CN114518741B - Monitoring method, monitoring device and monitoring system for automatic driving vehicle - Google Patents

Abstract

The application provides a monitoring method, a monitoring device and a monitoring system of an automatic driving vehicle, wherein the automatic driving vehicle comprises a first device and a second device which are in communication connection, and the method comprises the following steps: receiving first operation data and second operation data, wherein the first operation data is operation data of first equipment, and the second operation data is operation data of second equipment; data integration is carried out on the first operation data and the second operation data to obtain integrated data; determining whether an abnormal event exists according to the integrated data, wherein the abnormal event comprises an event representing abnormal operation of the first equipment and an event representing abnormal operation of the second equipment; and when the abnormal event exists, sending out alarm information and processing the abnormal event. The automatic monitoring of the running condition of the automatic driving vehicle is realized, the automatic requirement can be met, and the manpower is liberated.

Description

Monitoring method, monitoring device and monitoring system for autonomous driving vehicle

Technical Field

The present application relates to the field of autonomous driving, and more specifically, to a monitoring method for an autonomous driving vehicle, a monitoring device, a computer-readable storage medium, a processor, a monitoring system for an autonomous driving vehicle, and an autonomous driving vehicle.

Background Art

Automobile diagnosis is affected by multiple protocols, multiple models, multiple conditions, multiple personnel and other factors. In the existing technology, the diagnosis of autonomous vehicles is generally carried out by manual operation, which cannot meet the automation requirements. In addition, it is impossible to monitor the moving vehicle in real time, which poses a safety hazard.

The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country for those skilled in the art.

Summary of the invention

The main purpose of this application is to provide a monitoring method, a monitoring device, a computer-readable storage medium, a processor, a monitoring system for an autonomous driving vehicle, and an autonomous driving vehicle, so as to solve the problem in the prior art that manual diagnosis of autonomous driving vehicles cannot meet automation requirements.

In order to achieve the above-mentioned purpose, according to one aspect of the present application, a monitoring method for an autonomous driving vehicle is provided, wherein the autonomous driving vehicle includes a first device and a second device that are communicatively connected, and the method includes: receiving first operating data and second operating data, wherein the first operating data is the operating data of the first device, and the second operating data is the operating data of the second device; integrating the first operating data and the second operating data to obtain integrated data; determining whether there is an abnormal event based on the integrated data, wherein the abnormal event includes an event characterizing abnormal operation of the first device and an event characterizing abnormal operation of the second device; in the event of the abnormal event, issuing an alarm message and processing the abnormal event.

Optionally, receiving the first operating data and the second operating data includes: receiving the first operating data periodically sent by the first device; and receiving, through the first device, the second operating data periodically sent by the second device.

Optionally, receiving first operating data and second operating data includes: sending a request message to the first device, the request message is used to request query of the operating data; receiving the first operating data sent by the first device, the first operating data is generated by the first device in response to the request message; receiving the second operating data sent by the first device, the second operating data is obtained by the first device collecting the operating data of the second device in response to the request message.

Optionally, determining whether there is an abnormal event based on the integrated data includes: determining whether there is an abnormality in the integrated data; if it is determined that there is an abnormality in the integrated data, marking the abnormal data; and generating the corresponding abnormal event based on the abnormal data.

Optionally, determining whether the integrated data has an abnormality includes: obtaining a preset threshold range; determining whether there is data in the integrated data that is not within the preset threshold range, and if there is data in the integrated data that is not within the preset threshold range, determining that there is an abnormality in the integrated data.

Optionally, determining whether the integrated data has an abnormality includes: obtaining a preset abnormality judgment model, wherein the abnormality judgment model is trained by machine learning using multiple sets of data, and each set of data in the multiple sets of data includes: historical integrated data and historical analysis results, wherein the historical integrated data is obtained by integrating historical operating data of the first device and the second device, and the historical analysis results are results that characterize whether the historical integrated data has an abnormality; inputting the integrated data into the abnormality judgment model to obtain an analysis result.

Optionally, determining whether the integrated data has an abnormality includes: determining whether there is a fault code in the integrated data; and determining that the integrated data has an abnormality if the fault code exists in the integrated data.

Optionally, there are multiple abnormal events, and alarm information is issued and the abnormal events are processed, including: generating and issuing the alarm information corresponding to each abnormal event; determining the priority order of each abnormal event; and processing the abnormal events according to the priority order.

Optionally, the operating data includes at least one of a fault code, a device log, an operating voltage, and an operating current.

According to another aspect of the present application, a monitoring device for an autonomous driving vehicle is provided, wherein the autonomous driving vehicle includes a first device and a second device that are communicatively connected, and the device includes a receiving unit, an integration unit, a determination unit, and an alarm unit, wherein the receiving unit is used to receive first operating data and second operating data, the first operating data being the operating data of the first device, and the second operating data being the operating data of the second device; the integration unit is used to perform data integration on the first operating data and the second operating data to obtain integrated data; the determination unit is used to determine whether there is an abnormal event based on the integrated data, the abnormal event including an event characterizing abnormal operation of the first device and an event characterizing abnormal operation of the second device; the alarm unit is used to issue an alarm message and process the abnormal event when the abnormal event exists.

According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the methods described.

According to another aspect of the present application, a processor is provided, wherein the processor is used to run a program, wherein the program executes any one of the methods when it is run.

According to another aspect of the present application, a monitoring system for an autonomous driving vehicle is also provided, comprising a second device, a first device and a controller, wherein the first device is communicatively connected to the second device; the controller is communicatively connected to the first device, and the controller is used to execute any one of the methods described.

Optionally, the first device includes a network switch, and the second device includes at least one of an inertial measurement unit, a sensor, and a router.

According to another aspect of the present application, an autonomous driving vehicle is also provided, which includes an autonomous driving vehicle body and a monitoring system for the autonomous driving vehicle.

By applying the technical solution of the present application, in the monitoring method of the autonomous driving vehicle, first, the first operation data of the first device and the second operation data of the second device are received, wherein the first device is connected to the second device in communication; then, the first operation data and the second operation data are integrated to obtain integrated data, and whether there is an abnormal event of abnormal operation is determined according to the integrated data; finally, in the case of the abnormal event, an alarm message is issued, and the abnormal event is processed. Compared with the problem that the device information of each device in the autonomous driving vehicle needs to be manually obtained in the prior art, and the entire autonomous driving vehicle is diagnosed according to the device information, the method of the present application automatically receives the operation data of multiple devices connected in communication, and automatically diagnoses whether there is an abnormal operation according to the integrated operation data. When there is an abnormal operation, an alarm is issued and the automatic processing mode is entered, so that the automatic monitoring of the operation of the autonomous driving vehicle is realized, which can meet the automation requirements and liberate manpower. In addition, the method of the present application can monitor the autonomous driving vehicle in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the autonomous driving vehicle is good. At the same time, when an abnormal event is discovered, the present application sends out an alarm message to let the staff or users know that there is a problem with the autonomous driving vehicle, which can attract the attention of relevant personnel and subsequent manual intervention.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

FIG1 is a schematic diagram showing a flow chart of a method for monitoring an autonomous driving vehicle according to an embodiment of the present application;

FIG2 shows a schematic diagram of a monitoring device for an autonomous driving vehicle according to an embodiment of the present application;

FIG3 shows a schematic diagram of the structure of a monitoring system for an autonomous driving vehicle according to an embodiment of the present application.

The above drawings include the following reference numerals:

100, second device; 101, first device; 102, controller; 200, main switch; 201, auxiliary switch; 202, inertial measurement unit; 203, sensor; 204, router; 205, service network management; 206, display device.

DETAILED DESCRIPTION

It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be intermediate elements. Moreover, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element through a third element.

As mentioned in the background technology, the manual diagnosis of autonomous driving vehicles in the prior art cannot meet the automation requirements. In order to solve the above problems, a typical implementation of the present application provides a monitoring method for an autonomous driving vehicle, a monitoring device, a computer-readable storage medium, a processor, a monitoring system for an autonomous driving vehicle, and an autonomous driving vehicle.

According to an embodiment of the present application, a monitoring method for an autonomous driving vehicle is provided, and the above method can be applied to a controller of an autonomous driving vehicle.

FIG1 is a flow chart of a monitoring method for an autonomous driving vehicle according to an embodiment of the present application. The autonomous driving vehicle includes a first device and a second device in communication connection, as shown in FIG1 , and the method includes the following steps:

Step S101, receiving first operating data and second operating data, wherein the first operating data is operating data of the first device, and the second operating data is operating data of the second device;

Step S102, integrating the first operation data and the second operation data to obtain integrated data;

Step S103, determining whether there is an abnormal event based on the integrated data, wherein the abnormal event includes an event indicating abnormal operation of the first device and an event indicating abnormal operation of the second device;

Step S104: in the event of the above abnormal event, an alarm message is issued and the above abnormal event is processed.

In the above-mentioned monitoring method of the autonomous driving vehicle, first, the first operation data of the first device and the second operation data of the second device are received, wherein the above-mentioned first device is connected to the above-mentioned second device in communication; then, the above-mentioned first operation data and the above-mentioned second operation data are integrated to obtain integrated data, and whether there is an abnormal event of abnormal operation according to the above-mentioned integrated data; finally, in the case of the above-mentioned abnormal event, an alarm message is issued, and the above-mentioned abnormal event is processed. Compared with the problem that the device information of each device in the autonomous driving vehicle needs to be manually obtained in the prior art, and the entire autonomous driving vehicle is diagnosed according to the device information, the above-mentioned method of the present application automatically receives the operation data of multiple devices connected in communication, and automatically diagnoses whether there is an abnormal operation according to the integrated operation data. When there is an abnormal operation, an alarm is issued and the automatic processing mode is entered, so that the automatic monitoring of the operation of the autonomous driving vehicle is realized, which can meet the automation requirements and liberate manpower. In addition, the above-mentioned method of the present application can monitor the autonomous driving vehicle in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the autonomous driving vehicle is good. At the same time, when an abnormal event is discovered, the present application sends out an alarm message to let the staff or users know that there is a problem with the autonomous driving vehicle, which can attract the attention of relevant personnel and subsequent manual intervention.

It should be noted that the above-mentioned autonomous driving vehicle is not limited to the above-mentioned first device and the second device, and it may include multiple topologically connected devices centered on the above-mentioned controller, which is also applicable to the above-mentioned method of the present application. Specifically, among the multiple topologically connected devices, the device that is far from the topological connection distance of the above-mentioned controller is the third device, the device that is close to the topological connection distance of the above-mentioned controller is the second device, and the device that is closest to the topological connection distance of the above-mentioned controller is the first device. The above-mentioned third device is communicatively connected with the above-mentioned second device, and the above-mentioned second device is communicatively connected with the above-mentioned first device. The above-mentioned third device sends its own operating data to the above-mentioned controller through the above-mentioned second device and the above-mentioned first device, and the above-mentioned second device sends its own operating data to the above-mentioned controller through the above-mentioned first device, and the above-mentioned first device sends its own operating data directly to the above-mentioned controller. Repeat the above-mentioned actions until the operating data of each of the above-mentioned devices are aggregated to the above-mentioned controller, and the above-mentioned controller will integrate and analyze these data to diagnose the entire above-mentioned autonomous driving vehicle.

In a specific embodiment, the first device is directly connected to the controller for communication, and the second device is connected to the controller for communication via the first device.

In actual application, some devices in the autonomous driving vehicle have the function of automatically and periodically sending their own operating data to the controller. In this case, in order to further realize the automatic monitoring of the operating status of the autonomous driving vehicle, according to a specific embodiment of the present application, receiving the first operating data and the second operating data includes: receiving the first operating data periodically sent by the first device; receiving the second operating data periodically sent by the second device through the first device. The communication distance between the first device and the controller is less than the communication distance between the second device and the controller. The second device sends the operating data to the controller, that is, sends the data to the first device, and the first device sends the received operating data to the controller. By receiving the first operating data and the second operating data, it is further facilitated to integrate and analyze these operating data in the future, and the monitoring of the operating status of each device is further realized.

Of course, there are devices in the autonomous driving vehicle that cannot periodically send their own operating data to the controller. In this case, in order to further realize the automatic monitoring of the operating status of the autonomous driving vehicle, according to another specific embodiment of the present application, receiving the first operating data and the second operating data includes: sending a request message to the above-mentioned first device, the above-mentioned request message is used to request to query the above-mentioned operating data; receiving the above-mentioned first operating data sent by the above-mentioned first device, the above-mentioned first operating data is generated by the above-mentioned first device in response to the above-mentioned request message; receiving the above-mentioned second operating data sent by the above-mentioned first device, the above-mentioned second operating data is obtained by the above-mentioned first device in response to the above-mentioned request message, and collecting the above-mentioned operating data of the above-mentioned second device. By sending a request message for querying the operating data to the device to be monitored, its operating data can be obtained, which further realizes the automatic monitoring of the operating conditions of each device, and further facilitates the subsequent diagnosis and abnormality handling.

In another specific embodiment of the present application, determining whether there is an abnormal event based on the above integrated data includes: determining whether the above integrated data is abnormal; marking the abnormal data when determining that the above integrated data is abnormal; and generating the corresponding above abnormal event based on the above abnormal data. In this way, it is relatively easy to determine the corresponding abnormal event based on the integrated data, and after determining the abnormal event, it is further ensured that the corresponding alarm information can be issued according to the abnormal event in the future, and targeted abnormal processing can be performed, which further realizes the automatic detection of safety hazards of autonomous driving vehicles.

In actual application, the above integrated data will include some actual operating parameters, such as operating voltage, operating current, etc. At this time, determining whether the above integrated data has an abnormality includes: obtaining a preset threshold range; determining whether there is data in the above integrated data that is not within the above preset threshold range, and if the above integrated data has data that is not within the above preset threshold range, determining that the above integrated data has an abnormality.

According to another specific embodiment of the present application, determining whether the above-mentioned integrated data has an abnormality includes: obtaining a preset abnormality judgment model, the above-mentioned abnormality judgment model is trained by machine learning using multiple sets of data, each set of data in the above-mentioned multiple sets of data includes: historical integrated data and historical analysis results, the above-mentioned historical integrated data is obtained by integrating the historical operation data of the above-mentioned first device and the above-mentioned second device, and the above-mentioned historical analysis results are results that characterize whether the above-mentioned historical integrated data has an abnormality; inputting the above-mentioned integrated data into the above-mentioned abnormality judgment model to obtain an analysis result. By using the abnormality judgment model to determine whether there is abnormal data in the integrated data, it can further ensure that it is relatively simple and quick to determine whether there is an abnormal event, and then in the case of an abnormal event, it can further ensure that the abnormal event is responded to and resolved relatively quickly.

In a specific embodiment, determining whether the integrated data has an abnormality includes: determining whether there is a fault code in the integrated data; and determining that the integrated data has an abnormality when the fault code exists in the integrated data.

In the actual application process, there are multiple abnormal events, and alarm information is issued and the abnormal events are processed, including: generating and issuing the alarm information corresponding to each abnormal event; determining the priority order of each abnormal event; and processing the abnormal events according to the priority order. By processing related abnormal events in priority order, while maintaining the normal operation of the controller, emergency issues can be processed first, avoiding the problem of affecting the normal operation when the controller processes multiple abnormal events at the same time, and the problem of low processing efficiency.

Specifically, the above-mentioned operating data includes at least one of a fault code, a device log, an operating voltage, and an operating current.

It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

The embodiment of the present application also provides a monitoring device for an autonomous driving vehicle. It should be noted that the monitoring device for an autonomous driving vehicle in the embodiment of the present application can be used to execute the monitoring method for an autonomous driving vehicle provided in the embodiment of the present application. The monitoring device for an autonomous driving vehicle provided in the embodiment of the present application is introduced below.

FIG2 is a schematic diagram of a monitoring device for an autonomous driving vehicle according to an embodiment of the present application. The autonomous driving vehicle includes a first device and a second device in communication connection. As shown in FIG2, the device includes a receiving unit 10, an integrating unit 20, a determining unit 30, and an alarm unit 40, wherein the receiving unit 10 is used to receive first operation data and second operation data, the first operation data is the operation data of the first device, and the second operation data is the operation data of the second device; the integrating unit 20 is used to integrate the first operation data and the second operation data to obtain integrated data; the determining unit 30 is used to determine whether there is an abnormal event based on the integrated data, the abnormal event includes an event that characterizes the abnormal operation of the first device and an event that characterizes the abnormal operation of the second device; the alarm unit 40 is used to issue an alarm message and process the abnormal event in the presence of the abnormal event.

In the above-mentioned monitoring device for the autonomous driving vehicle, the first operation data of the first device and the second operation data of the second device are received by the above-mentioned receiving unit, wherein the above-mentioned first device is connected to the above-mentioned second device in communication; the above-mentioned integration unit integrates the above-mentioned first operation data and the above-mentioned second operation data to obtain integrated data, and the above-mentioned determination unit determines whether there is an abnormal event of abnormal operation according to the above-mentioned integrated data; the above-mentioned alarm unit issues an alarm message in the case of the above-mentioned abnormal event, and handles the above-mentioned abnormal event. Compared with the problem that the equipment information of each device in the autonomous driving vehicle needs to be manually obtained in the prior art, and the entire autonomous driving vehicle is diagnosed according to the equipment information, the above-mentioned device of the present application automatically receives the operation data of multiple devices connected in communication, and automatically diagnoses whether there is an abnormal operation according to the integrated operation data. When there is an abnormal operation, an alarm is issued and the automatic processing mode is entered, so that the automatic monitoring of the operation of the autonomous driving vehicle is realized, which can meet the automation requirements and liberate manpower. In addition, the above-mentioned device of the present application can monitor the autonomous driving vehicle in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the autonomous driving vehicle is good. At the same time, when an abnormal event is discovered, the present application sends out an alarm message to let the staff or users know that there is a problem with the autonomous driving vehicle, which can attract the attention of relevant personnel and subsequent manual intervention.

It should be noted that the above-mentioned autonomous driving vehicle is not limited to the above-mentioned first device and the second device, and it may include multiple topologically connected devices centered on the above-mentioned controller, which is also applicable to the above-mentioned device of the present application. Specifically, among the multiple topologically connected devices, the device that is far from the topological connection distance of the above-mentioned controller is the third device, the device that is close to the topological connection distance of the above-mentioned controller is the second device, and the device that is closest to the topological connection distance of the above-mentioned controller is the first device. The above-mentioned third device is communicatively connected with the above-mentioned second device, and the above-mentioned second device is communicatively connected with the above-mentioned first device. The above-mentioned third device sends its own operating data to the above-mentioned controller through the above-mentioned second device and the above-mentioned first device, and the above-mentioned second device sends its own operating data to the above-mentioned controller through the above-mentioned first device, and the above-mentioned first device sends its own operating data directly to the above-mentioned controller. Repeat the above-mentioned actions until the operating data of each of the above-mentioned devices are aggregated to the above-mentioned controller, and the above-mentioned controller will integrate and analyze these data to diagnose the entire above-mentioned autonomous driving vehicle.

In a specific embodiment, the first device is directly connected to the controller for communication, and the second device is connected to the controller for communication via the first device.

In the actual application process, some devices in the autonomous driving vehicle have the function of automatically and periodically sending their own operating data to the controller. In this case, in order to further realize the automatic monitoring of the operating status of the autonomous driving vehicle, according to a specific embodiment of the present application, the above-mentioned receiving unit includes a first receiving module and a second receiving module, wherein the above-mentioned first receiving module is used to receive the above-mentioned first operating data periodically sent by the above-mentioned first device; the above-mentioned second receiving module is used to receive the above-mentioned second operating data periodically sent by the above-mentioned second device through the above-mentioned first device. The communication distance between the above-mentioned first device and the above-mentioned controller is less than the communication distance between the above-mentioned second device and the above-mentioned controller. The above-mentioned second device sends the operating data to the above-mentioned controller, that is, sends the data to the above-mentioned first device, and the above-mentioned first device sends the received operating data to the above-mentioned controller. By receiving the above-mentioned first operating data and the above-mentioned second operating data, it is further facilitated to integrate and analyze these operating data in the future, and the monitoring of the operating status of each device is further realized.

Of course, there are devices in the autonomous driving vehicle that cannot periodically send their own operating data to the controller. In this case, in order to further realize the automatic monitoring of the operating status of the autonomous driving vehicle, according to another specific embodiment of the present application, the receiving unit includes a sending module, a third receiving module and a fourth receiving module, wherein the sending module is used to send a request message to the first device, and the request message is used to request to query the operating data; the third receiving module is used to receive the first operating data sent by the first device, and the first operating data is generated by the first device in response to the request message; the fourth receiving module is used to receive the second operating data sent by the first device, and the second operating data is obtained by the first device in response to the request message and collecting the operating data of the second device. By sending a request message for querying the operating data to the device to be monitored, its operating data can be obtained, so that the automatic monitoring of the operating status of each device is further realized, and the subsequent diagnosis and abnormality handling are further facilitated.

In another specific embodiment of the present application, the determination unit includes a first determination module, a marking module, and a first generation module, wherein the first determination module is used to determine whether the integrated data has an abnormality; the marking module is used to mark the abnormal data when it is determined that the integrated data has an abnormality; the first generation module is used to generate the corresponding abnormal event based on the abnormal data. In this way, it is relatively easy to determine the corresponding abnormal event based on the integrated data, and after determining the abnormal event, it is further ensured that the corresponding alarm information can be issued according to the abnormal event, and targeted abnormal processing can be performed, which further realizes the automatic inspection of safety hazards of autonomous driving vehicles.

In the actual application process, the above-mentioned integrated data will include some actual operating parameters, such as operating voltage, operating current, etc. At this time, the above-mentioned first determination module includes a first acquisition submodule and a first determination submodule, wherein the above-mentioned first acquisition submodule is used to obtain a preset threshold range; the above-mentioned first determination submodule is used to determine whether there is data in the above-mentioned integrated data that is not within the above-mentioned preset threshold range. When the above-mentioned integrated data contains data that is not within the above-mentioned preset threshold range, it is determined that the above-mentioned integrated data is abnormal.

According to another specific embodiment of the present application, the first determination module includes a second acquisition submodule and an input submodule, wherein the second acquisition submodule is used to obtain a preset abnormality judgment model, the abnormality judgment model is trained by machine learning using multiple sets of data, and each set of data in the multiple sets of data includes: historical integrated data and historical analysis results, the historical integrated data is obtained by integrating the historical operation data of the first device and the second device, and the historical analysis results are results that characterize whether the historical integrated data has abnormalities; the input submodule is used to input the integrated data into the abnormality judgment model to obtain analysis results. By using the abnormality judgment model to determine whether there is abnormal data in the integrated data, it can further ensure that it is relatively simple and quick to determine whether there is an abnormal event, and then in the case of an abnormal event, it can further ensure that the abnormal event is responded to and resolved relatively quickly.

In a specific embodiment, the above-mentioned first determination module includes a second determination submodule and a third determination submodule, wherein the above-mentioned second determination submodule is used to determine whether there is a fault code in the above-mentioned integrated data; the above-mentioned third determination submodule is used to determine whether there is an abnormality in the above-mentioned integrated data when the above-mentioned fault code exists in the above-mentioned integrated data.

In the actual application process, there are multiple abnormal events, and the alarm unit includes a second generation module, a second determination module and a processing module, wherein the second generation module is used to generate and issue the alarm information corresponding to each abnormal event; the second determination module is used to determine the priority order of each abnormal event; the processing module is used to process the abnormal events according to the priority order. By processing related abnormal events in priority order, while maintaining the normal operation of the controller, emergency issues can be handled first, avoiding the problem of affecting the normal operation when the controller handles multiple abnormal events at the same time, and the problem of low processing efficiency.

Specifically, the above-mentioned operating data includes at least one of a fault code, a device log, an operating voltage, and an operating current.

The monitoring device of the above-mentioned autonomous driving vehicle includes a processor and a memory. The above-mentioned receiving unit, integration unit, determination unit and alarm unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the manual diagnosis of the autonomous driving vehicle in the prior art cannot meet the automation requirements.

The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

An embodiment of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the above-mentioned method for monitoring the autonomous driving vehicle.

An embodiment of the present invention provides a processor, which is used to run a program, wherein the program executes the monitoring method of the autonomous driving vehicle when it is running.

An embodiment of the present invention provides a device, the device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

Step S101, receiving first operating data and second operating data, wherein the first operating data is operating data of the first device, and the second operating data is operating data of the second device;

Step S102, integrating the first operation data and the second operation data to obtain integrated data;

Step S103, determining whether there is an abnormal event based on the integrated data, wherein the abnormal event includes an event indicating abnormal operation of the first device and an event indicating abnormal operation of the second device;

Step S104: in the event of the above abnormal event, an alarm message is issued and the above abnormal event is processed.

The devices in this article can be servers, PCs, PADs, mobile phones, etc.

The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

Step S101, receiving first operating data and second operating data, wherein the first operating data is operating data of the first device, and the second operating data is operating data of the second device;

Step S102, integrating the first operation data and the second operation data to obtain integrated data;

Step S103, determining whether there is an abnormal event based on the integrated data, wherein the abnormal event includes an event indicating abnormal operation of the first device and an event indicating abnormal operation of the second device;

Step S104: in the event of the above abnormal event, an alarm message is issued and the above abnormal event is processed.

According to another typical embodiment of the present application, as shown in FIG3 , a monitoring system for an autonomous driving vehicle is also provided, including a second device 100, a first device 101 and a controller 102, wherein the first device 101 is communicatively connected with the second device 100; the controller 102 is communicatively connected with the first device 101, and the controller 102 is used to execute any one of the above methods.

The above-mentioned monitoring system for the autonomous driving vehicle includes a first device and a second device connected in communication. The above-mentioned monitoring system also includes a controller. The above-mentioned controller is used to execute any of the above-mentioned methods. The above-mentioned controller automatically receives the operation data of multiple devices connected in communication, and automatically diagnoses whether there is an abnormal operation according to the integrated operation data. When there is an abnormal operation, an alarm is issued and the automatic processing mode is entered, thereby realizing automatic monitoring of the operation of the autonomous driving vehicle, meeting the automation requirements and liberating manpower. In addition, the controller of the monitoring system can monitor the autonomous driving vehicle in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the autonomous driving vehicle is good.

In a specific embodiment, as shown in FIG3 , the first device 101 includes a network switch, the network switch includes at least one main switch 200 and multiple auxiliary switches 201, the auxiliary switches 201 are respectively connected to the second device 100 and the main switch 200, the main switch 200 is connected to each auxiliary switch 201, and the main switch 200 is also connected to the controller 102. The second device 100 includes at least one of an inertial measurement unit 202, a sensor 203, a router 204, a service network management 205, and a display device 206. Specifically, the sensor includes a laser sensor, an image sensor, and the like.

In another typical embodiment of the present application, an autonomous driving vehicle is provided, which includes an autonomous driving vehicle body and a monitoring system of the autonomous driving vehicle.

The above-mentioned autonomous driving vehicle includes a vehicle body and the above-mentioned monitoring system. The above-mentioned monitoring system realizes automatic monitoring of the operation of the autonomous driving vehicle, which can meet the automation requirements and liberate manpower. In addition, the controller of the monitoring system can monitor the vehicle body in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the entire autonomous driving vehicle is good.

In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) In the above-mentioned monitoring method of the autonomous driving vehicle of the present application, first, the first operation data of the first device and the second operation data of the second device are received, wherein the above-mentioned first device is connected to the above-mentioned second device in communication; then, the above-mentioned first operation data and the above-mentioned second operation data are integrated to obtain integrated data, and whether there is an abnormal event of abnormal operation according to the above-mentioned integrated data; finally, in the case of the above-mentioned abnormal event, an alarm message is issued, and the above-mentioned abnormal event is processed. Compared with the problem that the device information of each device in the autonomous driving vehicle needs to be manually obtained in the prior art, and the entire autonomous driving vehicle is diagnosed according to the device information, the above-mentioned method of the present application automatically receives the operation data of multiple devices connected in communication, and automatically diagnoses whether there is an abnormal operation according to the integrated operation data. When there is an abnormal operation, an alarm is issued and the automatic processing mode is entered, so that the automatic monitoring of the operation of the autonomous driving vehicle is realized, which can meet the automation requirements and liberate manpower. In addition, the above-mentioned method of the present application can monitor the autonomous driving vehicle in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the autonomous driving vehicle is good. At the same time, when an abnormal event is discovered, the present application sends out an alarm message to let the staff or users know that there is a problem with the autonomous driving vehicle, which can attract the attention of relevant personnel and subsequent manual intervention.

2) In the above-mentioned monitoring device for the autonomous driving vehicle of the present application, the first operation data of the first device and the second operation data of the second device are received by the above-mentioned receiving unit, wherein the above-mentioned first device is connected to the above-mentioned second device in communication; the above-mentioned integration unit integrates the above-mentioned first operation data and the above-mentioned second operation data to obtain integrated data, and the above-mentioned determination unit determines whether there is an abnormal event of abnormal operation according to the above-mentioned integrated data; the above-mentioned alarm unit issues an alarm message in the case of the above-mentioned abnormal event, and handles the above-mentioned abnormal event. Compared with the problem that the device information of each device in the autonomous driving vehicle needs to be manually obtained in the prior art, and the entire autonomous driving vehicle is diagnosed according to the device information, the above-mentioned device of the present application automatically receives the operation data of multiple devices connected in communication, and automatically diagnoses whether there is an abnormal operation according to the integrated operation data. When there is an abnormal operation, an alarm is issued and the automatic processing mode is entered, so that the automatic monitoring of the operation of the autonomous driving vehicle is realized, which can meet the automation requirements and liberate manpower. In addition, the above-mentioned device of the present application can monitor the autonomous driving vehicle in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the autonomous driving vehicle is good. At the same time, when an abnormal event is discovered, the present application sends out an alarm message to let the staff or users know that there is a problem with the autonomous driving vehicle, which can attract the attention of relevant personnel and subsequent manual intervention.

3) The monitoring system of the autonomous driving vehicle mentioned above in the present application includes a first device and a second device connected in communication, and the monitoring system also includes a controller, which is used to execute any of the above methods. The controller automatically receives the operation data of multiple devices connected in communication, and automatically diagnoses whether there is an abnormal operation according to the integrated operation data. When there is an abnormal operation, an alarm is issued and the automatic processing mode is entered, so that the automatic monitoring of the operation of the autonomous driving vehicle is realized, which can meet the automation requirements and liberate manpower. In addition, the controller of the monitoring system can monitor the autonomous driving vehicle in real time, so that when an abnormality occurs, it can be discovered as early as possible, and potential safety hazards can be avoided as much as possible, ensuring that the safety performance of the autonomous driving vehicle is good.

4) The above-mentioned autonomous driving vehicle of the present application includes a vehicle body and the above-mentioned monitoring system. The above-mentioned monitoring system realizes automatic monitoring of the operation of the autonomous driving vehicle, which can meet the automation requirements and liberate manpower. In addition, the controller of the monitoring system can monitor the vehicle body in real time, so that when an abnormality occurs, it can be discovered as early as possible, and safety hazards can be avoided as much as possible, ensuring that the safety performance of the entire autonomous driving vehicle is good.

The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (12)

1. A method of monitoring an autonomous vehicle, the autonomous vehicle including a first device and a second device communicatively coupled, the method comprising:

Receiving first operation data and second operation data, wherein the first operation data is the operation data of the first equipment, and the second operation data is the operation data of the second equipment;

Performing data integration on the first operation data and the second operation data to obtain integrated data;

Determining whether an abnormal event exists according to the integrated data, wherein the abnormal event comprises an event representing abnormal operation of the first equipment and an event representing abnormal operation of the second equipment;

In the case of the abnormal event, alarm information is sent out, the abnormal event is processed,

Determining whether an abnormal event exists according to the integrated data, including:

Determining whether the integrated data is abnormal;

marking abnormal data under the condition that the integrated data is determined to be abnormal;

Generating the corresponding abnormal event according to the abnormal data,

Receiving the first operational data and the second operational data, comprising:

receiving the first operation data periodically sent by the first equipment;

Receiving, by the first device, the second operation data periodically transmitted by the second device,

Or receiving the first operation data and the second operation data, including:

Transmitting request information to the first device, wherein the request information is used for requesting to inquire the operation data;

receiving the first operation data sent by the first device, wherein the first operation data is generated by the first device in response to the request information;

And receiving the second operation data sent by the first device, wherein the second operation data is obtained by the first device responding to the request information and collecting the operation data of the second device.

2. The method of claim 1, wherein determining whether the consolidated data is anomalous comprises:

Acquiring a preset threshold range;

and determining whether the integrated data have data which are not in the preset threshold range or not, and determining that the integrated data have abnormality under the condition that the integrated data have the data which are not in the preset threshold range.

3. The method of claim 1, wherein determining whether the consolidated data is anomalous comprises:

Acquiring a preset abnormality judgment model, wherein the abnormality judgment model is trained by using a plurality of groups of data through machine learning, and each group of data in the plurality of groups of data comprises: the historical integration data are obtained by integrating the historical operation data of the first equipment and the second equipment, and the historical analysis result is a result representing whether the historical integration data are abnormal or not;

And inputting the integrated data into the abnormality judgment model to obtain an analysis result.

4. The method of claim 1, wherein determining whether the consolidated data is anomalous comprises:

determining whether a fault code exists in the integrated data;

and under the condition that the fault code exists in the integrated data, determining that the integrated data is abnormal.

5. The method of claim 1, wherein the plurality of abnormal events issue alarm information and process the abnormal events, comprising:

generating and sending out the alarm information corresponding to each abnormal event;

determining the priority order of the abnormal events;

And processing the abnormal event according to the priority order.

6. The method of claim 1, wherein the operational data comprises at least one of a fault code, a device log, an operating voltage, and an operating current.

7. An apparatus for monitoring an autonomous vehicle, the autonomous vehicle comprising a first device and a second device communicatively coupled, the apparatus comprising:

The receiving unit is used for receiving first operation data and second operation data, wherein the first operation data are the operation data of the first equipment, and the second operation data are the operation data of the second equipment;

The integration unit is used for carrying out data integration on the first operation data and the second operation data to obtain integrated data;

the determining unit is used for determining whether an abnormal event exists according to the integrated data, wherein the abnormal event comprises an event representing the abnormal operation of the first equipment and an event representing the abnormal operation of the second equipment;

An alarm unit for sending out alarm information and processing the abnormal event in the case of the abnormal event,

The determining unit comprises a first determining module, a marking module and a first generating module, wherein the first determining module is used for determining whether the integrated data has abnormality or not; the marking module is used for marking abnormal data under the condition that the integrated data is determined to be abnormal; the first generation module is used for generating the corresponding abnormal event according to the abnormal data,

The receiving unit comprises a first receiving module and a second receiving module, wherein the first receiving module is used for receiving the first operation data sent by the first equipment periodically; the second receiving module is configured to receive, by the first device, the second operation data periodically sent by the second device,

Or the receiving unit comprises a sending module, a third receiving module and a fourth receiving module, wherein the sending module is used for sending request information to the first device, and the request information is used for requesting to inquire the operation data; the third receiving module is used for receiving the first operation data sent by the first device, wherein the first operation data is generated by the first device in response to the request information; the fourth receiving module is configured to receive the second operation data sent by the first device, where the second operation data is obtained by the first device responding to the request information and collecting the operation data of the second device.

8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 6.

9. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 6.

10. A monitoring system for an autonomous vehicle, comprising:

A second device;

a first device communicatively coupled to the second device;

a controller in communication with the first device, the controller configured to perform the method of any one of claims 1 to 6.

11. The autonomous vehicle monitoring system of claim 10, wherein the first device comprises a network switch and the second device comprises at least one of an inertial measurement unit, a sensor, and a router.

12. An autonomous vehicle, comprising:

an autonomous vehicle body;

a monitoring system for an autonomous vehicle as claimed in claim 10 or 11.