CN117707119A - Fault monitoring system and method based on autopilot controller - Google Patents

Abstract

This application provides a fault monitoring system and method based on an autonomous driving domain controller, which is applied in the field of autonomous driving technology. The system includes: a microcontroller, used to receive and process fault diagnosis information in autonomous driving, and generate a fault based on the fault diagnosis information. Fault indication information, which sends fault indication information and/or fault diagnosis information to the storage module and communication module; auxiliary control chip, used to assist the microcontroller in executing the environment sensing function, data processing function and driving decision-making function in autonomous driving; storage The module is used to receive fault diagnosis information and fault indication information sent by the microcontroller for storage; the communication module is used to support data communication between the modules of the domain controller, and between the domain controller and other external devices on the autonomous vehicle. , other controllers and/or sensors for data communication. The method provided by this application can improve the robustness of the autonomous driving domain controller and make autonomous driving safer and more reliable.

Description

Fault monitoring system and method based on autonomous driving domain controller

Technical field

This application relates to the field of autonomous driving technology, and specifically to a fault monitoring system and method based on an autonomous driving domain controller.

Background technique

With the development of the autonomous driving industry, the demand for advanced assisted driving has also increased. The configuration of autonomous vehicles using a single ECU (Electronic Control Unit, Electronic Control Unit) can no longer cover multiple assisted driving needs. Therefore, in the existing technology, autonomous vehicles Multiple ECUs are often integrated and connected together through buses such as CAN (Controller Area Network, Controller Area Network) and LIN (Local Interconnect Network, LAN). This also virtually improves the overall efficiency of the system. Due to the complexity of the automatic driving control system, the field of automatic driving currently implements the design concept of domain controllers, integrating multiple ECUs on a hardware motherboard.

However, in smart driving scenarios, the diverse functions of the autonomous driving system cause the system chip to operate continuously under complex working conditions, which greatly increases the false alarm rate and failure rate of the system chip operation and easily leads to a reduction in the robustness of the autonomous driving control system. , thereby affecting the safety and stability of autonomous driving.

Contents of the invention

In view of this, embodiments of the present application provide a fault monitoring system and method based on an autonomous driving domain controller, which can improve the robustness of the autonomous driving system and thereby improve the safety and reliability of autonomous driving. The technical solutions are as follows:

On the one hand, embodiments of the present application provide a fault monitoring system based on an autonomous driving domain controller. The system includes:

Microcontroller, the microcontroller is included in the automatic driving domain controller, the microcontroller is used to receive and process fault diagnosis information in automatic driving, generate fault indication information based on the fault diagnosis information, and report the fault The indication information and/or the fault diagnosis information is sent to the storage module and the communication module. The fault diagnosis information includes the fault diagnosis information of the microcontroller and the fault diagnosis information of the auxiliary control chip connected to the microcontroller. , the fault indication information is indication information for controlling the autonomous vehicle;

An auxiliary control chip, used to assist the microcontroller in performing the environment sensing function, data processing function and driving decision-making function in autonomous driving;

A storage module configured to receive the fault diagnosis information and the fault indication information sent by the microcontroller for storage;

A communication module is used to support data communication between modules of the domain controller, and to support data communication between the domain controller and other external devices, other controllers and/or sensors on the autonomous vehicle.

Further, the microcontroller includes:

A fault information collection unit is used to collect fault diagnosis information reported by other units of the microprocessor during operation;

A fault information identification unit, configured to receive fault diagnosis information sent by the fault collection unit, identify the fault diagnosis information, and generate fault identification information;

An auxiliary monitoring unit, used to monitor whether the fault collection unit is in a normal working state and generate collection unit status information of the fault collection unit;

A fault information management unit, configured to receive the fault identification information sent by the fault information identification unit, the collection unit status information sent by the auxiliary monitoring unit, and the fault diagnosis information reported by the auxiliary control chip, and generate fault indication information. ; The fault information management unit may send at least one of the fault identification information, the fault diagnosis information, the collection unit status information, and the fault indication information to the storage module and the communication module .

Further, the system also includes:

A system basic chip is used to diagnose whether the power supply unit of the microcontroller is operating normally, to determine the operating status of the microcontroller, and to generate corresponding fault diagnosis information.

Furthermore, the microprocessor also includes:

A power supply unit whose output voltage supplies power to other units of the microcontroller;

A power supply monitoring unit is used to monitor whether the power supply unit is in a normal working state, and send working status information of the power supply unit to the system basic chip.

It is powered by two independent power supplies, and whether the voltage is working properly, it enables the output of multiple power supply chips according to the safety MCU output control signal and the preset timing output enable signal and monitors the required power rails of the autonomous driving chip;

Further, the communication module includes:

The first communication unit is used to support data communication between the modules of the domain controller and to support data communication between the units of the microcontroller.

The second communication unit is used to receive the fault indication information sent by the microcontroller to perform data transmission between the microcontroller and external equipment of the autonomous driving vehicle, and between the microcontroller and other external devices of the autonomous driving vehicle. Data transfer between controllers.

Further, the system also includes:

A time synchronization module is used to time synchronize each unit of the microcontroller, other modules of the domain controller, and other peripheral equipment of the autonomous vehicle.

On the other hand, embodiments of the present application provide a fault monitoring method based on an autonomous driving domain controller. The method includes:

S1. The microcontroller in the domain controller generates first fault diagnosis information, and the first fault diagnosis information is used to reflect the fault of the microcontroller itself;

S2. The microcontroller receives the auxiliary control chip and reports second fault diagnosis information to the microcontroller. The second fault diagnosis information is used to reflect the fault on the auxiliary control chip;

S3. The microcontroller processes the first fault diagnosis information and the second fault diagnosis information to generate first fault indication information, where the first fault indication information is indication information for controlling the autonomous driving vehicle;

S4. The microcontroller sends the first fault indication information and/or the first fault diagnosis information and/or the second fault diagnosis information to the storage module in the domain controller, so that the storage module The module stores the first fault indication information and/or the first fault diagnosis information and/or the second fault diagnosis information;

S5. The microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip and the domain controller. /or other external devices, other controllers and/or sensors on the autonomous vehicle to control the autonomous vehicle.

Further, in step S1, the first fault diagnosis information includes: fault identification information and collection unit status information. The fault identification information is used to reflect the operation of other units in the microcontroller except the fault information collection unit. Faults in the process, the collection unit status information is used to reflect the working status of the fault information collection unit, and the microcontroller in the domain controller generates first fault diagnosis information, including:

The fault information collection unit obtains fault information of the other units;

The fault information collection unit sends the fault information of the other units to the fault information identification unit in the microcontroller;

The fault information identification unit receives the fault information of the other units, identifies the fault diagnosis information, and generates fault identification information;

The auxiliary monitoring unit in the microcontroller monitors the fault information collection unit and generates status information of the collection unit.

When the first working status information indicates that the fault information collection unit is in an abnormal working status, the auxiliary monitoring unit sends abnormal prompt information to the fault information management unit;

Further, the method also includes:

The power supply monitoring unit in the microcontroller monitors whether the power supply unit in the microcontroller is in a normal working state, and sends the working status information of the power supply unit to the system basic chip in the domain controller;

The system basic chip in the domain controller generates corresponding third fault diagnosis information based on the working status information of the power supply unit, and the third fault diagnosis information is used to reflect the running status of the microcontroller;

The microcontroller receives the third fault diagnosis information reported by the system basic chip, processes the third fault diagnosis information, and generates second fault indication information. The second fault indication information is for automatic Instruction information for driving the vehicle to control, and the response priority of the autonomous vehicle to the second fault indication information is higher than the first fault indication information;

The microcontroller sends the second fault indication information and/or the third fault diagnosis information to the storage module in the domain controller, so that the storage module The third fault diagnosis information is stored;

The microcontroller sends the second fault indication information to the communication module in the domain controller, so that the communication module forwards the second fault indication information to the auxiliary control chip and/or in the domain controller. Other external devices, other controllers and/or sensors on the autonomous vehicle to control the autonomous vehicle.

Compared with the existing technology, the beneficial effects achieved by at least one of the above technical solutions adopted in the embodiments of this specification at least include:

1. The domain controller-based fault monitoring system receives and processes fault diagnosis information in autonomous driving in a timely manner through the microcontroller, generates fault indication information based on the fault diagnosis information, and sends the above information to the storage module and communication module. The storage module The information is stored so that other devices outside the fault monitoring system can view or call fault-related information. At the same time, through the communication module, the domain controller can be connected between various modules, between the domain controller and other external devices on the autonomous vehicle, other controllers and / Or fault-related information can be transmitted between sensors, and automatic driving control can be performed based on fault-related information through data communication. In addition, the auxiliary control chip in the fault monitoring system is used to assist the microcontroller in performing the environment sensing function in automatic driving. The data processing function and driving decision-making function can share the computing pressure of the microcontroller, allowing the microcontroller to better monitor safety failures of the autonomous driving system, thereby improving the robustness of the autonomous driving domain controller, thereby making autonomous driving safer and more reliable.

2. The microcontroller in the domain controller generates the first fault diagnosis information, completes the microcontroller's monitoring of its own faults, receives the second fault diagnosis information reported by the auxiliary control chip, completes the fault monitoring of the auxiliary control chip, and then The first fault diagnosis information and the second fault diagnosis information are processed, and the first fault indication information is generated according to the fault conditions reflected by the different fault information. The microcontroller converts the first fault indication information and/or the first fault diagnosis information into And/or the second fault diagnosis information is sent to the storage module in the domain controller, so that the storage module stores the above information for later viewing or calling by devices outside the monitoring system. At the same time, the microcontroller sends the first fault indication. The information is sent to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and/or other external devices, other controllers and/or sensors on the autonomous vehicle, Thus, the control of the autonomous vehicle is completed based on the current fault situation of the autonomous driving system.

Description of the drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 shows a schematic diagram of a domain controller-based fault monitoring system provided by an exemplary embodiment of the present application;

Figure 2 shows a schematic diagram of a microprocessor provided by an exemplary embodiment of the present application;

Figure 3 shows a schematic diagram of a domain controller-based fault monitoring system provided by another exemplary embodiment of the present application;

Figure 4 shows a schematic flowchart of a domain controller-based fault monitoring method provided by an exemplary embodiment of the present application;

Figure 5 shows a schematic flowchart of a domain controller-based fault monitoring method provided by another exemplary embodiment of the present application.

Detailed ways

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

The following describes the implementation of the present application through specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. This application can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, as long as there is no conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

It should be noted that the terms "first", "second", etc. in the description, claims and drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the invention described herein are capable of being practiced in sequences other than those illustrated or described herein. Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

Figure 1 is a schematic diagram of a domain controller-based fault monitoring system provided by an exemplary embodiment of the present application. As shown in the figure, the system includes a microcontroller, an auxiliary control chip, a storage module and a communication module, where the modules are connected The line is the connection line of the communication module, and the communication module is not shown.

In some embodiments, the microcontroller is included in the autonomous driving domain controller, and the microcontroller is used to receive and process fault diagnosis information in autonomous driving, generate fault indication information based on the fault diagnosis information, and combine the fault indication information and/or fault The diagnostic information is sent to the storage module and communication module. Specifically, the fault diagnosis information includes the fault diagnosis information of the microcontroller and the fault diagnosis information of the auxiliary control chip connected to the microcontroller. The fault indication information is used to control the autonomous vehicle. instructions.

In a specific implementation, the microcontroller refers to a microcontroller chip (MCU, MicroController Unit, or micro control unit). A chip with a higher safety function level can be used. The safety function level classification standard refers to ASIL ( Automotive Safety Integration Level (Automotive Safety Integration Level), ASIL passes functional failure analysis (software/hardware failure), scenario analysis (such as overtaking, parking), road conditions and vehicle status (such as steering, overtaking, braking) and environmental conditions Consider summarizing hazardous events from several aspects, and evaluate the risk level of hazardous events based on severity, exposure, and controllability. For example, in this embodiment, the microcontroller can use a high-performance multi-core MCU. E3640.

In some embodiments, the auxiliary control chip is an intelligent driving chip, which is used to assist the microcontroller in performing the environment sensing function, data processing function and driving decision-making function in autonomous driving. Specifically, the sensing function includes obtaining the information of the sensor of the autonomous driving vehicle. Data, such as: obtaining data from autonomous vehicle cameras, radar data for vehicle sensing (millimeter wave radar, lidar, ultrasonic radar, etc.), vehicle interior and exterior temperature sensor data, vehicle tire pressure sensor data, accelerometer data, etc. ; Data processing functions include image data processing, using deep learning algorithms to identify objects (obstacles, etc.) in the image data returned by the sensor, and driving strategy calculations to calculate the currently adapted driving strategy (such as car following) based on sensor data, etc. Driving or changing lanes to overtake), etc.; the driving decision function is to make decisions based on the driving strategy to control the driving of the autonomous vehicle, such as controlling the vehicle route and steering angle, or changing the vehicle's driving speed and acceleration.

Storage module. In some embodiments, the storage module can be a register on a computer device connected to a microcontroller, and is used to receive fault diagnosis information and fault indication information sent by the microcontroller for storage for use outside the microcontroller. The external device can view and call the fault diagnosis information and fault indication information in the storage module.

Communication module. In some embodiments, the communication module may include CAN network, Ethernet and SPI bus to support data communication between modules of the domain controller and to support the domain controller and other external devices on the autonomous vehicle. , other controllers and/or sensors for data communication.

In some embodiments, the internal architecture of the microcontroller includes at least three layers of internal chip hardware layer (Hardware), basic software layer (BSW, Basic Software Layer) and application layer (ASW, Application Software Layer). It is necessary to understand the three-layer architecture. Faults are monitored separately and further processed. Therefore, Figure 2 is a schematic diagram of a microcontroller provided by an exemplary embodiment of the present application. As shown in the figure, the microcontroller may include: a fault information collection unit, a fault information identification unit, an auxiliary Monitoring unit and fault information management unit.

In some embodiments, the fault information collection unit is used to collect fault diagnosis information reported by other units of the microprocessor during operation. Specifically, the fault diagnosis information reflects microcontroller hardware faults.

Fault information identification unit. In practical applications, the fault information identification unit can be a functional safety library (FuSaLib, Functional Safety Library), which is located in the abstraction layer (MCAL, Microcontroller Abstraction Layer) above the hardware layer and is used to receive the fault collection unit The fault diagnosis information is sent, the fault diagnosis information is identified, the fault (or error) mode is determined, and the fault identification information is generated.

The auxiliary monitoring unit is designed to monitor whether the fault collection unit is in normal working status and generate working status information of the fault collection unit. Specifically, this can be achieved by setting the watchdog function at the hardware layer, and the abstraction layer of the microcontroller accordingly Set up a watchdog driver, interact with the watchdog manager set up in the basic software layer through the interface, and finally report the monitored fault information to the fault information management unit;

The fault information management unit is used to receive fault identification information sent by the fault information identification unit, receive working status information (collection unit status information) of the fault collection unit sent by the auxiliary monitoring unit, and receive fault diagnosis information reported by the auxiliary control chip, thereby Generate fault indication information, where the fault indication information is used to control the autonomous vehicle (for example, the driving function is degraded); and the fault information management unit can convert the fault identification information, fault diagnosis information, collection unit status information, and fault indication information into At least one kind of information is sent to the storage module and the communication module.

In a specific implementation, the fault information management unit is an error handling module (Error handler) in a microprocessor with a certain level of security functions. For example, when the microcontroller chip E3640 is selected as the microprocessor, the security function The Error handler module with ASIL-B level can be used as a fault information management unit.

Figure 3 is a schematic diagram of a domain controller-based fault monitoring system provided by another exemplary embodiment of the present application. As shown in the figure, the system includes a microcontroller, an auxiliary control chip, a storage module, a communication module and a system basic chip. Among them, the microcontroller also includes a power supply unit and a power supply monitoring unit.

In some embodiments, the System Basis Chip (SBC) is used to diagnose whether the power supply unit of the microcontroller is operating normally, to determine the operating status of the microcontroller, and to generate corresponding fault diagnosis information. In a specific In the implementation, the system basic chip is an independent chip that includes features such as power supply, communication, monitoring and diagnosis, safety monitoring, and GPIO. In this embodiment, a system basic chip with the same or higher functional safety level than the microprocessor is used, such as a microprocessor. If the processor is ASIL-B, use ASIL-D system basic chip. In this way, the safety and stability of the system basic chip can be ensured. When the system basic chip is reliable, it can control the work of the microprocessor. status to diagnose.

The microprocessor includes a power supply unit, whose output voltage supplies power to other units of the microcontroller, and a power supply monitoring unit, which is used to monitor whether the power supply unit is in normal working condition and send working status information of the power supply unit to the system basic chip, and the system basic The chip diagnoses the working status of the microprocessor based on the working status information of the power supply unit.

In a possible embodiment, the domain controller-based fault detection system also includes a time synchronization module. Specifically, the time synchronization module is used to synchronize each unit of the microcontroller and other modules of the domain controller and other peripheral equipment of the autonomous vehicle. Perform time synchronization.

In a possible embodiment, in a domain controller-based fault detection system, the communication module may include a first communication unit and a second communication unit, where the first communication unit is used to support communication between modules of the domain controller. data communication, and supports data communication between each unit of the microcontroller; the second communication unit is used to receive fault indication information sent by the microcontroller for data transmission between the microcontroller and external equipment of the autonomous vehicle, and Data transfer between the microcontroller and other controllers external to the autonomous vehicle.

To sum up, in the embodiments of this application, the fault monitoring system based on the domain controller receives and processes the fault diagnosis information in autonomous driving in a timely manner through the microcontroller, generates fault indication information based on the fault diagnosis information, and sends the above information to the storage module and communication module. The storage module stores the above information so that other devices outside the fault monitoring system can view or call fault-related information. At the same time, through the communication module, the communication module enables communication between the modules of the domain controller and between the domain controller and the autonomous vehicle. Fault-related information can be transferred between other external devices, other controllers and/or sensors, and automatic driving control can be performed based on fault-related information through data communication. In addition, the auxiliary control chip in the fault monitoring system is used to assist the microcontroller. Executing the environment sensing function, data processing function and driving decision-making function in autonomous driving can share the computing pressure of the microcontroller, allowing the microcontroller to better monitor the safety faults of the autonomous driving system to improve the robustness of the autonomous driving domain controller. , thereby making autonomous driving safer and more reliable.

It should be noted that the system provided by the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above function allocation can be completed by different functional modules as needed, that is, the internal structure of the system is divided into Different functional modules to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept. Please refer to the method embodiments for details of the implementation process, which will not be described again here.

The following describes the domain controller-based fault monitoring method of the present invention. Figure 4 is a schematic flowchart of a domain controller-based fault monitoring method provided by an embodiment of the present invention. This specification provides a method as described in the embodiment or flowchart. Method operation steps, but may include more or fewer operation steps based on routine or non-creative work. The sequence of steps listed in the embodiment is only one way of executing the sequence of many steps, and does not represent the only execution sequence. When the actual device product is executed, it may be executed sequentially or in parallel (for example, in a parallel processor or multi-thread processing environment) according to the methods shown in the embodiments or drawings. As shown in Figure 2, the above method may include:

S1. The microcontroller in the domain controller generates first fault diagnosis information.

In a possible embodiment, the above-mentioned first fault diagnosis information is used to reflect the fault of the microcontroller itself, and can be generated in the following manner:

1. The fault information collection unit obtains fault information from other units;

2. The fault information collection unit sends fault information of other units to the fault information identification unit in the microcontroller;

3. The fault information identification unit receives fault information from other units, identifies fault diagnosis information, and generates fault identification information;

4. The auxiliary monitoring unit in the microcontroller monitors the fault information collection unit and generates collection unit status information.

S2. The microcontroller receives the auxiliary control chip and reports the second fault diagnosis information to the microcontroller.

In some embodiments, the above-mentioned second fault diagnosis information is used to reflect faults on the auxiliary control chip.

S3. The microcontroller processes the first fault diagnosis information and the second fault diagnosis information, and generates the first fault indication information.

In some embodiments, the first fault indication information is indication information for controlling the autonomous vehicle;

S4. The microcontroller sends the first fault indication information and/or the first fault diagnosis information and/or the second fault diagnosis information to the storage module in the domain controller, so that the storage module responds to the first fault indication information and/or The first fault diagnosis information and/or the second fault diagnosis information are stored.

S5. The microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and/or other devices on the autonomous vehicle. External devices, other controllers and/or sensors to control autonomous vehicles.

In some embodiments, other external devices on the autonomous vehicle may include: an autonomous vehicle cabin; other controllers may include: vehicle execution units such as drive execution units, brake execution units, and steering execution units; sensors such as TAS (Thermal Anemometry System, thermal conduction gas flow rate) sensor, etc.

In the above embodiment, the microcontroller in the domain controller generates the first fault diagnosis information, completes the microcontroller's monitoring of its own faults, and receives the second fault diagnosis information reported by the auxiliary control chip to complete the fault diagnosis of the auxiliary control chip. Monitor, then process the first fault diagnosis information and the second fault diagnosis information, generate the first fault indication information according to the fault conditions reflected by the different fault information, and the microcontroller converts the first fault indication information and/or the first The fault diagnosis information and/or the second fault diagnosis information are sent to the storage module in the domain controller, so that the storage module stores the above information for later viewing or calling by devices outside the monitoring system. At the same time, the microcontroller will A fault indication information is sent to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip in the domain controller and/or other external devices on the autonomous vehicle, other controllers and/or or sensors to complete the control of the autonomous vehicle based on the current fault conditions of the autonomous driving system

FIG. 5 is a schematic flowchart of another method for fault monitoring on a domain controller provided by an embodiment of the present invention. This embodiment uses the example of applying this method to a computer device as an example. The method includes the following steps.

S501. The power supply monitoring unit in the microcontroller monitors whether the power supply unit in the microcontroller is in a normal working state, and sends the working status information of the power supply unit to the system basic chip in the domain controller.

In some embodiments, the power supply detection unit monitors the power supply unit in the microcontroller through a watchdog function. In addition, in practical applications, the power supply unit can select a power supply chip adapted to the microcontroller. For example, when the microprocessor selects In the case of the E3640 microcontroller chip, the power supply unit uses the FS8530 power supply chip.

S501. The system basic chip in the domain controller generates corresponding third fault diagnosis information based on the working status information of the power supply unit.

In some embodiments, the third fault diagnosis information is used to reflect the operating status of the microcontroller. Since the operating status of the microcontroller is determined through the power supply unit, when the third fault diagnosis information indicates that the microcontroller is operating abnormally, it is proved that this At this time, the microcontroller is very likely to be in an overall non-working state (because of chip power outage or other failures).

S502. The microcontroller receives the third fault diagnosis information reported by the system basic chip, processes the third fault diagnosis information, and generates the second fault indication information.

In some embodiments, the above-mentioned second fault indication information is the indication information for controlling the autonomous driving vehicle, and since the second fault indication information corresponds to the third fault diagnosis information, the abnormality of the third fault diagnosis information belongs to the category that occurs in autonomous driving. Important exceptions need to be handled in time, so the second fault indication information should be set with a higher response priority. The autonomous vehicle's response priority to the second fault indication information is higher than the first fault indication information.

In a specific implementation, the microcontroller can be connected to the system basis chip through an SPI bus.

S503. The microcontroller sends the second fault indication information and/or the third fault diagnosis information to the storage module in the domain controller, so that the storage module stores the second fault indication information and/or the third fault diagnosis information.

S504. The microcontroller sends the second fault indication information to the communication module in the domain controller, so that the communication module forwards the second fault indication information to the auxiliary control chip in the domain controller and/or other devices on the autonomous vehicle. External devices, other controllers and/or sensors to control autonomous vehicles.

In some embodiments, other external devices on the autonomous vehicle may include: an autonomous vehicle cabin; other controllers may include: vehicle execution units such as drive execution units, brake execution units, and steering execution units; sensors such as TAS (Thermal Anemometry System, thermal conduction gas flow rate) sensor, etc.

In the above embodiment, by setting up a system basic chip with a higher functional safety level, the working status of the microcontroller is monitored, and the fault information of the microprocessor is detected in a timely manner by combining the power supply unit and the power supply monitoring unit. The power-on status of the controller, so the corresponding fault information is a relatively important fault information that needs to be processed with priority. The communication module forwards the second fault indication information to the auxiliary control chip in the domain controller and/or other external devices on the autonomous vehicle. devices, other controllers and/or sensors to control autonomous vehicles and respond promptly to microprocessor failures.

Embodiments of the present application also provide a computer-readable storage medium, which stores at least one instruction. The at least one instruction is loaded and executed by the processor to implement the domain controller-based fault monitoring described in the above embodiments. method.

Optionally, the computer-readable storage medium may include: ROM, RAM, Solid State Drives (SSD, Solid State Drives) or optical disks, etc. Among them, RAM may include Resistance Random Access Memory (ReRAM, Resistance Random Access Memory) and Dynamic Random Access Memory (DRAM, Dynamic Random Access Memory).

Embodiments of the present application provide a computer program product or computer program. The computer program product or computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the domain controller-based fault monitoring method described in the above embodiment.

Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage media mentioned can be read-only memory, magnetic disks or optical disks, etc.

In this specification, the same and similar parts between various embodiments may be referred to each other, and each embodiment focuses on its differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple. For relevant details, please refer to the partial description of the foregoing embodiments.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. All are covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (9)

1. A fault monitoring system based on an autonomous driving domain controller, which is characterized by including: Microcontroller, the microcontroller is included in the automatic driving domain controller, the microcontroller is used to receive and process fault diagnosis information in automatic driving, generate fault indication information based on the fault diagnosis information, and report the fault The indication information and/or the fault diagnosis information is sent to the storage module and the communication module. The fault diagnosis information includes the fault diagnosis information of the microcontroller and the fault diagnosis information of the auxiliary control chip connected to the microcontroller. , the fault indication information is indication information for controlling the autonomous vehicle; An auxiliary control chip, used to assist the microcontroller in performing the environment sensing function, data processing function and driving decision-making function in autonomous driving; A storage module configured to receive the fault diagnosis information and the fault indication information sent by the microcontroller for storage; A communication module is used to support data communication between modules of the domain controller, and to support data communication between the domain controller and other external devices, other controllers and/or sensors on the autonomous vehicle. 2. The fault monitoring system based on the automatic driving domain controller according to claim 1, characterized in that the microcontroller includes: A fault information collection unit is used to collect fault diagnosis information reported by other units of the microprocessor during operation; A fault information identification unit, configured to receive fault diagnosis information sent by the fault collection unit, identify the fault diagnosis information, and generate fault identification information; An auxiliary monitoring unit, used to monitor whether the fault collection unit is in a normal working state and generate collection unit status information of the fault collection unit; A fault information management unit, configured to receive the fault identification information sent by the fault information identification unit, the collection unit status information sent by the auxiliary monitoring unit, and the fault diagnosis information reported by the auxiliary control chip, and generate fault indication information. ; The fault information management unit may send at least one of the fault identification information, the fault diagnosis information, the collection unit status information, and the fault indication information to the storage module and the communication module . 3. The fault monitoring system based on the automatic driving domain controller according to claim 1, characterized in that the system further includes: A system basic chip is used to diagnose whether the power supply unit of the microcontroller is operating normally, to determine the operating status of the microcontroller, and to generate corresponding fault diagnosis information. 4. The system of claim 3, wherein the microprocessor further includes: A power supply unit whose output voltage supplies power to other units of the microcontroller; A power supply monitoring unit is used to monitor whether the power supply unit is in a normal working state, and send working status information of the power supply unit to the system basic chip. 5. The fault monitoring system based on the automatic driving domain controller according to claim 1, characterized in that the communication module includes: The first communication unit is used to support data communication between the modules of the domain controller and to support data communication between the units of the microcontroller. The second communication unit is used to receive the fault indication information sent by the microcontroller to perform data transmission between the microcontroller and external equipment of the autonomous driving vehicle, and between the microcontroller and other external devices of the autonomous driving vehicle. Data transfer between controllers. 6. The fault monitoring system based on the automatic driving domain controller according to claim 1, characterized in that the system further includes: A time synchronization module is used to time synchronize each unit of the microcontroller, other modules of the domain controller, and other peripheral equipment of the autonomous vehicle. 7. A fault monitoring method based on an autonomous driving domain controller, characterized in that the method includes: S1. The microcontroller in the domain controller generates first fault diagnosis information, and the first fault diagnosis information is used to reflect the fault of the microcontroller itself; S2. The microcontroller receives the auxiliary control chip and reports second fault diagnosis information to the microcontroller. The second fault diagnosis information is used to reflect the fault on the auxiliary control chip; S3. The microcontroller processes the first fault diagnosis information and the second fault diagnosis information to generate first fault indication information, where the first fault indication information is indication information for controlling the autonomous driving vehicle; S4. The microcontroller sends the first fault indication information and/or the first fault diagnosis information and/or the second fault diagnosis information to the storage module in the domain controller, so that the storage module The module stores the first fault indication information and/or the first fault diagnosis information and/or the second fault diagnosis information; S5. The microcontroller sends the first fault indication information to the communication module in the domain controller, so that the communication module forwards the first fault indication information to the auxiliary control chip and the domain controller. /or other external devices, other controllers and/or sensors on the autonomous vehicle to control the autonomous vehicle. 8. The method according to claim 7, characterized in that, in step S1, the first fault diagnosis information includes: fault identification information and collection unit status information, the fault identification information is used to reflect the microcontroller Failures in other units other than the fault information collection unit during operation. The collection unit status information is used to reflect the working status of the fault information collection unit. The microcontroller in the domain controller generates the first fault. Diagnostic information, including: The fault information collection unit obtains fault information of the other units; The fault information collection unit sends the fault information of the other units to the fault information identification unit in the microcontroller; The fault information identification unit receives the fault information of the other units, identifies the fault diagnosis information, and generates fault identification information; The auxiliary monitoring unit in the microcontroller monitors the fault information collection unit and generates status information of the collection unit. 9. The method according to claim 7, characterized in that, the method further comprises: The power supply monitoring unit in the microcontroller monitors whether the power supply unit in the microcontroller is in a normal working state, and sends the working status information of the power supply unit to the system basic chip in the domain controller; The system basic chip in the domain controller generates corresponding third fault diagnosis information based on the working status information of the power supply unit, and the third fault diagnosis information is used to reflect the running status of the microcontroller; The microcontroller receives the third fault diagnosis information reported by the system basic chip, processes the third fault diagnosis information, and generates second fault indication information. The second fault indication information is for automatic Instruction information for driving the vehicle to control, and the response priority of the autonomous vehicle to the second fault indication information is higher than the first fault indication information; The microcontroller sends the second fault indication information and/or the third fault diagnosis information to the storage module in the domain controller, so that the storage module The third fault diagnosis information is stored; The microcontroller sends the second fault indication information to the communication module in the domain controller, so that the communication module forwards the second fault indication information to the auxiliary control chip and/or in the domain controller. Other external devices, other controllers and/or sensors on the autonomous vehicle to control the autonomous vehicle.