting order of the checkpoint information of the first checkpoint using the Logical Supervision method in the first entity and the associated third checkpoint conforms to the preset reporting order, the first running status information of the first entity will not be updated. If the reporting order of the checkpoint information of the first checkpoint using the Logical Supervision method in the first entity and the associated third checkpoint does not conform to the preset reporting order, the first running status information of the first entity will be updated from local state success LOCAL_STATUS_OK to local state failure LOCAL_STATUS_EXPIRED.

[0058] The first running status information of the first entity is local state success LOCAL_STATUS_OK. The detection method corresponding to the first checkpoint is the threshold supervision method. If the value carried in the checkpoint information of the first checkpoint is within the third preset range, the first running status information of the first entity will not be updated; if the value carried in the checkpoint information of the first checkpoint is not within the third preset range, the first running status information of the first entity will be updated from local state success LOCAL_STATUS_OK to local state failure LOCAL_STATUS_EXPIRED.

[0059] The second method: If the first running status information of the first entity is a local state success, and the number of times the checkpoint information of the first checkpoint is reported is less than or equal to the first preset number of consecutive cycles within the first preset range, and the detection results obtained by the corresponding detection methods for other checkpoints in the first entity other than the first checkpoint are normal, then the first running status information of the first entity is updated from a local state success to a local state failure.

[0060] Specifically, such as Figure 8As shown, the first running status information of the first entity is local state success LOCAL_STATUS_OK, and the detection method corresponding to the first checkpoint is the running frequency detection (AliveSupervion) ​​method. If the number of consecutive cycles in which the checkpoint information of the first checkpoint is reported within a cycle is less than or equal to the first preset number, and the detection results obtained by other checkpoints in the first entity are normal (if other checkpoints do not obtain corresponding detection results, the default detection result is normal), then the first running status information of the first entity is updated from local state success LOCAL_STATUS_OK to local state failure LOCAL_STATUS_FAILED, and this local state failure is a temporary failure.

[0061] It should be noted that the local state failures detected by the AliveSupervision method are divided into temporary failures and permanent failures. The health management system provides AliveSupervision with a tolerance number of failures, the parameter `failedSupervisionCyclesTolerance`. A failure is defined as the number of times the checkpoint information of the first checkpoint is reported within a certain period not falling within a first preset range. AliveSupervision starts counting when it first fails. If the number of failures (i.e., the number of consecutive periods) is less than or equal to the tolerance number, the failure is determined to be temporary; if the number of failures exceeds the tolerance number, the failure is determined to be permanent. After a temporary failure, if AliveSupervision returns to normal in the next period (i.e., the number of times the checkpoint information of the first checkpoint is reported within the first preset range within a certain period), the failure count is reset to zero, the AliveSupervision state returns to normal (CORRECT), and the first running status information of the first entity is updated to local state success (LOCAL_STATUS_OK).

[0062] The third scenario: If the first operating status information of the first entity is a local state failure, and if, before this cycle, the number of consecutive cycles in which the number of reports of the checkpoint information of the first checkpoint is within the first preset range is less than or equal to the first preset number, and the number of reports of the checkpoint information of the first checkpoint in this cycle is within the first preset range, and the detection results obtained by the other checkpoints through the corresponding detection methods are normal, then the first operating status information of the first entity is updated from a local state failure to a local state success.

[0063] Specifically, such as Figure 8As shown, the first running status information of the first entity is local state failure LOCAL_STATUS_FAILED, and the detection method corresponding to the first checkpoint is the running frequency detection (AliveSupervion) ​​method. If the number of times the checkpoint information of the first checkpoint is reported within the first preset range in the current period (i.e., this period), and the number of consecutive periods before the current period in which the number of reports is not within the first preset range is less than or equal to the first preset number (i.e., temporary failure), and the detection results obtained by the corresponding detection method for other checkpoints under the first entity are all normal, then the first running status information of the first entity is updated from local state failure LOCAL_STATUS_FAILED to local state success LOCAL_STATUS_OK.

[0064] Fourth: If the first running status information of the first entity is a partial state failure, and if the number of consecutive cycles of the first checkpoint information being reported is greater than the first preset number, or the time interval between the first reporting time and the second reporting time is not within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint does not conform to the preset reporting order, or the value carried in the checkpoint information of the first checkpoint is not within the third preset range, then the first running status information of the first entity is updated from partial state failure to partial state invalidation. Specifically, such as Figure 8 As shown, the first running status information of the first entity is Local State Failure LOCAL_STATUS_FAILED, and the detection method corresponding to the first checkpoint is the running frequency detection (AliveSupervion) ​​method. If the number of times the checkpoint information of the first checkpoint is reported within the current period is not within the first preset range, then the number of consecutive periods in which the number of times the checkpoint information of the first checkpoint is reported within the first preset range is obtained. If the number of consecutive periods is less than or equal to the first preset number, the first running status information of the first entity is not updated; if the number of consecutive periods is greater than the first preset number (i.e., permanent failure), then the first running status information of the first entity is updated from Local State Failure LOCAL_STATUS_FAILED to Local State Expired LOCAL_STATUS_EXPIRED.

[0065] The first operational status information of the first entity is local state failure LOCAL_STATUS_FAILED. The detection method corresponding to the first checkpoint is the DeadlineSupervision method. If the time interval between the first reporting time of the first checkpoint and the second reporting time of the second checkpoint is within a second preset range, the first operational status information of the first entity will not be updated. If the time interval between the first reporting time and the second reporting time is not within the second preset range, the first operational status information of the first entity will be updated from local state failure LOCAL_STATUS_FAILED to local state expired LOCAL_STATUS_EXPIRED.

[0066] The first operational status information of the first entity is local state failure LOCAL_STATUS_FAILED. The detection method corresponding to the first checkpoint is the Logical Supervision method. If the reporting order of the checkpoint information of the first checkpoint using the Logical Supervision method in the first entity and the associated third checkpoint conforms to the preset reporting order, the first operational status information of the first entity will not be updated. If the reporting order of the checkpoint information of the first checkpoint using the Logical Supervision method in the first entity and the associated third checkpoint does not conform to the preset reporting order, the first operational status information of the first entity will be updated from local state failure LOCAL_STATUS_FAILED to local state expired LOCAL_STATUS_EXPIRED.

[0067] The first running status information of the first entity is local state failure LOCAL_STATUS_FAILED. The detection method corresponding to the first checkpoint is the threshold supervision method. If the value carried in the checkpoint information of the first checkpoint is within the third preset range, the first running status information of the first entity will not be updated; if the value carried in the checkpoint information of the first checkpoint is not within the third preset range, the first running status information of the first entity will be updated from local state failure LOCAL_STATUS_FAILED to local state expired LOCAL_STATUS_EXPIRED.

[0068] As an optional specific embodiment, step 103, which updates the second operating status information of the first functional module to which the first entity belongs, based on the updated first operating status information, may specifically include the following situations: The first method: If the second running status information of the first functional module is in a global state of sleep, and the updated first running status information is in a local state of success, and the updated first running status information of other entities in the first functional module other than the first entity is in a local state of success or a local state of sleep, then the second running status information is updated from a global state of sleep to a global state of success.

[0069] Specifically, such as Figure 9 As shown, during the initialization of the health management system, the second running status information of the first functional module defaults to the global state of dormancy (GLOBAL_STATUS_DEACTIVATED). If the current first running status information of the first entity (i.e., the updated first running status information) is the local state of success (LOCAL_STATUS_OK), and the first running status of all other entities under the first functional module, excluding the first entity, is either LOCAL_STATUS_OK or LOCAL_STATUS_DEACTIVATED, then the second running status information is updated from the global state of dormancy (GLOBAL_STATUS_DEACTIVATED) to the global state of success (GLOBAL_STATUS_OK). In other words, if at least one entity under the first functional module has a local state of success, and the first running status information of other entities is either the local state of success (LOCAL_STATUS_OK) or the local state of insomnia (LOCAL_STATUS_DEACTIVATED), then the second running status information is updated from the global state of dormancy (GLOBAL_STATUS_DEACTIVATED) to the global state of success (GLOBAL_STATUS_OK).

[0070] The second approach: If the second running status information of the first functional module is in a global state of sleep, and the updated first running status information is in a local state of failure, and the updated first running status information of the other entities is in a local state of success or a local state of sleep, then the second running status information is updated from a global state of sleep to a global state of failure.

[0071] Specifically, such as Figure 9As shown, the second running status information of the first functional module is global state dormancy GLOBAL_STATUS_DEACTIVATED. If the first running status information of the first entity is local state failure LOCAL_STATUS_FAILED, and the first running status information of other entities under the first functional module is local state success LOCAL_STATUS_OK or local state dormancy LOCAL_STATUS_DEACTIVATED, then the second running status information is updated from global state dormancy GLOBAL_STATUS_DEACTIVATED to global state failure GLOBAL_STATUS_FAILED. In other words, at least one entity under the first functional module has a first running status information of local state failure, while the first running status information of other entities is local state success or local state dormancy.

[0072] The third approach: If the second running status information of the first functional module is in a global state of sleep, and the updated first running status information is in a local state of failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from global state of sleep to global state of failure.

[0073] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state dormancy GLOBAL_STATUS_DEACTIVATED. If the first running status information of the first entity is local state failure LOCAL_STATUS_EXPIRED, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from global state dormancy GLOBAL_STATUS_DEACTIVATED to global state failure GLOBAL_STATUS_EXPIRED. In other words, if the first running status information of at least one entity under the first functional module is local state failure, and the maximum tolerance time of the first functional module is greater than 0, the second running status information is updated from global state dormancy to global state failure.

[0074] It should be noted that the maximum tolerance time refers to the expired tolerance time (expiredSupervisonCycleTolerance).

[0075] The fourth type: If the second running status information of the first functional module is in global state sleep, and the updated first running status information is in local state failure, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from global state sleep to global state termination.

[0076] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state dormancy GLOBAL_STATUS_DEACTIVATED. If the first running status information of the first entity is local state failure LOCAL_STATUS_EXPIRED, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from global state dormancy GLOBAL_STATUS_DEACTIVATED to global state termination GLOBAL_STATUS_STOPPED. In other words, if the first running status information of at least one entity under the first functional module is local state failure, and the maximum tolerance time of the first functional module is equal to 0, the second running status information is updated from global state dormancy to global state termination.

[0077] Fifth: If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of sleep, and the updated first running status information of the other entities are all local state of sleep, then the second running status information is updated from a global state of success to a global state of sleep.

[0078] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is the global state "success GLOBAL_STATUS_OK". If the first running status information of the first entity is the local state "dormant GLOBAL_STATUS_DEACTIVATED", and the first running status information of other entities under the first functional module is also the local state "dormant GLOBAL_STATUS_DEACTIVATED", then the second running status information is updated from the global state "success GLOBAL_STATUS_OK" to the global state "dormant GLOBAL_STATUS_DEACTIVATED". In other words, if the first running status information of all entities under the first functional module is the local state "dormant", then the second running status information is updated from the global state "success" to the global state "dormant".

[0079] The sixth method: If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the updated first running status information of the other entities is a local state of success or a local state of dormancy, then the second running status information is updated from a global state of success to a global state of failure. Specifically, such as Figure 9As shown, the second running status information of the first functional module is the global state of success (GLOBAL_STATUS_OK). If the first running status information of the first entity is the local state of failure (LOCAL_STATUS_FAILED), and the first running status information of other entities under the first functional module is either the local state of success (LOCAL_STATUS_OK) or the local state of sleep (LOCAL_STATUS_DEACTIVATED), then the second running status information is updated from the global state of success (GLOBAL_STATUS_OK) to the global state of failure (GLOBAL_STATUS_FAILED). In other words, if at least one entity under the first functional module has a local state of failure as its first running status information, and the first running status information of other entities is either the local state of success or the local state of sleep, then the second running status information is updated from the global state of success to the global state of failure.

[0080] The seventh method: If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from a global state of success to a global state of failure.

[0081] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state success GLOBAL_STATUS_OK. If the first running status information of the first entity is local state failure LOCAL_STATUS_EXPIRED, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from global state success GLOBAL_STATUS_OK to global state failure GLOBAL_STATUS_EXPIRED. In other words, if at least one entity under the first functional module has a first running status information of local state failure, and the maximum tolerance time of the first functional module is greater than 0, the second running status information is updated from global state success to global state failure.

[0082] Eighth scenario: If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from a global state of success to a global state of termination.

[0083] Specifically, such as Figure 9As shown, the second running status information of the first functional module is global state success GLOBAL_STATUS_OK. If the first running status information of the first entity is local state failure LOCAL_STATUS_EXPIRED, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from global state success GLOBAL_STATUS_OK to global state termination GLOBAL_STATUS_STOPPED. In other words, if at least one entity under the first functional module has a first running status information of local state failure, and the maximum tolerance time of the first functional module is equal to 0, the second running status information is updated from global state success to global state termination.

[0084] Ninth method: If the second running status information of the first functional module is a global state failure, and the updated first running status information is a local state success, and the updated first running status information of the other entities is a local state success or a local state sleep, then the second running status information is updated from a global state failure to a global state success.

[0085] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state failure (GLOBAL_STATUS_FAILED). If the first running status information of the first entity is local state success (LOCAL_STATUS_OK), and the first running status information of other entities under the first functional module is either local state success (LOCAL_STATUS_OK) or local state dormancy (LOCAL_STATUS_DEACTIVATED), then the second running status information is updated from global state failure (GLOBAL_STATUS_FAILED) to global state success (GLOBAL_STATUS_OK). In other words, if at least one entity under the first functional module has a local state success as its first running status information, and the first running status information of other entities is either local state success or local state dormancy, then the second running status information is updated from global state failure to global state success.

[0086] The tenth method: If the second running status information of the first functional module is a global state failure, and if the first running status information before the update is a local state failure, the first running status information after the update is a local state failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from a global state failure to a global state failure.

[0087] Specifically, such as Figure 9As shown, the second running status information of the first functional module is global state failure GLOBAL_STATUS_ FAILED. If the first running status information of the first entity before the update is local state failure LOCAL_STATUS_ FAILED, and the first running status information of the first entity after the update is local state failure LOCAL_STATUS_ EXPIRED, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from global state failure GLOBAL_STATUS_FAILED to global state failure GLOBAL_STATUS_EXPIRED.

[0088] Eleventh: If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, the first running status information after the update is a local state failure, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from a global state failure to a global state termination.

[0089] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state failure GLOBAL_STATUS_ FAILED. If the first running status information of the first entity before the update is local state failure LOCAL_STATUS_ FAILED, and the first running status information of the first entity after the update is local state failure LOCAL_STATUS_ EXPIRED, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from global state failure GLOBAL_STATUS_FAILED to global state termination GLOBAL_STATUS_STOPPED.

[0090] The twelfth method: If the second running status information of the first functional module is a global state failure, and the updated first running status information is a local state failure, and the maximum tolerance time of the first functional module is greater than 0, and the time that the first functional module is in a global state failure is greater than the maximum tolerance time, then the second running status information is updated from global state failure to global state termination.

[0091] Specifically, such as Figure 9As shown, the second running status information of the first functional module is global state failure GLOBAL_STATUS_EXPIRED. If the first running status information of the first entity is local state failure LOCAL_STATUS_EXPIRED, and the maximum tolerance time of the first functional module is greater than 0, and the time that the first functional module is in global state failure is greater than the maximum tolerance time, then the second running status information is updated from global state failure GLOBAL_STATUS_EXPIRED to global state termination GLOBAL_STATUS_STOPPED.

[0092] The thirteenth scenario: If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, and the updated first running status information of all entities in the first functional module is a local state sleep, then the second running status information is updated from a global state failure to a global state sleep.

[0093] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state failure GLOBAL_STATUS_ FAILED. If the first running status information of the first entity before the update is local state failure LOCAL_STATUS_ FAILED, and the first running status information of the first entity after the update is local state dormancy LOCAL_STATUS_ DEACTIVATED, and the first running status information of other entities under the first functional module after the update is local state dormancy LOCAL_STATUS_ DEACTIVATED, then the second running status information will be updated from global state failure GLOBAL_STATUS_FAILED to global state dormancy GLOBAL_STATUS_DEACTIVATED.

[0094] The fourteenth case: If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, and the updated first running status information of all entities in the first functional module is a local state dormancy, then the second running status information is updated from a global state failure to a global state dormancy.

[0095] Specifically, such as Figure 9As shown, the second running status information of the first functional module is global state failure GLOBAL_STATUS_EXPIRED. If the first running status information of the first entity before the update is local state failure LOCAL_STATUS_EXPIRED, and the first running status information of the first entity after the update is local state dormancy LOCAL_STATUS_DEACTIVATED, and the first running status information of other entities under the first functional module after the update is local state dormancy LOCAL_STATUS_DEACTIVATED, then the second running status information will be updated from global state failure GLOBAL_STATUS_EXPIRED to global state dormancy GLOBAL_STATUS_DEACTIVATED.

[0096] The fifteenth scenario: If the second running status information of the first functional module is global state termination, and the updated first running status information of all entities in the first functional module is local state sleep, then the second running status information is updated from global state termination to global state sleep.

[0097] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state termination GLOBAL_STATUS_STOPPED. If the updated first running status information of all entities under the first functional module is local state dormancy LOCAL_STATUS_DEACTIVATED, then the second running status information is updated from global state termination GLOBAL_STATUS_STOPPED to global state dormancy GLOBAL_STATUS_DEACTIVATED.

[0098] As another optional specific embodiment, the method also includes the following situations: The first approach: If the health management system is reset when the second running status information of the first functional module is "global status successful", then the second running status information will be updated from "global status successful" to "global status hibernation".

[0099] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is the global status success GLOBAL_STATUS_OK. If the health management system is reset, the second running status information will be updated from the global status success GLOBAL_STATUS_OK to the global status dormant GLOBAL_STATUS_DEACTIVATED.

[0100] The second approach: If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, and the health management system is reset, then the second running status information is updated from a global state failure to a global state hibernation.

[0101] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state failure GLOBAL_STATUS_FAILED. If the first running status information of the first entity before the update is local state failure LOCAL_STATUS_FAILED, and the health management system is reset, then the second running status information will be updated from global state failure GLOBAL_STATUS_FAILED to global state dormancy GLOBAL_STATUS_DEACTIVATED.

[0102] The third approach: If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, and the health management system is reset, then the second running status information is updated from a global state failure to a global state hibernation.

[0103] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state failure GLOBAL_STATUS_EXPIRED. If the first running status information of the first entity before the update is local state failure LOCAL_STATUS_EXPIRED, and the health management system is reset, then the second running status information will be updated from global state failure GLOBAL_STATUS_EXPIRED to global state dormancy GLOBAL_STATUS_DEACTIVATED.

[0104] The fourth type: If the health management system is reset when the second running status information of the first functional module is global state termination, the second running status information will be updated from global state termination to global state hibernation.

[0105] Specifically, such as Figure 9 As shown, the second running status information of the first functional module is global state termination GLOBAL_STATUS_STOPPED. If the health management system is reset, the second running status information will be updated from global state termination GLOBAL_STATUS_STOPPED to global state hibernation GLOBAL_STATUS_DEACTIVATED.

[0106] As another optional specific embodiment, after obtaining the health detection result of the first functional module based on the updated second operating status information in step 104, the method may further include: If the health detection result of the first functional module is abnormal, the second operating status information is sent to the control unit so that the control unit issues a first processing instruction corresponding to the second operating status information to the first functional module and obtains the processing result of the first processing instruction. Obtain the processing result sent by the control unit.

[0107] Specifically, such as Figure 2 and Figure 10 As shown, after receiving the health detection result from the first functional module, the health management system can send the health detection result to the control unit. After receiving the second operating status information corresponding to the first functional module, the control unit determines whether the first functional module is abnormal based on the second operating status information. If it is normal, the current health detection process ends and the next health detection process continues. If it is abnormal, the control unit issues a first processing instruction corresponding to the second operating status information to the first functional module. This first processing instruction is used to instruct the first functional module to use the corresponding abnormal handling method to handle the abnormality. After receiving the processing result, the first functional module sends the processing result to the control unit. After receiving the processing result, the control unit sends the processing result to the health management system.

[0108] Different second running status information can correspond to different exception handling methods.

[0109] It should be noted that when a checkpoint reports an abnormality, if the health management system determines that its operational status is abnormal, it can obtain the first operational status information of the first entity to which the first checkpoint belongs, and further obtain the second operational status information of the first functional module to which the first entity belongs. Therefore, users can define the corresponding exception handling method when a functional module operates abnormally during the service configuration phase, which can be used to handle exceptions for specific entity processes or for the entire functional module.

[0110] For example, when the second operating status information of functional module A is GLOBAL_STATUS_FAILED (global status failure), due to the anomaly of entity 2, the exception handling method could be to increase the sending frequency. As another example, when the second operating status information of the parking function group (i.e., a functional module) is GLOBAL_STATUS_EXPIRED (global status failure), the parking function group may contain sensing nodes, positioning nodes, control nodes, etc. The exception handling method could be to reset the driving status of all nodes, issue a voice prompt indicating that the parking function is not satisfied and requires manual intervention by the user. The health management system sends these exception handling information to the control unit, which then issues processing instructions to the corresponding functional modules and returns the processing results to the health management system, which continues to perform health checks on all functional modules.

[0111] It should be noted that the interaction diagram between the health management system and the control unit is as follows: Figure 11 As shown, the health management system acquires the health detection results of the first functional module. The health management system periodically sends heartbeat signals to the control unit and sends an abnormal health detection report to the control unit when the health detection results of the second functional module are abnormal. When the control unit is operating normally, if the exception handling times out or fails, the control unit makes a reset decision regarding the SOC chip (i.e., SOC 1) where the health management system resides; that is, it decides whether to reset the first functional module or the SOC 1 containing the first functional module. Similarly, the health management system acquires the health detection results of the second functional module, periodically sends heartbeat signals to the control unit, and sends an abnormal health detection report to the control unit when the health detection results of the second functional module are abnormal. When the control unit is operating normally, if the exception handling times out or fails, the control unit makes a reset decision regarding the SOC chip (i.e., SOC 1) where the health management system resides; that is, it decides whether to reset the second functional module or the SOC 2 containing the second functional module.

[0112] In summary, the embodiments described above in this application abstract and decompose hardware behaviors and abnormal vehicle driving behaviors (including software behaviors) into multiple checkpoints in the health management system at the software level. Through the proactive reporting of these checkpoints, the health management system detects the real-time operational status changes of each entity based on the corresponding detection methods. This determines the operational status changes of the functional module to which the entity belongs, resulting in a health detection result for that module. The health detection result is then sent to the control unit in real time, allowing the control unit to handle abnormal situations in real time, thus achieving dynamic detection and rapid real-time processing. Furthermore, by performing health checks on all functional modules in this manner, the health management system can identify abnormal functional modules and their specific causes, enabling maintenance personnel to promptly determine and repair the issues, ensuring the normal operation of the entire autonomous driving function.

[0113] The above describes the health detection method for the functional modules provided in the embodiments of this application. The health detection device for the functional modules provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0114] like Figure 12 As shown in the illustration, this application also provides a health monitoring device 1200 with functional modules, applied in a health management system. The device includes: The acquisition module 1201 is used to acquire the checkpoint information reported by the first checkpoint, and to acquire the detection method corresponding to the first checkpoint based on the checkpoint information of the first checkpoint. The detection module 1202 is used to detect the checkpoint information of the first checkpoint using the detection method corresponding to the first checkpoint to obtain the detection result, and update the first running status information of the first entity to which the first checkpoint belongs based on the detection result. Update module 1203 is used to update the second running status information of the first functional module to which the first entity belongs, based on the updated first running status information; The generation module 1204 is used to generate the health detection result of the first functional module based on the updated first running status information and the updated second running status information.

[0115] In the above embodiments of this application, through the active reporting of checkpoints, the health management system detects the real-time operating status changes of the entity to which each checkpoint belongs based on the detection methods corresponding to different checkpoints, thereby determining the operating status changes of the functional module to which the entity belongs, and thus obtaining the health detection result of the functional module. Through the health detection result, it can be determined whether the functional module is abnormal. The health management system performs health detection on all functional modules in the above manner, thereby identifying the functional modules that are operating abnormally, and also knowing the specific reasons for the abnormality of the functional modules, so that maintenance personnel can promptly determine the cause of the abnormality for repair, ensuring the normal operation of the entire autonomous driving function.

[0116] Optionally, the detection method includes at least one of the following: The first method: whether the number of times the checkpoint information of the first checkpoint is reported within a period is within a first preset range; The second method: whether the time interval between the first reporting time of the checkpoint information of the first checkpoint and the second reporting time of the checkpoint information of the second checkpoint is within a second preset range, wherein the first checkpoint is the source checkpoint and the second checkpoint is the target checkpoint corresponding to the source checkpoint; The third type: whether the reporting order of the checkpoint information of the first checkpoint and the associated third checkpoint conforms to the preset reporting order; The fourth type: whether the value carried in the checkpoint information of the first checkpoint is within the third preset range.

[0117] Optionally, the detection module 1202 is specifically used for: Obtain the process status of the first entity; When the process state of the first entity is started, the checkpoint information of the first checkpoint is detected by the detection method corresponding to the first checkpoint to obtain the detection result; Based on the detection results, update the first operating status information of the first entity.

[0118] Optionally, when the detection module 1202 updates the first operating status information of the first entity based on the detection result, it is specifically used for: If the first running status information of the first entity is a local state success, and if the number of times the checkpoint information of the first checkpoint is reported is greater than the first preset number of consecutive cycles within the first preset range, or the time interval between the first reporting time and the second reporting time is not within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint does not conform to the preset reporting order, or the value carried in the checkpoint information of the first checkpoint is not within the third preset range, then the first running status information of the first entity will be updated from local state success to local state failure. If the first running status information of the first entity is a local state success, and the number of times the checkpoint information of the first checkpoint is reported is less than or equal to the first preset number of consecutive cycles within the first preset range, and the detection results obtained by the corresponding detection methods for other checkpoints in the first entity other than the first checkpoint are normal, then the first running status information of the first entity will be updated from a local state success to a local state failure. If the first running status information of the first entity is a partial state failure, and if the number of consecutive cycles in which the number of reports of the checkpoint information of the first checkpoint is not within the first preset range is less than or equal to the first preset number before the current cycle, and the number of reports of the checkpoint information of the first checkpoint in the current cycle is within the first preset range, and the detection results obtained by the other checkpoints through the corresponding detection methods are normal, then the first running status information of the first entity is updated from a partial state failure to a partial state success. If the first running status information of the first entity is a partial state failure, and if the number of consecutive cycles of the checkpoint information of the first checkpoint is greater than the first preset number within the first preset range, or the time interval between the first reporting time and the second reporting time is not within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint does not conform to the preset reporting order, or the value carried in the checkpoint information of the first checkpoint is not within the third preset range, then the first running status information of the first entity is updated from partial state failure to partial state invalidation. Wherein, the detection results obtained by the corresponding detection methods for the other checkpoints are normal, indicating that the number of times the information of the other checkpoints is reported within a cycle is within the first preset range, or the time interval between the first reporting time of the checkpoint information of the other checkpoints and the second reporting time of the corresponding target checkpoint is within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint conforms to the preset reporting order, or the value carried in the checkpoint information of the other checkpoints is within the third preset range.

[0119] Optionally, the device further includes: The first determining module is used to determine that the first running state information of the first entity is a local state success when the process state of the first entity is in the starting state. The second determining module is used to determine that the first running state information of the first entity is a local state of hibernation when the process state of the first entity is not started. The first state update module is used to update the first running state information of the first entity from the local state success to the local state sleep when the process state of the first entity changes from start to stop or suspended. The second state update module is used to update the first running state information of the first entity from local state failure to local state sleep when the process state of the first entity changes from start to stop or suspended. The third state update module is used to update the first running state information of the first entity from local state failure to local state sleep when the process state of the first entity changes from start to stop or suspended. The fourth state update module is used to update the first running state information of the first entity from the local state of sleep to the local state of success when the process state of the first entity changes from stopped or suspended to started.

[0120] Optionally, the update module 1203 is specifically used for: If the second running status information of the first functional module is global state sleep, and the updated first running status information is local state success, and the updated first running status information of other entities in the first functional module other than the first entity is local state success or local state sleep, then the second running status information is updated from global state sleep to global state success. If the second running status information of the first functional module is global state sleep, and the updated first running status information is local state failure, and the updated first running status information of the other entities is local state success or local state sleep, then the second running status information is updated from global state sleep to global state failure. If the second running status information of the first functional module is global state sleep, and the updated first running status information is local state failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from global state sleep to global state failure. If the second running status information of the first functional module is in global state sleep, and the updated first running status information is in local state failure and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from global state sleep to global state termination. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of sleep, and the updated first running status information of the other entities are all local state of sleep, then the second running status information is updated from a global state of success to a global state of sleep. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the updated first running status information of the other entities is a local state of success or a local state of dormancy, then the second running status information will be updated from a global state of success to a global state of failure. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information will be updated from a global state of success to a global state of failure. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information will be updated from a global state of success to a global state of termination. If the second running status information of the first functional module is a global state failure, and the updated first running status information is a local state success, and the updated first running status information of the other entities is a local state success or a local state sleep, then the second running status information is updated from a global state failure to a global state success. If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, the first running status information after the update is a local state failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from a global state failure to a global state failure. If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, the first running status information after the update is a local state failure, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information will be updated from a global state failure to a global state termination. If the second running status information of the first functional module is a global state failure, and the updated first running status information is a local state failure, and the maximum tolerance time of the first functional module is greater than 0, and the time that the first functional module is in a global state failure is greater than the maximum tolerance time, then the second running status information is updated from global state failure to global state termination. If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, and the updated first running status information of all entities in the first functional module is a local state sleep, then the second running status information is updated from a global state failure to a global state sleep. If the second running status information of the first functional module is a global state failure, and if the first running status information before the update is a local state failure, and the updated first running status information of all entities in the first functional module is a local state dormancy, then the second running status information is updated from a global state failure to a global state dormancy. If the second running status information of the first functional module is global state termination, and the updated first running status information of all entities in the first functional module is local state sleep, then the second running status information will be updated from global state termination to global state sleep.

[0121] Optionally, the method further includes: The fifth state update module is used to update the second running state information from global state success to global state sleep if the health management system is reset when the second running state information of the first functional module is global state success. The sixth state update module is used to update the second running state information from global state failure to global state hibernation when the second running state information of the first functional module is global state failure, if the first running state information before the update is local state failure and the health management system is reset. The seventh state update module is used to update the second running state information from global state failure to global state hibernation when the second running state information of the first functional module is global state failure, if the first running state information before the update is local state failure and the health management system is reset. The eighth state update module is used to update the second running state information from global state termination to global state hibernation if the health management system is reset when the second running state information of the first functional module is global state termination.

[0122] Optionally, the device further includes: The sending module is used to send the second operating status information to the control unit when the health detection result of the first functional module is abnormal, so that the control unit issues a first processing instruction corresponding to the second operating status information to the first functional module and obtains the processing result of the first processing instruction. The receiving module is used to obtain the processing results sent by the control unit.

[0123] In summary, the embodiments described above in this application abstract and decompose hardware behaviors and abnormal vehicle driving behaviors (including software behaviors) into multiple checkpoints in the health management system at the software level. Through the proactive reporting of these checkpoints, the health management system detects the real-time operational status changes of each entity based on the corresponding detection methods. This determines the operational status changes of the functional module to which the entity belongs, resulting in a health detection result for that module. The health detection result is then sent to the control unit in real time, allowing the control unit to handle abnormal situations in real time, thus achieving dynamic detection and rapid real-time processing. Furthermore, by performing health checks on all functional modules in this manner, the health management system can identify abnormal functional modules and their specific causes, enabling maintenance personnel to promptly determine and repair the issues, ensuring the normal operation of the entire autonomous driving function.

[0124] It should be noted that the health detection device of the above-mentioned functional modules provided in this application embodiment can realize all the method steps implemented in the health detection method embodiment of the above-mentioned functional modules and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0125] like Figure 13 As shown, embodiments of this application also provide an electronic device, including a memory 920, a transceiver 910, and a processor 900: Memory 920 is used to store computer programs; Transceiver 910 is used to send and receive data under the control of the processor; Processor 900 is configured to read a computer program from memory and execute the steps of the health detection method for the functional modules described in any of the above embodiments.

[0126] Among them, Figure 13 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 900) and memory (memory 920). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 910 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 900 is responsible for managing the bus architecture and general processing, and the memory 920 can store data used by the processor 900 during operation.

[0127] The processor 900 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0128] The processor executes the health detection method of any functional module provided in the embodiments of this application by calling a computer program stored in memory, according to the obtained executable instructions. The processor and memory can also be physically separated.

[0129] It should be noted that the electronic device provided in this application embodiment can implement all the method steps implemented in the health detection method embodiment of the above functional modules and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0130] Embodiments of this application also provide a processor-readable storage medium storing a computer program for causing the processor to perform the health detection method of the above-described functional modules.

[0131] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0132] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the health detection method embodiment with the functional modules described above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0133] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0134] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0135] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.

[0136] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0137] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for health detection of a functional module, characterized in that, Applied to a health management system, the method includes: Obtain the checkpoint information reported by the first checkpoint, and obtain the detection method corresponding to the first checkpoint based on the checkpoint information of the first checkpoint; The detection method corresponding to the first checkpoint is used to detect the checkpoint information of the first checkpoint to obtain the detection result, and the first running status information of the first entity to which the first checkpoint belongs is updated according to the detection result. Based on the updated first running status information, update the second running status information of the first functional module to which the first entity belongs; Based on the updated first operating status information and the updated second operating status information, the health detection result of the first functional module is generated.

2. The method according to claim 1, characterized in that, The detection method includes at least one of the following: The first method: whether the number of times the checkpoint information of the first checkpoint is reported within a period is within a first preset range; The second method: whether the time interval between the first reporting time of the checkpoint information of the first checkpoint and the second reporting time of the checkpoint information of the second checkpoint is within a second preset range, wherein the first checkpoint is the source checkpoint and the second checkpoint is the target checkpoint corresponding to the source checkpoint; The third type: whether the reporting order of the checkpoint information of the first checkpoint and the associated third checkpoint conforms to the preset reporting order; The fourth type: whether the value carried in the checkpoint information of the first checkpoint is within the third preset range.

3. The method according to claim 2, characterized in that, The step of detecting the checkpoint information of the first checkpoint using the detection method corresponding to the first checkpoint to obtain a detection result, and updating the first running status information of the first entity to which the first checkpoint belongs based on the detection result, includes: Obtain the process status of the first entity; When the process state of the first entity is started, the checkpoint information of the first checkpoint is detected by the detection method corresponding to the first checkpoint to obtain the detection result; Based on the detection results, update the first operating status information of the first entity.

4. The method according to claim 3, characterized in that, The step of updating the first operating status information of the first entity based on the detection result includes: If the first running status information of the first entity is a local state success, and if the number of times the checkpoint information of the first checkpoint is reported is greater than the first preset number of consecutive cycles within the first preset range, or the time interval between the first reporting time and the second reporting time is not within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint does not conform to the preset reporting order, or the value carried in the checkpoint information of the first checkpoint is not within the third preset range, then the first running status information of the first entity will be updated from local state success to local state failure. If the first running status information of the first entity is a local state success, and the number of times the checkpoint information of the first checkpoint is reported is less than or equal to the first preset number of consecutive cycles within the first preset range, and the detection results obtained by the corresponding detection methods for other checkpoints in the first entity other than the first checkpoint are normal, then the first running status information of the first entity will be updated from a local state success to a local state failure. If the first running status information of the first entity is a partial state failure, and if the number of consecutive cycles in which the number of reports of the checkpoint information of the first checkpoint is not within the first preset range is less than or equal to the first preset number before the current cycle, and the number of reports of the checkpoint information of the first checkpoint in the current cycle is within the first preset range, and the detection results obtained by the other checkpoints through the corresponding detection methods are normal, then the first running status information of the first entity is updated from a partial state failure to a partial state success. If the first running status information of the first entity is a partial state failure, and if the number of consecutive cycles of the checkpoint information of the first checkpoint is greater than the first preset number within the first preset range, or the time interval between the first reporting time and the second reporting time is not within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint does not conform to the preset reporting order, or the value carried in the checkpoint information of the first checkpoint is not within the third preset range, then the first running status information of the first entity is updated from partial state failure to partial state invalidation. Wherein, the detection results obtained by the corresponding detection methods for the other checkpoints are normal, indicating that the number of times the information of the other checkpoints is reported within a cycle is within the first preset range, or the time interval between the first reporting time of the checkpoint information of the other checkpoints and the second reporting time of the corresponding target checkpoint is within the second preset range, or the reporting order of the checkpoint information of the first checkpoint and the third checkpoint conforms to the preset reporting order, or the value carried in the checkpoint information of the other checkpoints is within the third preset range.

5. The method according to claim 3, characterized in that, The method further includes: If the process state of the first entity is in the starting state, the first running state information of the first entity is determined to be a successful local state. If the process state of the first entity is not started, the first running state information of the first entity is determined to be local state sleep. If the process state of the first entity changes from started to stopped or suspended, and the first running state information of the first entity is local state successful, then the first running state information of the first entity is updated from local state successful to local state hibernation. If the process state of the first entity changes from started to stopped or suspended, and the first running state information of the first entity is a local state failure, then the first running state information of the first entity is updated from local state failure to local state hibernation. If the process state of the first entity changes from started to stopped or suspended, and the first running state information of the first entity is a local state failure, then the first running state information of the first entity is updated from local state failure to local state sleep. If the process state of the first entity changes from stopped or suspended to started, and the first running state information of the first entity is in a local state of hibernation, then the first running state information of the first entity is updated from the local state of hibernation to the local state of success.

6. The method according to claim 1, characterized in that, The step of updating the second operating status information of the first functional module to which the first entity belongs, based on the updated first operating status information, includes: If the second running status information of the first functional module is global state sleep, and the updated first running status information is local state success, and the updated first running status information of other entities in the first functional module other than the first entity is local state success or local state sleep, then the second running status information is updated from global state sleep to global state success. If the second running status information of the first functional module is global state sleep, and the updated first running status information is local state failure, and the updated first running status information of the other entities is local state success or local state sleep, then the second running status information is updated from global state sleep to global state failure. If the second running status information of the first functional module is global state sleep, and the updated first running status information is local state failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from global state sleep to global state failure. If the second running status information of the first functional module is in global state sleep, and the updated first running status information is in local state failure and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from global state sleep to global state termination. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of sleep, and the updated first running status information of the other entities are all local state of sleep, then the second running status information is updated from a global state of success to a global state of sleep. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the updated first running status information of the other entities is a local state of success or a local state of dormancy, then the second running status information will be updated from a global state of success to a global state of failure. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information will be updated from a global state of success to a global state of failure. If the second running status information of the first functional module is a global state of success, and the updated first running status information is a local state of failure, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information will be updated from a global state of success to a global state of termination. If the second running status information of the first functional module is a global state failure, and the updated first running status information is a local state success, and the updated first running status information of the other entities is a local state success or a local state sleep, then the second running status information is updated from a global state failure to a global state success. If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, the first running status information after the update is a local state failure, and the maximum tolerance time of the first functional module is greater than 0, then the second running status information is updated from a global state failure to a global state failure. If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, the first running status information after the update is a local state failure, and the maximum tolerance time of the first functional module is equal to 0, then the second running status information is updated from a global state failure to a global state termination. If the second running status information of the first functional module is a global state failure, and the updated first running status information is a local state failure, and the maximum tolerance time of the first functional module is greater than 0, and the time that the first functional module is in a global state failure is greater than the maximum tolerance time, then the second running status information will be updated from global state failure to global state termination. If the second running status information of the first functional module is a global state failure, and the first running status information before the update is a local state failure, and the updated first running status information of all entities in the first functional module is a local state sleep, then the second running status information is updated from a global state failure to a global state sleep. If the second running status information of the first functional module is a global state failure, and if the first running status information before the update is a local state failure, and the updated first running status information of all entities in the first functional module is a local state sleep, then the second running status information is updated from a global state failure to a global state sleep. If the second running status information of the first functional module is global state termination, and the updated first running status information of all entities in the first functional module is local state sleep, then the second running status information will be updated from global state termination to global state sleep.

7. A health detection device with functional modules, characterized in that, The device, used in a health management system, includes: The acquisition module is used to acquire the checkpoint information reported by the first checkpoint, and to acquire the detection method corresponding to the first checkpoint based on the checkpoint information of the first checkpoint. The detection module is used to detect the checkpoint information of the first checkpoint using the detection method corresponding to the first checkpoint to obtain the detection result, and update the first running status information of the first entity to which the first checkpoint belongs based on the detection result. The update module is used to update the second running status information of the first functional module to which the first entity belongs, based on the updated first running status information; The generation module is used to generate the health detection result of the first functional module based on the updated first running status information and the updated second running status information.

8. An electronic device, characterized in that, Includes memory, transceiver, and processor: Memory, used to store computer programs; Transceiver, used to send and receive data under the control of the processor; A processor is configured to read a computer program from the memory and execute a health detection method for a functional module as described in any one of claims 1 to 6.

9. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program for causing the processor to perform a health detection method for the functional module as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The program product is stored in a storage medium and is executed by at least one processor to implement the health detection method for the functional module as described in any one of claims 1 to 6.

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