CN113670360A - Monitoring method, system, device, vehicle, medium and product - Google Patents
Monitoring method, system, device, vehicle, medium and product Download PDFInfo
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Abstract
The embodiment of the invention provides a monitoring method, a system, a device, a vehicle, a medium and a product, wherein the method comprises the following steps: acquiring initial self-checking information sent by at least one sensor module of an intelligent driving vehicle; after determining that the initial self-checking information is abnormal, acquiring running information sent by each sensor module and state information of the sensor modules; monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; and when any one of the operation information, the state information and the monitoring information is determined and does not accord with a preset fault judgment rule, judging that the intelligent driving vehicle has a fault. The invention is used for overcoming the defects of lower reliability and stability of the intelligent driving vehicle in the prior art.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a monitoring method, a monitoring system, a monitoring device, a monitoring vehicle, a monitoring medium and a monitoring product.
Background
With the development of the automatic driving technology, the requirements on the reliability of the system for assisting driving and automatic driving are higher and higher, so that each state of the sensor needs to be monitored to early warn and avoid potential safety hazards.
However, reliability and stability of the intelligent driving vehicle cannot be guaranteed only by monitoring the state of the sensor.
Therefore, how to improve the reliability and stability of the intelligent driving vehicle is a problem that needs to be solved urgently in the industry at present.
Disclosure of Invention
The embodiment of the invention provides a monitoring method, a monitoring system, a monitoring device, a vehicle, a monitoring medium and a monitoring product, which are used for overcoming the defects of low reliability and stability of an intelligent driving vehicle in the prior art and effectively improving the reliability and stability of the intelligent driving vehicle.
The embodiment of the invention provides a monitoring method, which comprises the following steps:
acquiring initial self-checking information sent by at least one sensor module of an intelligent driving vehicle;
after determining that the initial self-checking information is abnormal, acquiring operation information sent by each sensor module and state information of the sensor modules;
monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information;
determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not;
and when any one of the operation information, the state information and the monitoring information is determined not to accord with the preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
According to the monitoring method of one embodiment of the present invention, the operation information includes: a sensor identification;
before determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule, the method further includes:
acquiring a communication state of the operation information in a transmitted process, wherein the communication state is used for indicating whether the operation information can be effectively communicated among the sensor modules;
the determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule includes:
when the first target sensor module corresponding to the sensor identifier is determined to be abnormal through the state information and/or the monitoring information, determining an abnormal threshold of the first target sensor module;
encapsulating the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet;
combining the sensor identifier of the first target sensor module, the target state data packet and the abnormal threshold value to obtain a combined result;
determining whether the combination result meets the preset fault judgment rule or not;
when any one of the operation information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule, it is determined that the intelligent driving vehicle has a fault, and the method comprises the following steps:
and when the combined result is determined not to accord with the preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
According to the monitoring method of one embodiment of the present invention, the processing information includes: the preset sensing strategy is used for processing the process state of the running information and a data processing result;
the monitoring preset perception strategy is used for processing information when the operation information is processed to obtain monitoring information, and the monitoring information comprises:
when the process state is process failure, determining the monitoring information as abnormal monitoring information;
and when the process state is the process end, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, and otherwise, determining that the monitoring information is abnormal monitoring information.
According to one embodiment of the present invention, the initial self-test information includes: a sensor identification;
after the initial self-checking information that at least one sensor module of acquireing intelligent driving vehicle sent, still include:
generating a target list corresponding to the initial self-checking information based on the sensor identification;
comparing the target list with a preset sensor list;
when the target list is consistent with the preset sensor list, determining that the initial self-checking information is abnormal;
and when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
According to the monitoring method of an embodiment of the present invention, when the target list and the preset sensor list are inconsistent, determining that the initial self-test information is abnormal includes:
when the target list is inconsistent with the preset sensor list, taking the inconsistent sensor identification in the target list and the preset sensor list as an abnormal sensor identification;
determining that the second target sensor module corresponding to the abnormal sensor identifier is abnormal;
when the target list is inconsistent with the preset sensor list and after determining that the initial self-checking information is abnormal, the method further includes:
determining that the driving function corresponding to the second target sensor module is in a failure state, and sending a driving function failure instruction to a central control management module;
and executing the step of determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule or not for the rest of the sensor modules after the second target sensor module is removed from the at least one sensor module.
According to the monitoring method of an embodiment of the present invention, before determining whether the operation information, the state information, and the monitoring information meet a preset fault determination rule, the method further includes:
acquiring a temporary fault judgment rule;
and configuring the abnormal threshold value for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule.
According to the monitoring method of one embodiment of the invention, after the intelligent driving vehicle is judged to have the fault, the method further comprises the following steps:
determining a fault level based on the magnitude of the anomaly threshold;
and controlling the first target sensor module to execute the operation corresponding to the fault grade.
An embodiment of the present invention further provides a monitoring system, including: the sensor module and the monitoring processing module are installed on the intelligent driving vehicle, and the sensor module is in communication connection with the monitoring processing module respectively;
the at least one sensor module is used for sending initial self-checking information to the monitoring processing module;
the at least one sensor module is also used for sending the running information of each sensor module and the state information of the sensor module to the monitoring processing module;
the monitoring processing module is used for acquiring the initial self-checking information; after determining that the initial self-checking information is abnormal, acquiring operation information and state information; monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; and when any one of the operation information, the state information and the monitoring information is determined not to accord with a preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
A monitoring system according to one embodiment of the invention, the system further comprising: the central control management module is in communication connection with the monitoring processing module;
the monitoring processing module is also used for sending a driving function failure instruction to the monitoring processing module;
and the central control management module is used for acquiring the driving function failure instruction and giving an alarm.
An embodiment of the present invention further provides a monitoring device, including:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle;
the second acquisition module is used for acquiring the running information sent by each sensor module and the state information of the sensor modules after the initial self-checking information is determined to be abnormal;
the monitoring module is used for monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information;
the judging module is used for determining whether the running information, the state information and the monitoring information accord with a preset fault judging rule or not;
and the judging module is used for judging that the intelligent driving vehicle has a fault when any one of the running information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule.
The embodiment of the invention also provides an intelligent driving vehicle which comprises any one of the monitoring systems.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the monitoring method as described in any of the above.
The invention also provides a computer program product comprising a computer program, characterized in that the computer program realizes the steps of any of the above-mentioned monitoring methods when being executed by a processor.
According to the monitoring method, the monitoring system, the monitoring device, the vehicle, the medium and the product, the method includes the steps that initial self-checking information sent by at least one sensor module of the intelligent driving vehicle is obtained; after determining that the initial self-checking information is abnormal, acquiring the running information sent by each sensor module and the state information of the sensor modules, and monitoring the running information and the state information of the plurality of sensor modules in real time; furthermore, the processing information when the preset sensing strategy processes the operation information is monitored to obtain the monitoring information, so that the invention also monitors the operation condition of the preset sensing strategy in real time, and provides more effective and reliable safety guarantee for the whole driving vehicle; finally, determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; according to the method, the device and the system, the sensor module is monitored, meanwhile, the operation condition of the sensing algorithm corresponding to the sensor module is monitored, whether the intelligent driving vehicle has the fault is judged through the sensor module and the sensing algorithm, and the reliability and the safety of the intelligent driving vehicle are really improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a monitoring method according to an embodiment of the present invention;
fig. 2 is a second schematic flow chart of a monitoring method according to an embodiment of the present invention;
fig. 3 is a third schematic flow chart of a monitoring method according to an embodiment of the present invention;
FIG. 4 is a fourth schematic flowchart of a monitoring method according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a monitoring system according to an embodiment of the present invention;
fig. 6 is a second schematic structural diagram of a monitoring system according to an embodiment of the present invention;
fig. 7 is a third schematic structural diagram of a monitoring system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The monitoring method of the embodiment of the present invention is described below with reference to fig. 1 to 4.
The monitoring method provided by the invention is applied to an intelligent driving vehicle, and the specific implementation of the method is as shown in figure 1:
Specifically, the sensor module includes: camera, radar. Wherein, the camera includes: ordinary camera, infrared camera, degree of depth camera etc. ordinary camera includes: a monocular camera, a binocular camera, a short-focus camera, a middle-focus camera, a long-focus camera, a fisheye camera, etc.; the radar includes: laser radar, millimeter wave radar (24G, 77G), ultrasonic radar, and the like. It should be noted that the sensor module of the present invention is not limited to the combination of these sensors.
Wherein, a sensor module includes at least one sensor. When one sensor module comprises one sensor, the state information of the sensor module is the state information of the sensor; when one sensor module includes a plurality of sensors, the state information of the sensor module is a combination of the state information of the plurality of sensors. In the following, an example in which one sensor module includes one sensor is described, but it should be noted that this is merely an example and is not intended to limit the scope of the present invention.
Specifically, when the intelligent driving vehicle is powered on, each sensor module performs initial self-checking operation, and initial self-checking information is obtained. Wherein the initial self-test information comprises: a sensor identification, and sensor status information corresponding to the sensor identification.
Wherein the state information includes: the method comprises the steps of online and offline, when the sensor performs self-checking operation, no problem exists, the state information is online, if a problem occurs, the state information at the moment is a combination of offline and a state code, wherein the state code can be a number of reasons for causing the sensor to be offline.
Wherein, the initial self-checking information further comprises: the starting rule of the sensors is the starting sequence of each sensor and is marked sequentially through the sensor identification.
And after the sensor finishes the initial self-checking operation, waiting for a reporting signal of the initial self-checking information, and sending the initial self-checking information after obtaining the reporting information.
In a specific embodiment, the process of determining the initial self-test information is shown in fig. 2:
Specifically, a target list corresponding to the initial self-checking operation is generated according to the sensor identifier in the initial self-checking information.
Specifically, the sensor identifiers are classified functionally, for example, the sensors with sensor identifiers 1, 2, and 3 correspond to a system fault alarm (bsd); sensors identified as 1, 4, 5 correspond to automatic emergency braking (aeb).
Specifically, the preset sensor list may be a sensor list set manually, or may be a sensor list generated when the smart driving vehicle is factory set.
And step 203, when the target list is consistent with the preset sensor list, determining that the initial self-checking information is not abnormal.
Specifically, after determining that the self-checking information is not abnormal, sending a message without abnormality to the central control management module.
And step 204, when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
In a specific embodiment, when it is determined that the initial self-test information is abnormal, the sensor identifier which is inconsistent with the target list and the preset sensor list is used as an abnormal sensor identifier, and it is determined that the second target sensor module corresponding to the abnormal sensor identifier is abnormal. And determining that the driving function corresponding to the second target sensor module is in a failure state, and sending a driving function failure instruction to the central control management module. And prompting or alarming the second target sensor module through the central control management module, and issuing a warning that the driving function corresponding to the second target sensor module is in a failure state. And executing the step of determining whether the operation information, the state information and the monitoring information meet the preset fault judgment rule or not for the sensor module with the second target sensor module removed from at least one sensor module.
At this time, a temporary fault judgment rule is created through the central control management module, for example, one sensor in the second target sensor module has no great influence on the intelligent driving vehicle, so that a rule that the abnormality of the sensor can be ignored is set, and thus when the sensor has a problem in the later period, the driving function corresponding to the sensor ignores the problem during operation. The temporary fault judgment rule is used for indicating the size of the configuration abnormal threshold.
And 102, after determining that the initial self-checking information is not abnormal, acquiring the running information sent by each sensor module and the state information of the sensor modules.
Specifically, after it is determined that the initial self-checking information is not abnormal, the intelligent driving vehicle is started, at this time, the intelligent driving vehicle finishes power-on, enters a normal use state, and acquires a temporary fault judgment rule for later use.
The operating information may include sensor data, which is data acquired by the sensor during operation, such as image data, radar data, etc., in addition to the sensor identifier.
And 103, monitoring processing information when the preset sensing strategy processes the running information to obtain monitoring information.
In a specific embodiment, a process state and a data processing result when the operation information is processed by the preset sensing strategy are preset. When the process state is process failure, determining the monitoring information as abnormal monitoring information; and when the process state is the process end, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, and otherwise, determining that the monitoring information is abnormal monitoring information.
The preset perception strategy is a preset perception algorithm.
According to the invention, the information of the sensor module is monitored, and meanwhile, the process state and the data processing result of the sensing algorithm are monitored, so that more effective and more reliable safety guarantee is provided for the intelligent driving vehicle, and the intelligent driving vehicle is safer and more reliable.
And step 104, determining whether the operation information, the state information and the monitoring information meet preset fault judgment rules.
In one embodiment, before determining whether the operation information, the state information and the monitoring information meet the preset fault judgment rule, the communication state of the operation information in the process of being sent is obtained, and the communication state is used for indicating whether the operation information can be effectively communicated among the sensor modules.
The specific implementation of judging whether the operation information, the state information and the monitoring information meet the preset fault judgment rule is shown in fig. 3:
step 301, when it is determined that the first target sensor module corresponding to the sensor identifier is abnormal through the state information and/or the monitoring information, determining an abnormal threshold of the first target sensor module.
Wherein, the larger the abnormal threshold value is, the larger the corresponding fault level is.
In a specific embodiment, a temporary fault judgment rule is obtained; and configuring the abnormal threshold value for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule. Specifically, the abnormal threshold value is set based on the temporary fault judgment rule and the preset fault judgment rule, so that the user experience of the user on the intelligent driving vehicle can be effectively improved.
And step 304, determining whether the combination result meets a preset fault judgment rule.
Specifically, the expression form of the preset fault judgment rule may be sensor identification + target state data packet + abnormal threshold.
And 105, when any one of the operation information, the state information and the monitoring information is determined to be not in accordance with a preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
Specifically, when the combination result is determined not to accord with the preset fault judgment rule, it is judged that the intelligent driving vehicle has a fault.
In one embodiment, based on the magnitude of the anomaly threshold, a fault level is determined; and controlling the first target sensor module to execute the operation corresponding to the fault grade.
Specifically, the failure classes include: the failure level can be ignored, general, serious, and extremely serious, and each failure level corresponds to the respective operation. For example, the level may be ignored, i.e., the fault may be ignored and no processing is required; in the normal grade, the first target sensor module is controlled to execute self-repairing operation or alarm operation; and controlling the first target sensor module to execute a stopping operation or performing a forced stopping operation through a manual remote operation and the like according to the severity level or the special severity level.
Of course, when the operation information, the state information and the monitoring information are determined to meet the preset fault judgment rule, it is determined that the intelligent driving vehicle has no fault, the intelligent driving vehicle only needs to run according to the preset normal running process, and the operations from the step 102 to the step 104 are repeatedly executed in the running process.
The following describes the monitoring method specifically with reference to fig. 4:
step 401, the intelligent driving vehicle is powered on, each sensor module carries out initial self-checking operation, and initial self-checking information is obtained.
And step 403, sending a report signal to each sensor module, and acquiring initial self-checking information sent by each sensor module of the intelligent driving vehicle.
And step 404, generating a target list according to the initial self-checking information, comparing the target list with a preset sensor list, and determining whether the initial self-checking information is abnormal.
And step 408, when the abnormality exists, determining a fault level, and controlling the sensor module to execute the operation corresponding to the fault level.
And step 409, monitoring the operation information, the state information and the monitoring information of each module sensor in real time when no abnormality exists.
According to the monitoring method, the monitoring system, the monitoring device, the vehicle, the medium and the product, the method includes the steps that initial self-checking information sent by at least one sensor module of the intelligent driving vehicle is obtained; after determining that the initial self-checking information is abnormal, acquiring the running information sent by each sensor module and the state information of the sensor modules, and monitoring the running information and the state information of the plurality of sensor modules in real time; furthermore, the processing information when the preset sensing strategy processes the operation information is monitored to obtain the monitoring information, so that the invention also monitors the operation condition of the preset sensing strategy in real time, and provides more effective and reliable safety guarantee for the whole driving vehicle; finally, determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; according to the method, the device and the system, the sensor module is monitored, meanwhile, the operation condition of the sensing algorithm corresponding to the sensor module is monitored, whether the intelligent driving vehicle has the fault is judged through the sensor module and the sensing algorithm, and the reliability and the safety of the intelligent driving vehicle are really improved.
The following describes the monitoring system provided by the present invention, the monitoring system described below and the monitoring method described above may refer to each other, and repeated parts are not described again, specifically as shown in fig. 5:
the monitoring system of the present invention comprises: the sensor module 501 and the monitoring processing module 502 are installed on the intelligent driving vehicle, and the sensor module 501 is in communication connection with the monitoring processing module 502 respectively;
the at least one sensor module 501 is configured to send initial self-inspection information to the monitoring processing module 502;
the at least one sensor module 501 is further configured to send operation information of each sensor module 501 and status information of the sensor module 501 to the monitoring processing module 502;
the monitoring processing module 502 is configured to obtain the initial self-inspection information; after determining that the initial self-checking information is abnormal, acquiring operation information and state information; monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; and when any one of the operation information, the state information and the monitoring information is determined not to accord with a preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
In one embodiment, as shown in FIG. 6: the monitoring system further comprises: a central control management module 601, wherein the central control management module 601 establishes a communication connection with the monitoring processing module 502;
the monitoring processing module 502 is further configured to send a driving function failure instruction to the central control management module 601;
and the central control management module 601 is used for acquiring the driving function failure instruction and giving an alarm.
Specifically, as shown in fig. 7, the monitoring system further includes: the data preprocessing module 701 establishes communication connection with the sensor module 501. The sensor module 501 is configured to send the acquired operation information and status information to the data preprocessing module 701. The data preprocessing module 701 is configured to receive the running information and the state information, perform a structuring processing operation and a data correction operation on the running information and the state information to obtain target information in a preset format, record a label of each piece of information in the target information and a data state corresponding to each piece of information, and further send the target information to the monitoring processing module 502.
The operating information may include sensor data, which is data acquired by the sensor during operation, such as image data, radar data, etc., in addition to the sensor identifier.
The monitoring processing module 502 includes: a monitoring processing unit 702 and a perception algorithm unit 703, wherein the monitoring processing unit 702 and the perception algorithm unit 703 establish a communication connection. The sensing algorithm unit 703 receives the target information sent by the data preprocessing module 701, processes the target information by using a preset sensing strategy to obtain a process state and a data processing result, sends the process state and the data processing result to the monitoring processing unit 702, and determines whether the process state and the data processing result are abnormal or not by the monitoring processing unit 702.
The monitoring system further comprises: the vehicle information module 704 and the vehicle information module 704 are used for acquiring the running information and the position information of the intelligent driving vehicle, and can provide effective data support for controlling and planning the intelligent driving vehicle. The vehicle information module 704 establishes a communication connection with the monitoring processing unit 702 and transmits the travel information and the position information to the monitoring processing unit 702.
Specifically, the central control management module 601 includes: the intelligent central control screen 705 is in communication connection with the monitoring processing unit 702, and is used for acquiring the judgment result obtained by the monitoring processing unit 702 and managing the voice broadcast and information display of the judgment result. For example, the initial self-checking signals of the sensor modules and the driving function failure item information corresponding to the sensor modules are received, and early warning and prompting are performed, and temporary fault judgment rule setting and information management are performed. A remote service center 706 for remote-side pre-warning and operation, functioning like a central screen, but biased toward more advanced or completely unmanned driving.
Specifically, the system further comprises: the planning module 707, the planning module 707 and the monitoring processing unit 702 establish communication connection, and are used for performing verification and test of the automatic driving function by using the monitoring information.
According to the monitoring system provided by the invention, the sensor module is monitored, the operation condition of the sensing algorithm corresponding to the sensor module is also monitored, whether the intelligent driving vehicle has a fault is judged through the sensor module and the sensing algorithm together, and the reliability and the safety of the intelligent driving vehicle are really improved.
The following describes the monitoring device provided in the embodiment of the present invention, and the monitoring device described below and the monitoring method described above may be referred to correspondingly, and repeated parts are not described again, specifically as shown in fig. 8:
a first obtaining module 801, configured to obtain initial self-inspection information sent by at least one sensor module of an intelligent driving vehicle;
a second obtaining module 802, configured to obtain, after it is determined that the initial self-inspection information is not abnormal, operation information sent by each sensor module and state information of the sensor module;
the monitoring module 803 is configured to monitor processing information when a preset sensing strategy processes the operating information, so as to obtain monitoring information;
a determining module 804, configured to determine whether the operation information, the state information, and the monitoring information meet a preset fault determination rule;
the determining module 805 is configured to determine that the intelligent driving vehicle has a fault when it is determined that any one of the operation information, the state information, and the monitoring information does not meet a preset fault determination rule.
In one embodiment, the operation information includes: a sensor identification; the judging module 804 is further configured to acquire a communication state of the operation information in the process of being sent, where the communication state is used to indicate whether the operation information can be effectively communicated between the sensor modules; the judging module 804 is specifically configured to determine an abnormal threshold of the first target sensor module when it is determined that the first target sensor module corresponding to the sensor identifier is abnormal through the state information and/or the monitoring information; encapsulating the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet; combining the sensor identifier of the first target sensor module, the target state data packet and the abnormal threshold value to obtain a combined result; determining whether the combination result meets a preset fault judgment rule or not; and when the combined result is determined not to accord with the preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
In one embodiment, processing information includes: presetting a process state and a data processing result when a perception strategy processes the running information; the monitoring module 803 is specifically configured to determine that the monitoring information is abnormal monitoring information when the process state is a process failure; and when the process state is the process end, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, and otherwise, determining that the monitoring information is abnormal monitoring information.
In one embodiment, the initial self-test information includes: a sensor identification; the first obtaining module 801 is further configured to generate a target list corresponding to the initial self-inspection information based on the sensor identifier; comparing the target list with a preset sensor list; when the target list is consistent with the preset sensor list, determining that the initial self-checking information is abnormal; and when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
In a specific embodiment, the first obtaining module 801 is specifically configured to, when the target list is inconsistent with the preset sensor list, use an inconsistent sensor identifier in the target list and the preset sensor list as an abnormal sensor identifier; determining that the second target sensor module corresponding to the abnormal sensor identifier is abnormal; the first obtaining module 801 is further configured to determine that the driving function corresponding to the second target sensor module is in a failure state, and send a driving function failure instruction to the central control management module; and removing the rest of the sensor modules from the at least one sensor module after the second target sensor module, and executing the step of determining whether the operation information, the state information and the monitoring information meet the preset fault judgment rule or not.
In a specific embodiment, the determining module 804 is further configured to obtain a temporary failure determination rule; and configuring an abnormal threshold value for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule.
In a specific embodiment, the determining module is further configured to determine a fault level based on a magnitude of the abnormal threshold; and controlling the first target sensor module to execute the operation corresponding to the fault level.
In a first aspect, the invention provides a smart driving vehicle comprising the monitoring system described above.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the monitoring method provided by the above methods, the method comprising: acquiring initial self-checking information sent by at least one sensor module of an intelligent driving vehicle; after determining that the initial self-checking information is abnormal, acquiring running information sent by each sensor module and state information of the sensor modules; monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; and when any one of the operation information, the state information and the monitoring information is determined and does not accord with a preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the monitoring method provided above, the method comprising: acquiring initial self-checking information sent by at least one sensor module of an intelligent driving vehicle; after determining that the initial self-checking information is abnormal, acquiring running information sent by each sensor module and state information of the sensor modules; monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; and when any one of the operation information, the state information and the monitoring information is determined and does not accord with a preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A method of monitoring, comprising:
acquiring initial self-checking information sent by at least one sensor module of an intelligent driving vehicle;
after determining that the initial self-checking information is abnormal, acquiring operation information sent by each sensor module and state information of the sensor modules;
monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information;
determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not;
and when any one of the operation information, the state information and the monitoring information is determined not to accord with the preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
2. The monitoring method of claim 1, wherein the operational information comprises: a sensor identification;
before determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule, the method further includes:
acquiring a communication state of the operation information in a transmitted process, wherein the communication state is used for indicating whether the operation information can be effectively communicated among the sensor modules;
the determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule includes:
when the first target sensor module corresponding to the sensor identifier is determined to be abnormal through any one of the operation information, the state information and the monitoring information, determining an abnormal threshold value of the first target sensor module;
encapsulating the state information of the first target sensor module, the monitoring information of the first target sensor module and the communication state of the first target sensor module to obtain a target state data packet;
combining the sensor identifier of the first target sensor module, the target state data packet and the abnormal threshold value to obtain a combined result;
determining whether the combination result meets the preset fault judgment rule or not;
when any one of the operation information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule, it is determined that the intelligent driving vehicle has a fault, and the method comprises the following steps:
and when the combined result is determined not to accord with the preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
3. The monitoring method of claim 1, wherein the processing information comprises: the preset sensing strategy is used for processing the process state of the running information and a data processing result;
the monitoring preset perception strategy is used for processing information when the operation information is processed to obtain monitoring information, and the monitoring information comprises:
when the process state is process failure, determining the monitoring information as abnormal monitoring information;
and when the process state is the process end, judging whether the data processing result is a preset result, if so, determining that the monitoring information is normal monitoring information, and otherwise, determining that the monitoring information is abnormal monitoring information.
4. The monitoring method according to any one of claims 1 to 3, wherein the initial self-test information includes: a sensor identification;
after the initial self-checking information that at least one sensor module of acquireing intelligent driving vehicle sent, still include:
generating a target list corresponding to the initial self-checking information based on the sensor identification;
comparing the target list with a preset sensor list;
when the target list is consistent with the preset sensor list, determining that the initial self-checking information is abnormal;
and when the target list is inconsistent with the preset sensor list, determining that the initial self-checking information is abnormal.
5. The monitoring method according to claim 4, wherein the determining that the initial self-test information is abnormal when the target list and the preset sensor list are inconsistent comprises:
when the target list is inconsistent with the preset sensor list, taking the inconsistent sensor identification in the target list and the preset sensor list as an abnormal sensor identification;
determining that the second target sensor module corresponding to the abnormal sensor identifier is abnormal;
when the target list is inconsistent with the preset sensor list and after determining that the initial self-checking information is abnormal, the method further includes:
determining that the driving function corresponding to the second target sensor module is in a failure state, and sending a driving function failure instruction to a central control management module;
and executing the step of determining whether the operation information, the state information and the monitoring information meet a preset fault judgment rule or not for the rest of the sensor modules after the second target sensor module is removed from the at least one sensor module.
6. The monitoring method according to claim 2, wherein before determining whether the operation information, the status information, and the monitoring information satisfy a predetermined failure determination rule, the method further comprises:
acquiring a temporary fault judgment rule;
and configuring the abnormal threshold value for the first target sensor module based on the temporary fault judgment rule and the preset fault judgment rule.
7. The monitoring method according to claim 2, wherein after determining that the smart-driven vehicle has a fault, further comprising:
determining a fault level based on the magnitude of the anomaly threshold;
and controlling the first target sensor module to execute the operation corresponding to the fault grade.
8. A monitoring system, comprising: the sensor module and the monitoring processing module are installed on the intelligent driving vehicle, and the sensor module is in communication connection with the monitoring processing module respectively;
the at least one sensor module is used for sending initial self-checking information to the monitoring processing module;
the at least one sensor module is also used for sending the running information of each sensor module and the state information of the sensor module to the monitoring processing module;
the monitoring processing module is used for acquiring the initial self-checking information; after determining that the initial self-checking information is abnormal, acquiring operation information and state information; monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information; determining whether the operation information, the state information and the monitoring information accord with a preset fault judgment rule or not; and when any one of the operation information, the state information and the monitoring information is determined not to accord with a preset fault judgment rule, judging that the intelligent driving vehicle has a fault.
9. The monitoring system of claim 8, wherein the system further comprises: the central control management module is in communication connection with the monitoring processing module;
the monitoring processing module is also used for sending a driving function failure instruction to the central control management module;
and the central control management module is used for acquiring the driving function failure instruction and giving an alarm.
10. A monitoring device, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring initial self-checking information sent by at least one sensor module of the intelligent driving vehicle;
the second acquisition module is used for acquiring the running information sent by each sensor module and the state information of the sensor modules after the initial self-checking information is determined to be abnormal;
the monitoring module is used for monitoring processing information when a preset sensing strategy processes the running information to obtain monitoring information;
the judging module is used for determining whether the running information, the state information and the monitoring information accord with a preset fault judging rule or not;
and the judging module is used for judging that the intelligent driving vehicle has a fault when any one of the running information, the state information and the monitoring information is determined to be not in accordance with the preset fault judgment rule.
11. A smart-driven vehicle comprising the monitoring system of claim 8 or 9.
12. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the monitoring method according to any one of claims 1 to 7.
13. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, carries out the steps of the monitoring method according to any one of claims 1-7.
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