CN118343145A - Vehicle fault processing method and vehicle-mounted device - Google Patents

Abstract

The embodiment of the application is suitable for the technical field of vehicles, and provides a vehicle fault processing method and vehicle-mounted equipment, wherein the method comprises the following steps: acquiring fault reporting information when a vehicle fails; determining target attribute information of the fault according to the fault reporting information; determining a target control strategy according to the target attribute information; and controlling the vehicle to run by adopting a target control strategy. By adopting the method, the target control strategy capable of processing the faults can be determined according to the fault reporting information and the target attribute information when the vehicle breaks down, so that the safety of vehicle owners and pedestrians is improved.

Description

Vehicle fault processing method and vehicle-mounted device

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a fault processing method of a vehicle and vehicle-mounted equipment.

Background

With the development of the technological level, automobiles become an important transportation means for people to live. However, the problem of the failure of the vehicle itself may cause traffic accidents, thereby threatening the safety of the vehicle owners and pedestrians. Therefore, it is particularly important to timely detect potential fault hazards of the vehicle.

Currently, troubleshooting a vehicle is typically performed using a diagnostic instrument. However, the diagnostic apparatus detects limited data and cannot accurately detect potential fault hazards of the vehicle. And when the fault is determined in the running process of the vehicle, the vehicle owner cannot actively or the vehicle cannot automatically process some strategies on the fault, so that the safety of the vehicle owner and pedestrians is threatened.

Disclosure of Invention

The embodiment of the application provides a vehicle fault processing method and vehicle-mounted equipment, which can solve the problem that the vehicle cannot automatically process faults in a strategic manner, and threatens the safety of vehicle owners and pedestrians.

In a first aspect, an embodiment of the present application provides a method for handling a fault of a vehicle, where the method includes:

acquiring fault reporting information when a vehicle fails;

determining target attribute information of the fault according to the fault reporting information;

determining a target control strategy according to the target attribute information;

and controlling the vehicle to run by adopting a target control strategy.

In a second aspect, an embodiment of the present application provides a fault handling apparatus for a vehicle, including:

the first acquisition module is used for acquiring fault reporting information when the vehicle fails;

the first determining module is used for determining target attribute information of the fault according to the fault reporting information;

the second determining module is used for determining a target control strategy according to the target attribute information;

and the first control module is used for controlling the vehicle to run by adopting a target control strategy.

In a third aspect, an embodiment of the present application provides an in-vehicle apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing a method according to the first aspect as described above when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which when executed by a processor performs a method as in the first aspect.

In a fifth aspect, an embodiment of the present application provides a computer program product for causing an in-vehicle device to perform the method of the first aspect described above when the computer program product is run on the in-vehicle device.

Compared with the prior art, the embodiment of the application has the beneficial effects that: in the running process of the vehicle, the vehicle-mounted equipment can acquire fault reporting information when the vehicle breaks down. Then, the target attribute information of the fault can be determined according to the fault report information, so that the target control strategy can be determined according to the target attribute information. And then the target control strategy is adopted to control the vehicle to run. Therefore, when the vehicle-mounted equipment determines that the vehicle has a fault, the fault can be timely and pertinently processed according to the target attribute information of the fault, so that the safety of vehicle owners and pedestrians is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a fault handling system according to an embodiment of the present application;

FIG. 2 is a flowchart illustrating a method for handling a failure of a vehicle according to another embodiment of the present application;

FIG. 3 is a schematic diagram of a fault tree according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an implementation manner of controlling a vehicle to travel in a fault handling method of a vehicle according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a fault handling apparatus for a vehicle according to an embodiment of the present application;

Fig. 6 is a schematic structural diagram of an in-vehicle apparatus according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

At present, with the development of the technology level, the intelligent networking level of the automobile is improved, and the vehicle can generally collect the state data of the vehicle according to a preset diagnosis system or a diagnosis instrument so as to detect potential fault hidden trouble of the vehicle. However, potential faults of the vehicle that can be detected from the collected state data are hidden from limit. And when the fault is determined in the running process of the vehicle, the vehicle owner cannot actively or the vehicle cannot automatically process some strategies on the fault, so that the safety of the vehicle owner and pedestrians is threatened.

Based on the above, in order to be able to process faults detected during the running of a vehicle to improve the safety of owners and pedestrians, the embodiment of the application provides a fault processing method of a vehicle, which can be applied to vehicle-mounted equipment of the vehicle. The vehicle-mounted device may be a vehicle-mounted terminal, a vehicle body controller, or a fault management system in a vehicle, which is not limited thereto.

Specifically, referring to fig. 1, fig. 1 is a schematic structural diagram of a fault handling system according to an embodiment of the present application. The above-described failure processing method of the vehicle may be applied to an in-vehicle apparatus mounted with a failure management system. The fault management system may be a condition monitoring system (Condition Monitor System, CMS) within the vehicle that includes a fault monitoring module and a fault handling module.

The fault monitoring module is used for monitoring each module generated in the running process of the vehicle and uploading the monitored faults to the fault processing module so as to process the faults. Then, the vehicle-mounted device can upload the fault and the processing result to a Human-computer interaction interface (Human MACHINE INTERFACE, HMI) so as to display on the vehicle-mounted terminal.

The fault monitoring module can acquire various faults existing in the running process of the vehicle through monitoring modules such as a protocol stack, an application scene, a fatigue driving prevention module, a micro control unit, a hardware driving module and the like. Specifically, the fault types may be classified into faults in terms of software, hardware, vehicle body, system, actuator or other related components, and the like, which is not limited. Here, the error (error) in fig. 1 refers to a phenomenon that software or hardware cannot operate normally when the software or hardware is used. Since the types of errors (fault types) are more, in order to distinguish the errors, an error code (error code) may be preset, so that when an error occurs in the software or hardware operation process, the error code may be displayed for the vehicle owner to recognize.

For example, for software failures, the software status monitoring module may monitor upstream and downstream data during the running of the software and determine that the software has a failure when it is determined that the upstream or downstream data is abnormal. And uploading fault codes (which can be the error codes) corresponding to the faults to a fault monitoring module through an application scene and a protocol stack of software. Among them, software failures include, but are not limited to, failures such as data timeout, frame loss, program processing errors, etc.

For hardware faults, a unified diagnostic service (Unified Diagnostic Services, UDS) in the vehicle can diagnose faults generated when each hardware drive, and report to a fault monitoring module. The hardware may include each sensor, and the fault may be a fault such as a temperature abnormality or a voltage abnormality that occurs when the sensor is driven.

For system failures, it can be classified into system failures of a central processing unit (Central Processing Unit, CPU), a memory, a disk, and the like. For example, the CPU occupancy rate rises and the load increases, and the upper layer system has problems such as data frame loss and calculation timeout. And each system can respectively count the CPU occupancy rate of each thread in the system in real time, and if the CPU occupancy rate exceeds a first preset threshold value, the CPU fault is uploaded to the fault monitoring module. Or if the disk occupancy rate exceeds a second preset threshold value, the file reading and writing operation of the system is affected, and then the disk faults are uploaded to the fault monitoring module. And if the memory occupancy exceeds a third preset threshold, the system will fail to apply for the memory, and various core dump (core dump) will occur, and at this time, the memory failure will also need to be uploaded to the failure monitoring module. The first preset threshold, the second preset threshold and the third preset threshold can be set according to actual conditions.

For the fault of the executor, the executor is used for monitoring the thread state in real time, and if any thread does not exit according to the expected, the corresponding fault is reported to the fault monitoring module.

For a link failure, the failure monitoring module may collect various error signals of the link through a controller area network (Controller Area Network, CAN) to determine the link failure. The related member faults include, but are not limited to, faults such as diagnosis timeout and data frame loss.

The vehicle faults may also include faults of other row types, for example, faults existing in a fatigue driving prevention scene, and faults existing when a Micro Control Unit (MCU) operates, which will not be described in detail.

It should be noted that the above-described condition monitoring system may be applied to a vehicle in which V2x (Vehicle to Vehicle, information exchange to the outside) devices are installed. The V2X equipment can effectively improve road traffic safety and efficiency, but along with the diversity of module interaction and calculation modes, the V2X equipment has to face the problem of unified management or treatment of various faults of the vehicle. Therefore, the fault processing method of the vehicle provided by the embodiment of the application can be adopted to process the fault generated in the running process of the vehicle provided with the V2x equipment.

Referring to fig. 2, fig. 2 shows a flowchart of an implementation of a fault handling method for a vehicle according to an embodiment of the present application, where the method includes the following steps:

s201, acquiring fault reporting information when a vehicle breaks down.

In an embodiment, based on the above explanation, the monitoring manner is different for different types of faults, so when a vehicle fails, the corresponding monitoring module determines the fault and then uploads the fault to the vehicle-mounted device to be acquired by the vehicle-mounted device.

The fault report information may include a name of the fault, a fault code corresponding to the fault, or fault data when the fault occurs. For example, when the fault is a fault generated when the CPU occupancy rate is too high, the fault report information may include the CPU fault, a fault code corresponding to the CPU fault, and an actual CPU occupancy rate.

The fault code may be obtained according to an On-board automatic diagnostic system (On-Board Diagnostics, OBD) of the vehicle, or an error code which is analyzed and reflected by an electronic control unit (Electronic Control Unit, ECU) in the vehicle after the vehicle fails, which is not limited.

S202, determining target attribute information of the fault according to the fault reporting information.

In an embodiment, the target attribute information includes, but is not limited to, a recovery type, a target degradation mode, a target restart mode, a fault level, and a fault type, which are all types of attribute information including, but not limited to, whether a fault is recoverable.

In an embodiment, the vehicle-mounted device may specifically match the fault report information with a preset fault tree, and determine target attribute information of the fault; the fault tree comprises a plurality of preset faults and preset attribute information corresponding to each preset fault respectively.

The fault tree consists of faults in the vehicle and corresponding monitoring modules, and each fault corresponds to preset attribute information.

Specifically, referring to fig. 3, fig. 3 is a schematic structural diagram of a fault tree according to an embodiment of the present application. The fault tree is formed by faults and monitoring modules corresponding to the faults. The faults comprise faults in aspects of software errors, CPU, memory, flash memory (flash), thread state, configuration, CAN, sensors and the like, and each fault is detected by a corresponding fault module. That is, the software fault module, the system fault module, the monitoring thread module, the configuration fault management module, the CAN fault module, and the sensor fault module in fig. 3 CAN be considered to belong to the fault monitoring module described above.

It should be added that the monitoring module corresponding to the fault should contain preset attribute information corresponding to the fault, so that the vehicle-mounted device can be matched with the fault tree according to the fault reporting information to determine the target attribute information of the fault.

S203, determining a target control strategy according to the target attribute information.

In one embodiment, the determined target control strategy is also generally different for different faults and corresponding target attribute information.

Specifically, when the recovery type of the target attribute information is a fault is a recoverable type, the vehicle-mounted device may determine the target degradation mode in the target attribute information as a target control policy. The target degradation mode is used for replacing data acquired by a fault source corresponding to a fault with target data acquired by preset target equipment.

It should be noted that, the target device is configured to obtain corresponding target data during operation, so as to replace data obtained by a fault source corresponding to the fault. And then, the vehicle-mounted equipment can control the vehicle to run according to the target data so as to ensure the normal running of the vehicle on the premise of not influencing the running safety.

For example, during automatic driving of a vehicle, a camera sensor is generally used to collect an image of the surrounding environment, and then the vehicle is controlled to run according to the collected image of the surrounding environment using a preset driving mode. However, when the image sensor has a failure, there is a certain risk that the vehicle is controlled to travel based on the environmental image acquired by the image sensor.

Based on this, in order to ensure the safety of the vehicle during the automatic driving, other target devices with sensing capability (for example, a laser radar sensor or an ultrasonic radar sensor) may be used to acquire corresponding target data (point cloud data at this time) to control the vehicle to run.

When the target device is used to acquire the target data to control the vehicle to travel, the vehicle-mounted device needs to switch the algorithm model of the vehicle at the same time. It will be appreciated that where the source of the fault is the camera sensor and the data collected is of the image type, the algorithm model is typically one that processes the image.

However, when the target data is in the point cloud category, the algorithm model should also be switched to a model for processing the point cloud. Thus, in the target degradation mode, a target algorithm model that processes target data should also be included. That is, when the vehicle is controlled to travel by using the target control strategy, specifically, the target algorithm model is used to process the target data so as to control the vehicle to travel.

When the fault source corresponding to the fault has a replaceable target device, the target attribute information recorded in the fault tree generally includes a target degradation mode. However, when the failure source corresponding to the failure cannot be replaced with uniqueness, at this time, the target degradation pattern does not normally exist in the target attribute information corresponding to the failure. Based on this, it is also necessary to control the vehicle travel according to other strategies.

Specifically, if the recovery type is fault recoverable, determining a target restarting mode in the target attribute information as a target control strategy; the target restart mode includes at least one of a restart process, a restart thread, and a restart system.

When the target control strategy is in the target restarting mode, the process, the thread and the system which need restarting are all the target process, the target thread and the target system which are used when the fault is generated.

It will be appreciated that in a practical case, a fault may simply be a fault caused by the software in the source of the fault when it is running, which may cause the fault to disappear when the process, thread or system is restarted. Based on this, when the recovery type of the failure is failure-recoverable and the target restart mode is included in the target attribute information, the in-vehicle apparatus may determine the target restart mode as the target control policy.

S204, controlling the vehicle to run by adopting a target control strategy.

As is known from the explanation of S103 above, when the target control strategy is determined to be the target degradation mode, the vehicle running can be controlled using the target degradation mode. However, when the target control policy is the target restart mode, since the target restart mode has multiple types, the difference of restart logic between the multiple types of restart modes may have an influence on the fault, so that the fault still exists after the target restart mode is executed.

Based on this, since the target restart mode includes a restart process, a restart thread, and a restart system, when the target control policy is determined to be the target restart mode, the vehicle-mounted device may specifically restart according to S401 to S409 shown in fig. 4 to control the vehicle operation. The details are as follows:

s401, if the target control strategy restarts the thread, restarting the target thread corresponding to the fault.

And S402, if the target thread is restarted successfully, controlling the vehicle to run by adopting the restarted thread.

In one embodiment, for failures caused by systematic failures or random impact failures, it may be generally eliminated with a target restart mode. Whether the target thread is restarted successfully or not is judged, and whether the target thread can normally run after being restarted can be judged, so that the fault is eliminated. If the target thread can normally run after restarting and the fault disappears, the vehicle can normally run when the vehicle-mounted equipment runs the corresponding task based on the restarted target thread. The in-vehicle apparatus can resume the operation mode before the occurrence of the failure to control the vehicle running.

S403, if the target thread fails to restart, determining a target control strategy to be a restarting process, and controlling the vehicle to run according to the restarting process.

In an embodiment, the judgment of the restart failure of the target thread may be that the target thread cannot normally run after restarting, and the failure is not yet disappeared. After the target thread fails to restart, the vehicle-mounted device can execute a strategy of a restarting process to control the vehicle to run.

It should be added that, after the restart failure of the target thread, the vehicle-mounted device may count the first times of the restart failure of the target thread and/or count the first duration of the restart of the target thread. And if the first time number is greater than the first preset times and/or the first time length is greater than the first preset time length, executing a restarting process strategy to control the vehicle to run.

In an embodiment, the first preset times and the first preset time period may be set according to actual situations, which is not limited. When the first time number is greater than the first preset times or the first time length is greater than the first preset time length, the vehicle-mounted equipment can consider that the fault cannot be solved by restarting the thread. Thus, other target restart modes may be performed. For example, the process is restarted. Specifically, the in-vehicle apparatus may execute the following steps S404 to S406 to restart the process to control the vehicle running. The details are as follows:

S404, if the target control strategy restarts the process, restarting the target process corresponding to the fault.

And S405, if the restarting of the target process is successful, controlling the vehicle to run by adopting the restarted process.

In an embodiment, the method for judging whether the target process is restarted is similar to the method for judging whether the target thread is restarted, or if the target process can be normally operated after being restarted and the fault disappears, the target process is determined to be restarted successfully.

It should be added that the process can be regarded as a running program in the vehicle, and the thread refers to an execution unit in the process, which is responsible for program execution and operation. One process may correspond to one thread or may correspond to a plurality of threads.

In this case, when the target restart mode is executed, the step S401 is usually executed first, and the step S404 is executed. It will be appreciated that if step S404 is performed first, then all target threads within the target process will restart when the target process is restarted. At this time, if the target process includes a plurality of target threads, the number of target threads that need to be restarted is large, and the restarting efficiency is low. Therefore, when the thread and the process need to be restarted, the corresponding target thread can be preferentially restarted to determine whether the fault can be solved.

S406, if the restarting of the target process fails, determining a target control strategy to be a restarting system, and controlling the vehicle to run according to the restarting system.

In an embodiment, the method for judging the restart failure of the target process may be that the target process cannot normally run after restarting, and the failure is not yet disappeared. After the target process fails to restart, the vehicle-mounted device may execute a strategy of restarting the system to control the vehicle to run.

It should be added that, after the restart failure of the target process, the vehicle-mounted device may also count the second number of times of the restart failure of the target process, and/or count the second duration of the restart of the target process. And if the second times are greater than the second preset times and/or the second time period is greater than the second preset time period, executing a strategy of restarting the system to control the vehicle to run.

In an embodiment, the second preset times and the second preset time periods may be set according to actual situations, which is not limited. When the second number of times is greater than the second preset number of times or the second time period is greater than the second preset time period, the vehicle-mounted device can consider that the fault cannot be solved by restarting the process. Thus, other target restart modes may be performed. For example, the system is restarted. Specifically, the in-vehicle apparatus may execute steps S407 to S409 described below to restart the system to control the vehicle running. The details are as follows:

s407, if the target control strategy restarts the system, restarting the target system corresponding to the fault.

And S408, if the fault is eliminated after the target system is restarted, the target system control strategy is adopted to control the vehicle to run.

S409, if the fault is not eliminated after the target system is restarted, determining the target degradation mode as a target control strategy.

In one embodiment, as can be seen from the above explanation, the system where the target process is located can be considered as the target system. It should be noted that, unlike the above manner of restarting the process and restarting the thread, when restarting the target system, there is no need to restart the target system multiple times, and there is no need to count the duration of restarting the target system.

When the fault is eliminated after the target system is restarted, the fault is solved, and the vehicle-mounted equipment can operate according to the target system at the moment to control the vehicle to run. When the fault is not eliminated after the target system is restarted, the fault is not solved. At this time, the failure may not be a failure caused by a systematic failure or a random influence failure, although it is generated when the target system is running. Based on this, in order to be able to control the vehicle to run normally, the in-vehicle apparatus may control the vehicle in a target degradation mode in time instead of restarting the system a plurality of times. The target degradation mode is explained above, and will not be explained.

It should be noted that S401 to S409 are only one example of controlling the vehicle to run when the target control strategy is the target restart mode, and the restart mode includes three modes of a restart process, a restart thread, and a restart system. It should be noted that the target restart mode may also include only one or two of a restart process, a restart thread, and a restart system.

For example, when the target restart mode is only any one of them, if the failure does not disappear after the target restart mode is executed, the in-vehicle apparatus may determine the target degraded mode as the target control policy to control the vehicle operation.

The method comprises the steps that when fault report information is matched with a preset fault tree and the determined target attribute information simultaneously comprises a target degradation mode and a target restarting mode, vehicle-mounted equipment can only select the target degradation mode to control the vehicle to run; or the target restarting mode is selected firstly to control the running of the vehicle, and the target degrading mode is selected after the failure of the target restarting mode; or the target degradation mode can be selected firstly to control the vehicle to run so as to ensure the running safety, and the target restarting mode is executed at the same time. After that, after the restart in the target restart mode is successful (i.e., failure is eliminated), the vehicle is controlled to run in the target restart mode, which is not limited.

For example, if the fault is a fault of the imaging sensor, the vehicle-mounted device may collect the point cloud data by using a laser radar sensor or an ultrasonic radar sensor, so as to control the vehicle to travel according to the point cloud data. And simultaneously restarting a target thread, a target process or a target system in the camera sensor, and switching back to the camera sensor to acquire surrounding environment images when the restarting is successful so as to control the vehicle to run.

Note that, in the embodiments described in S401 to S409, the recovery type of the fault is the step to be executed when the fault is recoverable. However, when the recovery type of the failure is failure unrecoverable, it is considered that the above-described failure cannot be solved by restarting the target thread, the target process, and the target system by using the steps of S401 to S409. And, the fault source corresponding to the fault may have uniqueness, and the target attribute information of the fault pair does not have a corresponding target degradation pattern.

Based on this, in order to secure the running safety, when the recovery type is that the failure is not recoverable, the in-vehicle apparatus needs to control the vehicle to exit the automatic driving mode. That is, the automatic driving mode is switched to the manual driving mode. Before switching, the vehicle-mounted device can remind the vehicle owner in a voice or text mode, so that the vehicle owner can control the vehicle in time.

In another embodiment, when it is determined that the target control policy is the target restart mode and the steps S401 to S409 are required to be executed, the vehicle device may further wait for a third preset period of time before executing the step S401. And detecting whether the fault is eliminated within a third preset time period. If the fault is not eliminated within the third preset time period, the steps S401-S409 are executed. Thus, when the failure caused by the systematic failure or the failure caused by the random influence is solved, the steps of restarting can be reduced.

In this embodiment, in the process of running the vehicle, the vehicle-mounted device may acquire failure report information when the vehicle fails. Then, the target attribute information of the fault can be determined according to the fault report information, so that the target control strategy can be determined according to the target attribute information. And then the target control strategy is adopted to control the vehicle to run. Therefore, when the vehicle-mounted equipment determines that the vehicle has a fault, the fault can be processed timely and pertinently according to the target attribute information of the fault, so that the safety of vehicle owners and pedestrians is improved.

In another embodiment, the target attribute may further include a fault level of the fault, and when the target control strategy is determined according to the target attribute, the determination may be further performed according to the fault level. For example, if the fault level is a severity level, determining that the target control strategy is an emergency braking strategy; if the fault level is a moderate level, determining that the target control strategy is a slow brake strategy; and if the fault level is a mild level, determining the target control strategy to display fault report information.

In an embodiment, the sudden braking strategy and the slow braking strategy are both strategies for controlling braking to reduce the speed of the vehicle, and the difference is that the speed reduction amplitude of the vehicle in the sudden braking strategy is far greater than that in the slow braking strategy. The magnitude of braking in the sudden braking strategy and the magnitude of braking in the slow braking strategy can be set according to actual conditions, and the sudden braking strategy and the magnitude of braking in the sudden braking strategy are not limited.

Wherein the fault is considered not severe when the fault level is a light level. Therefore, the vehicle-mounted device can only display the fault report information so as to remind the vehicle owner.

It should be noted that, for the above-mentioned target control strategies such as the emergency braking strategy, the slow braking strategy, and the failure report information display, it may be executed simultaneously with the target restart mode and the target degradation mode described in the above-mentioned S401-S409. That is, when the target attribute information includes both the failure level and the target degraded mode or the target restarted mode, the in-vehicle apparatus can control the vehicle to travel using the target degraded mode or the target restarted mode while controlling the vehicle to brake according to the failure level, so as to improve the traveling safety of the vehicle.

It is added that when a vehicle fails, the failure may trigger other failures so that the failure monitoring module will monitor multiple failures. At this time, for a plurality of faults, the fault monitoring module may report all the faults. And then, the fault level of each fault can be determined respectively so as to preferentially determine the target control strategy corresponding to the fault with high fault level, so as to control the running of the vehicle and ensure the running safety.

Referring to fig. 5, fig. 5 is a block diagram illustrating a fault handling apparatus for a vehicle according to an embodiment of the present application. The failure processing apparatus of the vehicle in this embodiment includes modules for executing the steps in the embodiments corresponding to fig. 2 and 4. Refer specifically to fig. 2 and fig. 4 and the related descriptions in the embodiments corresponding to fig. 2 and fig. 4. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 5, a fault handling apparatus 500 of a vehicle may include: a first acquisition module 510, a first determination module 520, a second determination module 530, and a first control module 540, wherein:

the first obtaining module 510 is configured to obtain failure reporting information when the vehicle fails.

The first determining module 520 is configured to determine target attribute information of the fault according to the fault report information.

A second determining module 530, configured to determine a target control policy according to the target attribute information.

The first control module 540 is configured to control vehicle travel using a target control strategy.

In an embodiment, the first determining module 520 is further configured to:

Matching the fault reporting information with a preset fault tree, and determining target attribute information of the fault; the fault tree comprises a plurality of preset faults and preset attribute information corresponding to each preset fault respectively.

In an embodiment, the target attribute information includes a recovery type of the failure and a target degradation pattern, and the second determining module 530 is further configured to:

if the recovery type is fault recoverable, determining a target degradation mode as a target control strategy; the target degradation mode is used for replacing data acquired by a fault source corresponding to the fault with target data acquired by preset target equipment.

In an embodiment, the target attribute information further includes a recovery type of the failure and a target restart mode, and the second determining module 530 is further configured to:

If the recovery type is fault recoverable, determining a target restarting mode as a target control strategy; the target restart mode includes at least one of a restart process, a restart thread, and a restart system.

In an embodiment, the first control module 540 is further configured to:

If the target control strategy is to restart the thread, restarting the target thread corresponding to the fault; if the target thread is restarted successfully, controlling the vehicle to run by adopting the restarted thread; if the target thread fails to restart, the target control strategy is determined to be a restarting process, and the vehicle is controlled to run according to the restarting process.

In an embodiment, the first control module 540 is further configured to:

If the target control strategy is to restart the process, restarting the target process corresponding to the fault; if the target process is restarted successfully, controlling the vehicle to run by adopting the restarted process; and if the restarting of the target process fails, determining a target control strategy as a restarting system, and controlling the vehicle to run according to the restarting system.

In an embodiment, the first control module 540 is further configured to:

If the target control strategy is to restart the system, restarting the target system corresponding to the fault; if the fault is eliminated after the target system is restarted, the target system control strategy is adopted to control the vehicle to run; and if the fault is not eliminated after the target system is restarted, determining the target degradation mode as a target control strategy, and controlling the vehicle to run according to the target degradation mode.

In one embodiment, the target attribute information includes a recovery type of the fault, and the fault handling 500 of the vehicle further includes:

and the second control module is used for controlling the vehicle to exit the automatic driving mode if the recovery type is that the fault cannot recover.

In an embodiment, the target attribute information further includes a fault level of the fault; the first determining module 520 is further configured to:

If the fault level is a gravity level, determining a target control strategy as an emergency brake strategy; if the fault level is a moderate level, determining that the target control strategy is a slow brake strategy; and if the fault level is a mild level, determining the target control strategy to display fault report information.

It should be understood that, in the block diagram of the fault handling apparatus of the vehicle illustrated in fig. 5, each module is configured to perform each step in the embodiments corresponding to fig. 2 and 4, and each step in the embodiments corresponding to fig. 2 and 4 is explained in detail in the foregoing embodiments, and specific reference is made to fig. 2 and 4 and related descriptions in the embodiments corresponding to fig. 2 and 4, which are not repeated herein.

Fig. 6 is a block diagram of an in-vehicle apparatus according to an embodiment of the present application. As shown in fig. 6, the in-vehicle apparatus 600 of this embodiment includes: a processor 610, a memory 620, and a computer program 630 stored in the memory 620 and executable on the processor 610, such as a program of a fault handling method of a vehicle. The processor 610, when executing the computer program 630, implements the steps in the embodiments of the fault handling method for each vehicle described above, such as S201 to S204 shown in fig. 2. Or the processor 610 may perform the functions of the modules in the embodiment corresponding to fig. 5, for example, the functions of the modules 510 to 540 shown in fig. 5, when executing the computer program 630, refer to the related descriptions in the embodiment corresponding to fig. 5.

For example, the computer program 630 may be divided into one or more modules, which are stored in the memory 620 and executed by the processor 610 to implement the fault handling method of the vehicle provided by the embodiment of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 630 in the in-vehicle apparatus 600. For example, the computer program 630 may implement the method for handling a fault of a vehicle provided by the embodiment of the present application.

The in-vehicle device 600 may include, but is not limited to, a processor 610, a memory 620. It will be appreciated by those skilled in the art that fig. 6 is merely an example of an in-vehicle device 600 and is not intended to limit the in-vehicle device 600, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., an in-vehicle device may also include an input-output device, a network access device, a bus, etc.

The processor 610 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 620 may be an internal storage unit of the in-vehicle apparatus 600, such as a hard disk or a memory of the in-vehicle apparatus 600. The memory 620 may also be an external storage device of the in-vehicle device 600, such as a plug-in hard disk, a smart memory card, a flash memory card, or the like, provided on the in-vehicle device 600. Further, the memory 620 may also include both an internal storage unit and an external storage device of the in-vehicle device 600.

The embodiments of the present application provide a computer-readable storage medium including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the fault handling method of the vehicle in each of the embodiments described above when executing the computer program.

Embodiments of the present application provide a computer program product that, when executed on an in-vehicle apparatus, causes the in-vehicle apparatus to execute the fault handling method of the vehicle in each of the above embodiments.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A method of fault handling for a vehicle, the method comprising:

acquiring fault reporting information when a vehicle fails;

determining target attribute information of the fault according to the fault reporting information;

Determining a target control strategy according to the target attribute information;

And controlling the vehicle to run by adopting the target control strategy.

2. The method of claim 1, wherein said determining the target attribute information of the fault from the fault report information comprises:

matching the fault report information with a preset fault tree, and determining target attribute information of the fault; the fault tree comprises a plurality of preset faults and preset attribute information corresponding to each preset fault respectively.

3. The method of claim 1, wherein the target attribute information includes a recovery type of failure and a target degradation pattern, the determining a target control strategy based on the target attribute information, further comprising:

If the recovery type is fault recoverable, determining the target degradation mode as the target control strategy; the target degradation mode is used for replacing the data acquired by the fault source corresponding to the fault with the target data acquired by the preset target equipment.

4. A method according to any of claims 1-3, wherein the target attribute information further comprises a recovery type of failure and a target restart mode, the determining a target control strategy based on the target attribute information further comprising:

If the recovery type is fault recoverable, determining the target restarting mode as the target control strategy; the target restart mode at least comprises one of a restart process, a restart thread and a restart system.

5. The method of claim 4, wherein said employing said target control strategy to control said vehicle to travel further comprises:

if the target control strategy is the restarting thread, restarting the target thread corresponding to the fault;

if the target thread is restarted successfully, the restarted thread is adopted to control the vehicle to run;

and if the target thread fails to restart, determining the target control strategy as the restarting process, and controlling the vehicle to run according to the restarting process.

6. The method of claim 4, wherein said employing said target control strategy to control said vehicle to travel further comprises:

if the target control strategy is the restarting process, restarting the target process corresponding to the fault;

If the target process is restarted successfully, the restarted process is adopted to control the vehicle to run;

And if the restarting of the target process fails, determining the target control strategy as the restarting system, and controlling the vehicle to run according to the restarting system.

7. The method of claim 4, wherein said employing said target control strategy to control said vehicle travel comprises:

If the target control strategy is the restarting system, restarting the target system corresponding to the fault;

if the fault is eliminated after the target system is restarted, the target system control strategy is adopted to control the vehicle to run;

and if the fault is not eliminated after the target system is restarted, determining a target degradation mode as the target control strategy, and controlling the vehicle to run according to the target degradation mode.

8. The method of claim 1, wherein the target attribute information comprises a recovery type of the failure, the method further comprising:

and if the recovery type is that the fault is not recoverable, controlling the vehicle to exit from the automatic driving mode.

9. The method of any of claims 1-3 or 5-8, wherein the target attribute information further comprises a fault level of the fault; the determining a target control strategy according to the target attribute information comprises the following steps:

If the fault level is a gravity level, determining that the target control strategy is an emergency brake strategy;

if the fault level is a moderate level, determining that the target control strategy is a slow brake strategy;

And if the fault level is a mild level, determining the target control strategy to display the fault report information.

10. An in-vehicle device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 9 when executing the computer program.