CN110194180A - Self-stopping method and system - Google Patents
Self-stopping method and system Download PDFInfo
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- CN110194180A CN110194180A CN201910537793.3A CN201910537793A CN110194180A CN 110194180 A CN110194180 A CN 110194180A CN 201910537793 A CN201910537793 A CN 201910537793A CN 110194180 A CN110194180 A CN 110194180A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0225—Failure correction strategy
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- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The present invention provides a kind of self-stopping methods, comprising: motor drive controller receives the node data that each functional node of automatic Pilot arithmetic element is sent；Node data includes CRC check data；CRC check data are calculated by the random number that the CRC random number node of automatic Pilot arithmetic element is functional node distribution；CRC check data are verified；When verifying unsuccessful, count as an errors number；When accumulative errors number is not less than preset threshold value, parking information and fault message are generated, and fault message is sent to cloud server.Thus, it is possible in the case where automatic Pilot arithmetic element cisco unity malfunction, it can be with the operation irregularity situation of quick detection to automatic Pilot arithmetic element; and the safety of stop-working protection automatic driving vehicle, and without increasing hardware redundancy, good economy performance; method is succinct, and connection wiring harness is few, high reliablity.
Description
Technical field
The present invention relates to automatic Pilot technical field more particularly to a kind of self-stopping method and system.
Background technique
Automatic Pilot technology is hot topic in recent years, is alleviating traffic congestion, is improving road safety, reduction air dirt
Fields, the automatic Pilots such as dye will bring subversive change.The software architecture of automatic Pilot computing unit is mostly based on machine
People's operating system (Robot Operating System, ROS) is transformed ROS system.The normal operation of ROS relies on
The normal operation of ROS master node (ROS system host node).In practice, can occur once in a while cannot for ROS master node
The case where normal work.In this case, entire automatic Pilot computing unit will collapse, and not can guarantee automatic driving vehicle
Safe and stable operation.
It is broadly divided at present using the method for more guarantee automatic Pilot computing unit safe and stable operation using certainly
The dynamic method for driving arithmetic element hardware redundancy and two class of method backed up using software systems.
Method based on automatic Pilot arithmetic element hardware redundancy refers mainly to have two sets to drive automatically in unmanned vehicle vehicle framework
Sail arithmetic element.Master/standby automatic Pilot arithmetic element runs same automatic Pilot algorithm or main automatic Pilot operation list
Member operation automatic Pilot algorithm, standby automatic Pilot arithmetic element run automatic Pilot safety supervision algorithm.Once master drives automatically
Arithmetic element collapse is sailed, standby automatic Pilot arithmetic element can control the parking of vehicle safety and stability, guarantee unmanned vehicle safety.
Method based on software systems backup refers mainly to improve ROS framework, in ROS master node (the main section of ROS system
Point) standby host node is constructed outside.If ROS system host node fails, software systems enable standby host node automatically, with
Guarantee automated driving system safe and stable operation.
Method based on automatic Pilot arithmetic element hardware redundancy can increase considerably hardware cost and system architecture is complicated
Degree.And the switching law of ingehious design automatic Pilot arithmetic element is needed, after so that winner's automatic Pilot arithmetic element is broken down,
Standby automatic Pilot arithmetic element is capable of the control authority of seamless pipe automated driving system.
Method based on software systems backup can not fundamentally prevent a possibility that automatic Pilot arithmetic element collapse.It is soft
Part redundancy can not solve system crash caused by the failure because of caused by hardware component aging, impaired etc..Hardware system is occurring
When collapse, it can not accomplish to stop reliable and stablely.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of self-stopping method and system, can solve in the prior art
The problem of increase hardware cost present in the method for hardware redundancy and system architecture complexity, and backed up using software systems
The problem of existing a possibility that can not fundamentally preventing the collapse of automatic Pilot arithmetic element.
To solve the above problems, in a first aspect, the present invention provides a kind of self-stopping methods, which comprises
Motor drive controller receives the node data that each functional node of automatic Pilot arithmetic element is sent；The section
Point data includes CRC check data；The CRC check data are to be by the CRC random number node of automatic Pilot arithmetic element
What the random number of the functional node distribution was calculated；
The CRC check data are verified；
When verifying unsuccessful, count as an errors number；
When the accumulative errors number is not less than preset threshold value, parking information and fault message are generated, and by institute
It states fault message and is sent to cloud server.
In one possible implementation, it is described when the accumulative errors number is greater than preset threshold value before,
The method also includes:
When verifying successfully, if there is accumulative errors number, and the accumulative errors number is less than before current
Preset threshold value, then the current errors number accumulative before is reset.
In one possible implementation, the node data further includes temporal information；It is described to the CRC check number
According to before being verified further include:
Time by the temporal information, the time and last time receiving node data that judge current receiving node data is
No is more than preset time threshold；
When being more than the preset time threshold, count as an errors number；
When being less than the preset time threshold, the CRC data is verified.
In one possible implementation, described that the CRC check data are verified, it specifically includes:
The CRC check data are then verified divided by generator polynomial identical with the functional node when remainder is zero
Success.
In one possible implementation, the functional node receives the random number that the CRC random number node is sent；
After the random number is moved to left 3, divided by generator polynomial, remainder and the random number are constituted into CRC check number
According to.
In one possible implementation, the functional node includes sensing node, positioning node, plan node and control
Node processed.
Second aspect, the present invention provides a kind of self-stopping system, the self-stopping system includes:
Receiving unit, the receiving unit are used to receive the node that each functional node of automatic Pilot arithmetic element is sent
Data；The node data includes CRC check data；The CRC check data be by the CRC of automatic Pilot arithmetic element with
The several sections of points of machine are that the random number of functional node distribution is calculated；
Verification unit, the verification unit is for verifying the CRC check data；
Statistic unit, the statistic unit are used to count when verifying unsuccessful as an errors number；
Processing unit, the processing unit are used to generate when the accumulative errors number is not less than preset threshold value
Parking information and fault message, and the fault message is sent to cloud server.
In one possible implementation, the processing unit is also used to,
When verifying successfully, if there is accumulative errors number, and the accumulative errors number is less than before current
Preset threshold value, then the current errors number accumulative before is reset.
In one possible implementation, the node data further includes temporal information；The system also includes: judgement
Unit；
The judging unit is used for, and by the temporal information, judges that the time of current receiving node data connect with last time
Whether the time for receiving node data is more than preset time threshold；
The statistic unit is also used to, and when being more than the preset time threshold, is counted as an errors number；
The verification unit is also used to, and when being less than the preset time threshold, carries out school to the CRC data
It tests.
In one possible implementation, the verification unit is specifically used for:
The CRC check data are then verified divided by generator polynomial identical with the functional node when remainder is zero
Success.
The third aspect, the present invention provides a kind of equipment, including memory and processor, the memory is for storing journey
Sequence, the processor are used to execute any method of first aspect.
Fourth aspect, the present invention provides a kind of computer program products comprising instruction, when the computer program produces
When product are run on computers, so that the computer executes the method as described in first aspect is any.
5th aspect, the present invention provides a kind of computer readable storage medium, on the computer readable storage medium
It is stored with computer program, the method as described in first aspect is any is realized when the computer program is executed by processor.
By applying automatic stop process provided in an embodiment of the present invention and system, automatic Pilot operation can be monitored in real time
Cell operation state, can be with the operation irregularity situation of quick detection to automatic Pilot arithmetic element, in automatic Pilot arithmetic element
In the case where cisco unity malfunction, stabilization safely stops vehicle, and the safety of stop-working protection automatic driving vehicle.This stops automatically
The method of vehicle is without increasing hardware redundancy, and good economy performance, method is succinct, and connection wiring harness is few, high reliablity.
Detailed description of the invention
Fig. 1 is the self-stopping method flow diagram that the embodiment of the present invention one provides；
Fig. 2 is CRC check data generating procedure schematic diagram；
Fig. 3 is CRC check data check process schematic；
Fig. 4 is self-stopping system structure diagram provided by Embodiment 2 of the present invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for just
Part relevant to related invention is illustrated only in description, attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the self-stopping method flow diagram that the embodiment of the present invention one provides, and the executing subject of this method is motor
Drive control device, the motor drive controller have the ability for judging automatic Pilot arithmetic element operation irregularity, with motor phase
Connection, for controlling the stopping of vehicle by control motor.Wherein, the motor drive controller and automatic Pilot arithmetic element
For the module in automatic driving vehicle.As shown in Figure 1, the self-stopping method the following steps are included:
Step 101, motor drive controller receives the number of nodes that each functional node of automatic Pilot arithmetic element is sent
According to；Node data includes CRC check data；CRC check data are to be by the CRC random number node of automatic Pilot arithmetic element
What the random number of functional node distribution was calculated.
Specifically, automatic Pilot arithmetic element includes that sensing node, positioning node, plan node, control node etc. are multiple
Functional node, each functional node can be to ROS broadcast datas.
It can be by newly adding a cyclic redundancy check code (Cyc l ic in automatic Pilot arithmetic element
Redundancy Check, CRC) random number node, CRC random number node is that functional node distributes random number.
In one example, as shown in Fig. 2, Fig. 2 is CRC check data generating procedure schematic diagram.In automatic Pilot operation
Increased CRC random number node sends information of the tetrad random number 1110 as CRC check to functional node in unit
Field.Using fixed generator polynomial 1011, highest power is 3.Wherein, the digit of random number can be as the case may be
Set, the application does not limit this, generator polynomial can also use other fixed polynomials, the application to this not
It limits.
CRC validation field calculation procedure, each execution cycle of functional node are added in the mai n function of functional node
A CRC validation field calculation procedure will be run.Calculating process is as follows:
Because fixed generator polynomial highest power is 3, tetrad random number 1110 is moved to left 3, is become
1110 000；Random number move to left 3 after result divided by generator polynomial, using mould double division method, with XOR operation equivalence；It is divided by
Remainder write on after three；Three remainders 100 are used as CRC check data 1110100 after 1110 affix of random number.
Step 102, CRC check data are verified.
Specifically, as shown in figure 3, Fig. 3 is CRC check data check process schematic.Firstly, motor drive controller is logical
Cross controller local area network (Contro l ler Area Network, CAN)) the CRC check number of bus receive capabilities node
According to.Then, motor drive controller uses generator polynomial 1011 identical with functional node, and CRC check data 1110100 are adopted
With mould double division method divided by generator polynomial 1011, thus, realize the verification to CRC check data.
Step 103, it when verifying unsuccessful, counts as an errors number.
Specifically, continuing to connect example, the result verified includes two kinds:
A kind of situation is, when remainder is 0 to indicate verify successfully, is illustrating that automatic Pilot arithmetic element and CAN bus are run just
Often, if current have accumulative errors number before, and errors number is less than preset threshold value, then current mistake accumulative before
Accidentally number is reset.
Another situation is that remainder is not 0, indicate that automatic Pilot arithmetic element is operating abnormally, cumulative error number increases
Once.
Further, node data further includes temporal information, and before being verified, by temporal information, judgement is current
Whether the time of receiving node data and the time of last time receiving node data are more than preset time threshold；When more than preset
When time threshold, count as an errors number, the i.e. increase of cumulative error number once.
When being less than preset time threshold, step 102 is executed, verification verifying is carried out.
Step 104, when accumulative errors number is greater than preset threshold value, parking information and fault message are generated, and will
Fault message is sent to cloud server.
Specifically, if cumulative error number is greater than threshold value, it is possible to determine that the operation of automatic Pilot arithmetic element goes wrong, or
Person's some functional node therein goes wrong, then motor drive controller generates parking information, which can control
Motor shuts down, to control vehicle parking.Meanwhile fault message is generated, which includes vehicle ID, motor driven
After controller report fault message, after cloud server receives all fault messages, fault car can be handled.
The automatic stop process provided by the application embodiment of the present invention one, can monitor automatic Pilot arithmetic element in real time
Working condition, can with the operation irregularity situation of quick detection to automatic Pilot arithmetic element, automatic Pilot arithmetic element cannot
In the case where normal work, stabilization safely stops vehicle, and the safety of stop-working protection automatic driving vehicle.This is self-stopping
Method is without increasing hardware redundancy, and good economy performance, method is succinct, and connection wiring harness is few, high reliablity.
Fig. 4 is self-stopping system structure diagram provided by Embodiment 2 of the present invention.As shown in figure 4, this stops automatically
The system of vehicle includes: receiving unit 401, verification unit 402, statistic unit 403, processing unit 404 and judging unit 405.
Receiving unit 401 is used to receive the node data that each functional node of automatic Pilot arithmetic element is sent；Node
Data include CRC check data；It is function section that CRC check data, which are by the CRC random number node of automatic Pilot arithmetic element,
What the random number of point distribution was calculated；
Verification unit 402 is for verifying CRC check data；
Statistic unit 403 is used to count when verifying unsuccessful as an errors number；
Processing unit 404 is used to generate parking information and failure when accumulative errors number is not less than preset threshold value
Information, and fault message is sent to cloud server.
Further, processing unit 404 is also used to,
When verifying successfully, if there is accumulative errors number, and accumulative errors number is less than default before currently
Threshold value, then accumulative errors number is reset before current.
Further, judging unit 405 is used for, by temporal information, judge time of current receiving node data with it is upper
Whether the time of secondary receiving node data is more than preset time threshold；
Statistic unit 403 is also used to, and when being more than preset time threshold, is counted as an errors number；
Verification unit 402 is also used to, and when being less than preset time threshold, is verified to CRC data.
Further, verification unit 402 is specifically used for:
CRC check data are then proved to be successful divided by generator polynomial identical with functional node when remainder is zero.
The automatic parking system provided by the application embodiment of the present invention one, can monitor automatic Pilot arithmetic element in real time
Working condition, can with the operation irregularity situation of quick detection to automatic Pilot arithmetic element, automatic Pilot arithmetic element cannot
In the case where normal work, stabilization safely stops vehicle, and the safety of stop-working protection automatic driving vehicle.This is self-stopping
Method is without increasing hardware redundancy, and good economy performance, method is succinct, and connection wiring harness is few, high reliablity.
The embodiment of the present invention three provides a kind of equipment, including memory and processor, and memory is deposited for storing program
Reservoir can be connect by bus with processor.Memory can be nonvolatile storage, such as hard disk drive and flash memory, storage
Software program and device driver are stored in device.Software program is able to carry out the above method provided in an embodiment of the present invention
Various functions；Device driver can be network and interface drive program.Processor is for executing software program, the software journey
Sequence is performed, the method that can be realized the offer of the embodiment of the present invention one.
The embodiment of the present invention four provides a kind of computer program product comprising instruction, when computer program product is being counted
When being run on calculation machine, so that computer executes the method that the embodiment of the present invention one provides.
The embodiment of the present invention five provides a kind of computer readable storage medium, is stored on computer readable storage medium
Computer program realizes the method that the embodiment of the present invention one provides when computer program is executed by processor.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of self-stopping method, which is characterized in that the described method includes:
Motor drive controller receives the node data that each functional node of automatic Pilot arithmetic element is sent；The number of nodes
According to including CRC check data；It is described that the CRC check data, which are by the CRC random number node of automatic Pilot arithmetic element,
What the random number of functional node distribution was calculated；
The CRC check data are verified；
When verifying unsuccessful, count as an errors number；
When the accumulative errors number is not less than preset threshold value, parking information and fault message are generated, and will the event
Barrier information is sent to cloud server.
2. the method according to claim 1, wherein described when the accumulative errors number is greater than preset threshold
Before when value, the method also includes:
When verifying successfully, if there is accumulative errors number, and the accumulative errors number is less than default before current
Threshold value, then the accumulative errors number is reset before current.
3. the method according to claim 1, wherein the node data further includes temporal information；It is described to institute
It states before CRC check data are verified further include:
Whether surpassed by the time of the temporal information, the time and last time receiving node data that judge current receiving node data
Cross preset time threshold；
When being more than the preset time threshold, count as an errors number；
When being less than the preset time threshold, the CRC data is verified.
4. specifically being wrapped the method according to claim 1, wherein described verify the CRC check data
It includes:
The CRC check data are divided by generator polynomial identical with the functional node, when remainder is zero, then verifying at
Function.
5. the method according to claim 1, wherein the functional node receives the CRC random number node hair
The random number sent；
After the random number is moved to left 3, divided by generator polynomial, remainder and the random number are constituted into CRC check data.
6. the method according to claim 1, wherein the functional node includes sensing node, positioning node, rule
Draw node and control node.
7. a kind of self-stopping system, which is characterized in that the self-stopping system includes:
Receiving unit, the receiving unit are used to receive the number of nodes that each functional node of automatic Pilot arithmetic element is sent
According to；The node data includes CRC check data；The CRC check data are random by the CRC of automatic Pilot arithmetic element
Several sections of points are that the random number of functional node distribution is calculated；
Verification unit, the verification unit is for verifying the CRC check data；
Statistic unit, the statistic unit are used to count when verifying unsuccessful as an errors number；
Processing unit, the processing unit are used to generate parking when the accumulative errors number is not less than preset threshold value
Information and fault message, and the fault message is sent to cloud server.
8. system according to claim 7, which is characterized in that the processing unit is also used to,
When verifying successfully, if there is accumulative errors number, and the accumulative errors number is less than default before current
Threshold value, then the accumulative errors number is reset before current.
9. system according to claim 7, which is characterized in that the node data further includes temporal information；The system
Further include: judging unit；
The judging unit is used for, and by the temporal information, is judged that the time of current receiving node data and last time receive and is saved
Whether the time of point data is more than preset time threshold；
The statistic unit is also used to, and when being more than the preset time threshold, is counted as an errors number；
The verification unit is also used to, and when being less than the preset time threshold, is verified to the CRC data.
10. system according to claim 7, which is characterized in that the verification unit is specifically used for:
The CRC check data are divided by generator polynomial identical with the functional node, when remainder is zero, then verifying at
Function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910537793.3A CN110194180B (en) | 2019-06-20 | 2019-06-20 | Automatic parking method and system |
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|---|---|---|---|
| CN201910537793.3A CN110194180B (en) | 2019-06-20 | 2019-06-20 | Automatic parking method and system |
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| CN110194180B CN110194180B (en) | 2021-01-26 |
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| CN110194180B (en) | 2021-01-26 |
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