CN114844807B

CN114844807B - System detection method, device, equipment, storage medium, vehicle and cloud control platform

Info

Publication number: CN114844807B
Application number: CN202210323322.4A
Authority: CN
Inventors: 张伍召; 陈博恺; 殷其娟; 杨凯; 张磊
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2023-06-27
Anticipated expiration: 2042-03-29
Also published as: CN114844807A

Abstract

The disclosure provides a system detection method, a device, equipment, a storage medium, a vehicle and a cloud control platform, relates to the technical field of artificial intelligence, and particularly relates to the fields of automatic driving, intelligent traffic and the like. The specific implementation scheme is as follows: determining a network heartbeat frequency of the first system for receiving network heartbeat messages, wherein the network heartbeat messages comprise messages sent to the first system by the second system through a network link; determining the control message frequency of a control link message received by a first system, wherein the control link message comprises a message sent to the first system by a second system through a control; the control is used for controlling the communication between the second system and the components in the controlled platform; and determining whether the second system fails based on the network heartbeat frequency and the control message frequency. The system failure judgment method and device can improve the accuracy of system failure judgment.

Description

System detection method, device, equipment, storage medium, vehicle and cloud control platform

Technical Field

The present disclosure relates to the field of artificial intelligence, and in particular, to the fields of autopilot, intelligent transportation, and the like.

Background

To ensure security, inter-system viability testing is generally required. For example, to ensure safety during unmanned operation, a hot standby redundant system is often required to double ensure the reliability of the system, i.e., to use the redundant system as a backup to the primary system. In this architecture, the primary and redundant systems detect each other's viability in real time, i.e., perform system detection, to determine which system should be controlling the vehicle at the current time.

Disclosure of Invention

The disclosure provides a system detection method, a device, equipment, a storage medium, a vehicle and a cloud control platform.

According to a first aspect of the present disclosure, there is provided a system detection method, comprising:

determining a network heartbeat frequency of the first system for receiving network heartbeat messages, wherein the network heartbeat messages comprise messages sent to the first system by the second system through a network link;

determining the control message frequency of the first system for receiving a control link message, wherein the control link message comprises a message sent to the first system by the second system through a control; the control is used for controlling the communication between the second system and the components in the controlled platform;

and determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.

According to a second aspect of the present disclosure, there is provided a system detection apparatus, comprising:

the network heartbeat frequency determining module is used for determining the network heartbeat frequency of the first system for receiving network heartbeat messages, wherein the network heartbeat messages comprise messages sent to the first system by the second system through a network link;

The control message frequency determining module is used for determining the control message frequency of the first system for receiving a control link message, wherein the control link message comprises a message sent to the first system by the second system through a control; the control is used for controlling the communication between the second system and the components in the controlled platform;

and the validity determining module is used for determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method according to the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

According to a sixth aspect of the present disclosure, there is provided a vehicle including: the electronic device of the fourth aspect.

According to a seventh aspect of the present disclosure, there is provided a cloud control platform, including an electronic device as described in the fourth aspect.

In the embodiment of the disclosure, whether the second system fails or not is determined by combining the network heartbeat frequency and the control message frequency, so that the error judgment on the system failure caused by the influence of the network in the process of determining whether the second system fails or not by transmitting the message through the network link can be avoided, and the accuracy of the system failure judgment can be improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart of a system detection method provided by an embodiment of the present disclosure;

FIG. 2 is a flow chart of determining whether a second system is failed in an embodiment of the present disclosure;

FIG. 3 is another flow chart of a system detection method provided by an embodiment of the present disclosure;

FIG. 4 is a flow chart of determining a network heartbeat frequency in an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a system detection device according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of another configuration of a system detection device provided by an embodiment of the present disclosure;

fig. 7 is a block diagram of an electronic device used to implement a system detection method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The embodiment of the disclosure provides a system detection method, which can comprise the following steps:

determining the control message frequency of a control link message received by a first system, wherein the control link message comprises a message sent to the first system by a second system through a control; the control is used for controlling the communication between the second system and the components in the controlled platform;

And determining whether the second system fails based on the network heartbeat frequency and the control message frequency.

In the embodiment of the disclosure, whether the second system fails or not is determined by combining the network heartbeat frequency and the control message frequency, so that the error judgment on the system failure caused by the influence of the network in the process of determining whether the second system fails or not by transmitting the message through the network link can be avoided, and the accuracy of the system failure judgment can be improved. Further, the reliability of the system can be improved.

The system detection method provided by the embodiment of the disclosure can be applied to a system for mutually detecting the activity with other systems. The system may be a master system or a slave system for controlling the operation of the controlled platform, and the master system and the slave system mutually detect the validity of each other to determine which system is used for controlling the operation of the controlled platform. A simple understanding can be applied to a scenario with a master system and a slave system. Specifically, the master system detects whether the slave system fails, and in response to the master system detecting that the slave system fails, the master system takes over control of the controlled platform by the slave system, and the master system controls operation of the controlled platform. Similarly, the slave system detects whether the master system fails, and in response to the slave system detecting the failure of the master system, the slave system takes over control of the controlled platform by the master system, and the slave system controls operation of the controlled platform.

The controlled platform can be an electronic device, a platform formed by a plurality of electronic devices, a platform formed by the electronic devices and components, and the like.

The system to be mutually detected as the activity with other systems may be a system that controls the operation of the vehicle, a system that controls the operation of the server, a system that controls the operation of the information management platform, or the like.

In the embodiment of the present disclosure, the first system is taken as an execution body for example to be described in detail. Similarly, the second system may also perform similar steps to the first system to determine if the first system fails. The first system and the second system mutually detect the validity of each other, which can also be understood as mutually detecting the corresponding survivability.

Fig. 1 is a flowchart of a system detection method provided by an embodiment of the present disclosure. Referring to fig. 1, a system detection method provided by an embodiment of the present disclosure may include:

s101, determining the network heartbeat frequency of the first system for receiving the network heartbeat message.

The network heartbeat message includes a message sent by the second system to the first system over the network link.

In the disclosed embodiment, the network link may include a link using an internet network, for example, a network that communicates through a socket, where two programs on the network implement data exchange through a bidirectional communication connection, and one end of the connection is called a socket. For example, links communicating via network communication protocols such as transmission control protocol (Transmission Control Protocol, TCP), user datagram protocol (User Datagram Protocol, UDP), etc.

The network heartbeat frequency, that is, the frequency at which the first system receives the network heartbeat message sent by the second system, can be understood as the number of network heartbeat messages received by the first system in a unit time.

In one implementation, the first system may periodically detect a number of network heartbeat messages received during a first time period, calculate a ratio of the number to the first time period, and use the ratio of the number to the first time period as the network heartbeat frequency. The first time period may be understood as an interval time during which the second system transmits the network heartbeat message. For example, the second system sends the network heartbeat message to the first system at intervals of a first preset time interval, where the first preset time interval is the first time period.

S102, determining the control message frequency of the first system for receiving the control link message.

The control link message comprises a message sent to the first system by the second system through the control; the control controls are used to control the communication of the second system with components in the controlled platform.

The controlled platform, i.e. the first system or the second system, controls the object for which the controlled platform is controlled, i.e. the first system or the second system controls the operation of the controlled platform.

The frequency of the control message, that is, the frequency of the first system receiving the control link message sent by the second system, can be understood as the number of the control link messages received by the first system in unit time.

The control message frequency is determined in a manner similar to that of the network heartbeat frequency. For example, in one implementation, the first system may periodically detect the number of control link messages received in the second time period, calculate a ratio of the number to the second time period, and use the ratio of the number to the second time period as the control message frequency. The second time period may be understood as an interval time during which the second system transmits the control link message. For example, the second system sends the control link message to the first system at intervals of a second preset time interval, where the second preset time interval is the second time period.

S103, determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency.

The first system determines whether the second system fails or not in combination with the network heartbeat frequency and the control message frequency.

Failure of the second system may also be understood as a failure of the second system.

The first system determines that the second system fails, can take over the control of the second system to the controlled platform, and the first system controls the controlled platform, so that the second system which fails is prevented from controlling the controlled platform, and the influence on the normal operation of the controlled platform is further avoided.

In one implementation, as shown in fig. 2, S103 may include:

s201, based on the network heartbeat frequency, determining whether the network heartbeat detection is abnormal.

Determining that the network heartbeat detection is abnormal in response to the network heartbeat frequency not meeting the first condition; and determining that the network heartbeat detection is normal in response to the network heartbeat frequency meeting the first condition.

In one implementation, the network communication mechanism heartbeat detection anomaly identification may be marked in response to the network heartbeat frequency not meeting the first condition, and the network communication mechanism heartbeat detection normal identification may be marked in response to the network heartbeat frequency meeting the first condition. In this way, whether the network heartbeat detection is abnormal or not can be determined by detecting the identification information, namely, when the abnormal identification of the network communication mechanism heartbeat detection is detected, the abnormal network heartbeat detection is determined, and when the normal identification of the network communication mechanism heartbeat detection is detected, the normal network heartbeat detection is determined. It may also be understood that the network communication mechanism heartbeat detection anomaly identifier is used to indicate that the network heartbeat detection anomaly is detected, and the network communication mechanism heartbeat detection normal identifier is used to indicate that the network heartbeat detection is normal.

The first condition includes that the network heartbeat frequency is not less than a first preset frequency, or that the network heartbeat frequency is not less than a ratio of a system preset value to twice a first preset time interval.

In one implementation, the first condition may include the network including a network heartbeat frequency not less than a first preset frequency. Determining that the network heartbeat detection is normal in response to the network heartbeat frequency not being less than the first preset frequency; and determining that the network heartbeat detection is abnormal in response to the network heartbeat frequency being less than the first preset frequency.

In another implementation, the first condition may include that the network heartbeat frequency is not less than a ratio of a system preset value to twice a first preset time interval, where the first preset time interval represents an interval time during which the second system transmits the network heartbeat message. The preset value of the system, that is, the preset value of the first system, may be determined according to actual requirements or experience.

By determining whether the first condition is satisfied to determine whether the network heartbeat detection is abnormal, the first condition can be used as a reference, and comparison with the reference can determine whether the network heartbeat detection is abnormal, so that whether the network heartbeat detection is abnormal can be determined more simply.

S202, determining whether the detection of the control heartbeat is abnormal or not based on the frequency of the control message.

In one case, the control message frequency includes a first frequency, i.e., a frequency at which the first system receives the first control message.

In this case, it is determined whether or not the heartbeat detection is abnormal based on the first frequency. Specifically, whether the first frequency satisfies the second condition may be determined, and in response to the first frequency not satisfying the second condition, the heartbeat detection abnormality is determined to be controlled; and in response to the first frequency meeting the second condition, determining that the heartbeat detection is controlled to be normal.

In one implementation, the control heartbeat detection anomaly identification may be marked in response to the first frequency not meeting the second condition, and the control heartbeat detection normal identification may be marked in response to the first frequency meeting the second condition. Thus, whether the control heartbeat detection is abnormal or not can be determined by detecting the identification information, namely, when the control heartbeat detection abnormal identification is detected, the control heartbeat detection abnormal is determined, and when the control heartbeat detection normal identification is detected, the control heartbeat detection normal is determined. It is also understood that the control heartbeat detection abnormality flag is used to indicate control heartbeat detection abnormality, and the control heartbeat detection normal flag is used to indicate control heartbeat detection normal.

The second condition includes that the first frequency is not less than a second preset frequency, or the first frequency is not less than a ratio of a system preset value to a twice second preset time interval, wherein the second preset time interval represents an interval time of the second system for transmitting the first control message to the first system.

In one implementation, the second condition may include the first frequency not being less than a second preset frequency. Determining that the heartbeat detection is normal in response to the first frequency being not less than the second preset frequency; responsive to the first frequency being less than a second preset frequency, it is determined to control the heartbeat to detect an anomaly.

The value of the second preset frequency may be the same as or different from the value of the second preset frequency, and similar to the value of the first preset frequency, the value of the second preset frequency may be determined according to actual requirements or experience.

In another implementation, the second condition may include the first frequency not being less than a ratio of a system preset value to twice a second preset time interval.

The first frequency may be understood as the number of first control messages received by the first system per unit time.

The manner of determining the first frequency is similar to the manner of determining the network heartbeat frequency, which has been described in the above embodiments, and the process of determining the first frequency is referred to as a process of determining the network heartbeat frequency.

And S203, determining that the second system fails in response to the network heartbeat detection abnormality and controlling the heartbeat detection abnormality.

When one of the network heartbeat detection and the control heartbeat detection is normal, namely when the network heartbeat detection is abnormal but the control heartbeat detection is normal, or when the control heartbeat detection is abnormal but the network heartbeat detection is normal, the second system is determined to be effective; and when the network heartbeat detection and the control heartbeat detection are abnormal, determining that the second system fails.

Therefore, the network heartbeat detection and the control heartbeat detection are combined together, so that the network heartbeat detection and the control heartbeat detection can be understood as cooperative detection, and misjudgment caused by unstable network in the process of determining the validity of the system according to the network heartbeat detection alone can be avoided. For example, due to the influence of network delay jitter, when the network condition is poor, the heartbeat may be jammed, thus causing false positives, namely abnormal heartbeat detection caused by the network influence, rather than failure of the system itself, so that erroneous judgment is caused; or determining misjudgment caused by the influence of the loss of a control link message or hardware transmission delay in the system effectiveness process according to network heartbeat detection or control heartbeat detection; or, due to the influence of the inspection program itself, for example, when the inspection program for performing network heartbeat detection is blocked or dead due to various performances, false alarm of heartbeat problem is caused, and when the inspection program for controlling heartbeat detection is controlled, false alarm of heartbeat problem is caused after the inspection program for performing network heartbeat detection is blocked or dead due to various performances. The control message frequency in the embodiment of the disclosure can be used as a supplement to the network heartbeat frequency and is commonly used for determining whether the system fails, and compared with the method for determining whether the system fails or not according to the network heartbeat detection alone, the accuracy of judging the system failure can be improved.

As above, in one case, the control message frequency includes a first frequency at which the first system receives the first control message, and it is determined whether the control heartbeat detection is abnormal based on the first frequency.

In another alternative embodiment, based on the embodiment shown in fig. 1, the control message frequency includes a first frequency at which the first system receives the first control message and a second frequency at which the first system receives the second control message, and based on the first frequency and the second frequency, it is determined whether the control heartbeat detection is abnormal.

As shown in fig. 3, S102 may include:

s301, determining a first frequency, wherein the first frequency is the frequency at which a first system receives a first control message.

The first control message comprises a message sent to the first system by the second system through the control.

S302, determining a second frequency, wherein the second frequency is the frequency at which the first system receives the second control message.

The second control message includes a message sent by the controller to the first system, where the controller is configured to control communications between the component in the controlled platform and the first system.

The second frequency, i.e. the frequency at which the first system receives the second control message sent by the controller to the first system, can be understood as the number of second control messages received by the first system in a unit time.

The manner of determining the second frequency is similar to the manner of determining the network heartbeat frequency, which has been described in the above embodiments, and the process of determining the second frequency is referred to as the process of determining the network heartbeat frequency.

In the embodiment of the disclosure, the control link message includes, in addition to the first control message, that is, the message sent by the second system to the first system through the control, the second control message, that is, the message sent by the controller to the first system.

The control message frequency includes a first frequency at which the first system receives the first control message and a second frequency at which the second control message is received.

S202 may include:

s303: based on the first frequency and the second frequency, it is determined whether controlling the heartbeat detection is abnormal.

In this case, it may be determined whether the first frequency satisfies the second condition, and whether the second frequency satisfies the third condition, and in response to the first frequency not satisfying the second condition and the second frequency satisfying the third condition, it is determined to control the heartbeat detection abnormality.

The third condition includes that the second frequency is not less than a third preset frequency, or the second frequency is not less than a ratio of a system preset value to twice a third preset time interval, and the third preset time interval represents an interval time of the controller sending the second control message to the first system.

In one implementation, the third condition may include the second frequency not being less than a third preset frequency, similar to the first condition and the second condition. The third preset frequency may be the same as or different from the first preset frequency or the second preset frequency, and the value of the third preset frequency may be determined according to actual requirements or experience.

In another implementation, the third condition may include the second frequency not being less than a ratio of the system preset value to twice the third preset time interval.

In one implementation, the first frequency does not satisfy the second condition and the second frequency satisfies the third condition, and the heartbeat detection anomaly identification can be marked and controlled. Thus, whether the control heartbeat detection is abnormal or not can be determined by detecting the identification information, namely, when the control heartbeat detection abnormal identification is detected, the control heartbeat detection abnormal is determined.

In one implementation, the second condition includes that the first frequency is not less than a ratio of a system preset value to twice a second preset time interval, where the second preset time interval represents an interval time during which the second system sends the first control message to the first system. The third condition includes that the second frequency is not less than a ratio of a system preset value to twice a third preset time interval, the third preset time interval representing an interval time of the controller sending the second control message to the first system. And determining that the control heartbeat is abnormal in detection in response to the first frequency not meeting the second condition and the second frequency meeting the third condition, namely determining that the control heartbeat is abnormal in detection in response to the first frequency being smaller than the ratio of the system preset value to the twice second preset time interval, and the second frequency being not smaller than the ratio of the system preset value to the twice third preset time interval.

The second condition and the third condition can be used as a reference in the process of determining the abnormal detection of the control heartbeat, and the control heartbeat detection is determined whether to be abnormal by comparing the second condition and the third condition with the reference, so that the abnormal detection of the control heartbeat is determined more conveniently, and the accuracy of determining whether to be abnormal or not by combining the second condition and the third condition can be improved.

As such, it may be determined whether the network heartbeat detection is abnormal based on the network heartbeat frequency, and whether the control heartbeat detection is abnormal based on the first frequency and the second frequency, and the second system failure is determined in response to the network heartbeat detection being abnormal and the control heartbeat detection being abnormal.

The steps of determining whether the network heartbeat detection is abnormal based on the network heartbeat frequency, and determining that the second system fails in response to the network heartbeat detection being abnormal and controlling the heartbeat detection being abnormal are described in detail in the above embodiments, with reference to the above embodiments.

The second frequency represents the frequency of the message sent by the first system receiving controller to the first system, and it is simply understood that whether the control link of the first system is normal or not can be represented by the second frequency. When the control link of the first system is abnormal, it is possible that the first system receives the control link message and fails, at this time, the first system receives the second system to send the control link message, that is, the frequency of the first control message is abnormal, that is, the first system itself receives the message is abnormal, while the second system sends the first control message is normal, in this case, if it is determined that whether the second system fails is possible to generate an erroneous judgment only according to the first frequency of the first system receiving the first control message. In the embodiment of the disclosure, the first system is combined to receive the second control message, namely, the second frequency of the message sent to the first system by the controller is considered in the process of determining whether the second system fails or not, and in this way, the influence of the abnormality of the control link of the first system on the determination of the effectiveness of the second system can be reduced, and the accuracy of the effectiveness judgment of the second system is improved.

In one implementation manner, the second system receives the abnormal frequency of the message sent by the controller to the first system, and can not judge whether the control link of the second system is abnormal; when the control link of the first system is normal and the control link of the second system is abnormal, in this case, it is determined that the control link of the second system is abnormal. The control link of the second system can be understood as the link of the second system sending the message to the first system through the control. The control link of the first system may be understood as a link where the first system receives a message sent by the controller to the first system.

In an alternative embodiment, determining whether the first system fails based on the second frequency may also be included.

Whether the second frequency meets the third condition or not can be judged, and the first system failure is determined if the second frequency does not meet the third condition. Simply understand that if the frequency of the message sent by the controller to the first system is abnormal, determining that the first system fails.

The first system not only can combine the network heartbeat frequency, the first frequency and the second frequency to determine whether the second system fails, but also can determine whether the second system fails based on the second frequency, so that an optional mode is provided for the system to determine whether the second system fails, and the reliability of the system can be further improved.

In one implementation, it may also be determined whether the first system is failed based on the first frequency and the second frequency. Specifically, it may be determined whether the first frequency satisfies a second condition, and whether the second frequency satisfies a third condition, and in response to the first frequency not satisfying the second condition and the second frequency not satisfying the third condition, determining that the first system fails; alternatively, the first system failure is determined in response to the first frequency satisfying the second condition and the second frequency not satisfying the third condition.

In one implementation, the second condition includes the first frequency not being less than a ratio of a system preset value to twice a second preset time interval. The third condition includes that the second frequency is not less than a ratio of a system preset value to twice a third preset time interval. Determining that the first system fails in response to the first frequency not meeting the second condition and the second frequency not meeting the third condition; or, in response to the first frequency meeting the second condition and the second frequency not meeting the third condition, determining that the first system fails, i.e., the first frequency is less than the ratio of the system preset value to twice the second preset time interval and the second frequency is less than the ratio of the system preset value to twice the third preset time interval; or, determining that the first system fails when the first frequency is not less than the ratio of the system preset value to the twice second preset time interval and the second frequency is less than the ratio of the system preset value to the twice third preset time interval.

Similar to determining the abnormal process of controlling the heartbeat detection, the second condition and the third condition can be used as a reference in determining whether the first system is invalid or not, and whether the first system is invalid or not can be determined by comparing the second condition and the third condition with the reference, so that the abnormal process of controlling the heartbeat detection can be determined more conveniently, and the accuracy of determining whether the first system is invalid or not can be improved by combining the second condition and the third condition.

After determining that the first system fails, an alarm message may be sent to prompt the first system to perform fault checking, and so on.

The first system not only can combine the network heartbeat frequency, the first frequency and the second frequency to determine whether the second system fails, but also can determine whether the second system fails based on the first frequency and the second frequency, so that an optional mode is provided for determining whether the second system fails or not, and the combination of the first frequency and the second frequency can also improve the accuracy of determining the failure of the second system, and further can improve the reliability of the second system.

In an alternative embodiment, S101 may include:

the network heartbeat frequency is determined based on the current time of the first system and a timestamp included in the network heartbeat message.

S102 may include:

the control message frequency is determined based on the current time of the first system and a timestamp included in the control link message.

The network heartbeat frequency can be more conveniently and rapidly determined through the timestamp of the second system and the current time of the first system, which are included in the network heartbeat message. Similarly, the chassis link message frequency can be more conveniently and rapidly determined by controlling the link message to comprise the timestamp of the second system and the current time of the first system.

In one implementation, determining the network heartbeat frequency based on the current time of the first system and the timestamp included in the network heartbeat message may include:

comparing the current time of the first system with the time stamp included in each network heartbeat message according to the time sequence of the time stamp included in each network heartbeat message; and responding to the time difference between the current time of the first system and one of the time stamps included in each network heartbeat message to meet the preset message receiving requirement, and calculating the network heartbeat frequency by utilizing the time difference and the time stamp meeting the preset message receiving requirement, wherein the preset message receiving requirement indicates that the heartbeat transmission is normal.

Specifically, as shown in fig. 4, may include:

s401, according to the time sequence of the time stamps included in each network heartbeat message, taking the time stamp included in one network heartbeat message as a calculation time stamp, calculating the time difference value between the current time of the first system and the calculation time stamp, and adding 1 to the calculated message quantity.

Each network heartbeat message comprises a plurality of messages sent to the first system by the second system through the network link according to a first preset time interval.

The chronological order may include a front-to-back order, or a back-to-front order. If the calculation is ended when the number of calculated messages reaches the preset number in the order from back to front in time, the calculation amount can be reduced.

S402, judging whether the preset message receiving requirement is met.

Wherein, the preset message receiving requirement indicates that the heartbeat is normally sent.

The preset message reception requirements may include: the time difference value corresponding to the current time stamp is smaller than the system value, or the number of messages corresponding to the current time stamp is smaller than the first ratio.

When any condition is met, the difference value between the target message quantity and the target time can be determined, and compared with the time stamp traversing all network heartbeat messages, the calculation is performed, so that the calculation amount can be reduced.

The system value may be determined based on actual demand or experience, etc. The first ratio is the ratio of the system value to a first preset time interval, and the first preset time interval represents the interval time of the second system for sending the network heartbeat message.

Responding to the time difference value corresponding to the calculated time stamp not meeting the preset message receiving requirement, and returning to execute S401; and in response to the calculated time difference value corresponding to the time stamp meeting the preset message receiving requirement, executing S403.

S403, taking the time difference value corresponding to the calculated time stamp as a target time difference value, and taking the calculated message quantity as a target message quantity.

S404, calculating a second ratio of the number of the target messages to the target time difference value, and taking the second ratio as the network heartbeat frequency.

And selecting a target time difference value and a target message quantity which meet the conditions by utilizing the time stamps carried in the plurality of network heartbeat messages sent by the second system, and determining the network heartbeat frequency by utilizing the target time difference value and the target message quantity which meet the conditions, so that the accuracy of the determined network heartbeat frequency can be improved.

In this way, the current time of the time stamps included in the plurality of network heartbeat messages in the first system is calculated according to the time sequence of the time stamps included in the network heartbeat messages, so that the target message number and the target time difference value are determined when the preset message receiving requirement is met, the network heartbeat frequency is calculated, the message number and the time difference value for calculating the network heartbeat frequency can be selected, the network heartbeat frequency is calculated according to the target message number and the target time difference value which meet the condition, and the accuracy of the network heartbeat frequency can be improved.

In an alternative embodiment, the time stamps included in each network heartbeat message are stored in a queue in chronological order.

According to the time sequence of the time stamp included in each network heartbeat message, comparing the current time of the first system with the time stamp included in each network heartbeat message may include:

the current time of the first system is compared with the time stamps included in the queue in order from the end of the queue to the head of the queue.

Wherein, the preset message receiving requirement comprises: and calculating a time difference value corresponding to the time stamp not smaller than a system preset value, wherein the calculated message quantity is not smaller than a first ratio, or the queue reaches the head of the queue.

The first ratio is a ratio of a system preset value to a first preset time interval, and the calculated message number represents the number of time stamps compared with the current time of the first system.

The calculation can be conveniently carried out through the queue, the difference value between the target message quantity and the target time can be determined when any condition is met, and compared with the calculation by traversing the time stamps in all network heartbeat messages, the calculation amount can be reduced.

In one implementation, a plurality of network heartbeat messages sent by a second system according to a first preset time interval are received, and for each network heartbeat message, the network heartbeat message comprises the second system; and storing the time stamp included in the network heartbeat message to a queue with a preset length for each network heartbeat message.

Thus, the time stamps stored in the queue can be used as the calculation time stamps according to the sequence of the queue, such as the sequence from the tail of the queue to the head of the queue or the sequence from the head of the queue to the tail of the queue, so that the statistics of the target time difference and the target message number is more convenient.

In one example, the first system maintains a queue with a preset value of queue size, after receiving a network heartbeat message sent by the second system, puts a timestamp of the second system carried in the network heartbeat message into the tail of the queue, checks whether the queue is full, and removes the head element of the queue if the queue is full. For example, after receiving the heartbeat message Tslave sent by the redundant system, the main system puts the current heartbeat message Tslave into the tail of the queue.

In the process of determining the network heartbeat frequency, a thread can be newly built, the current time Tcur of the first system is obtained, elements [ T0, T1, T2 … Tn-1] in the queue are checked sequentially from the tail of the queue to the head of the queue, and if any one of the following conditions is met, the check is jumped out: 1) tdiff=tcur-Ti, tdiff > TimeInterval, i-0,1,2, … …, n-1, n is a natural number, where TimeInterval is a system preset value; 2) The number of checked elements is N, N > = TimeInterval/SendPeriod; 3) The queue reaches the head of the queue.

The element in the corresponding queue during the jump-out inspection can be understood as a target time stamp, the difference value between the element in the corresponding queue and the current time of the first system during the jump-out inspection is a target time difference value, and the corresponding N is the target message number.

Thus, a second ratio of the number of the target messages to the target time difference value is calculated, and the second ratio is used as the network heartbeat frequency.

The step of determining the frequency of the control message based on the current time of the first system and the timestamp comprised by the control link message is similar to the step of determining the frequency of the network heartbeat based on the current time of the first system and the timestamp comprised by the network heartbeat message. In the step of determining the network heartbeat frequency based on the current time of the first system and the timestamp included in the network heartbeat message, the step of determining the control message frequency based on the current time of the first system and the timestamp included in the control link message can be realized by replacing the timestamp included in the network heartbeat message with the timestamp included in the control link message.

Determining the control message frequency is similar to determining the network heartbeat frequency, and the determining the control message frequency can be completed by referring to the process of determining the heartbeat frequency in the above embodiment.

In an alternative embodiment, the control includes a chassis driver for controlling the second system to communicate with the vehicle chassis; the controller is for controlling the vehicle chassis to communicate with the first system.

The system detection method of the embodiment of the disclosure can be applied to a scene of a vehicle control system, and particularly the system detection method of the embodiment of the disclosure can be executed by a system for controlling the operation of a vehicle, for example, a first system is a main system, and a second system is a redundant system; alternatively, the first system is a redundant system and the second system is a primary system. The controlled platform is a vehicle, and the controller is a controller for controlling the running of the chassis of the vehicle. In this scenario, the primary or redundant system controls the operation of the vehicle, and the second system sends a first control message to the first system by controlling a chassis driver that communicates with the chassis of the vehicle.

The first system may determine a network heartbeat frequency at which the first system receives network heartbeat messages, the network heartbeat messages including messages sent by the second system to the first system over the network link; determining the control message frequency of a control link message received by a first system, wherein the control link message comprises a message sent to the first system by a second system through a chassis driver; the control controls are for controlling communication of the second system with the vehicle chassis. In this case, the control link message may also be referred to as a chassis link message.

Therefore, the method can realize that whether the second system fails or not is determined by combining the network heartbeat frequency and the control message frequency, can avoid the error judgment of the system failure caused by the influence of the network in the process of determining whether the second system fails or not by only transmitting the message through the network link, and can improve the accuracy of the failure judgment of the vehicle control system. Further, the reliability of the vehicle control system can be improved.

In one implementation, the control link message may include, in addition to a message sent by the second system to the first system through the chassis driver, a message sent to the first system by a controller that controls the vehicle chassis to communicate with the first system. The second system sends a message to the first system through the chassis driver, namely the first control message, and the controller sends a message to the first system, namely the second control message.

The communication link of the message sent to the first system by the chassis driver may be understood as a chassis link, and in particular, the chassis link may include a controller area network (Controller Area Network, CAN) link. The CAN link belongs to bus type serial communication, and the CAN bus structure is divided into two layers: physical layer and data link layer.

The method can be realized, the frequency of the message sent to the first system by the second system through the chassis driver is combined with the frequency of the message sent to the first system by the first system receiving controller, whether the control heartbeat detection is abnormal is determined, and whether the network heartbeat detection is abnormal is further determined based on the network heartbeat frequency so as to jointly determine whether the second system fails or not, so that the accuracy of judging the effectiveness of the vehicle control system is further improved and the reliability of the vehicle control system is improved under the vehicle control scene.

In an alternative embodiment, the system detection method provided by the embodiment of the disclosure may be applied to an autopilot scenario. Namely, the vehicle in the scene of the vehicle control system is an automatic driving vehicle. The embodiment of the disclosure realizes a heartbeat mechanism by using the network and the chassis message, can more accurately diagnose the survivability on the basis of considering the real-time performance, and improves the safety line and the running consistency of automatic driving.

In the automatic driving process, the main system and the redundant system can be understood as effectiveness by detecting the survivability of each other so as to determine which system controls the vehicle, and whether the system is invalid or not is judged more accurately, so that the switching between the systems can be performed more accurately and continuously, and the safety of automatic driving and the consistency of running can be improved.

In a specific example, first, according to the internet protocol addresses (Internet Protocol Address, IP addresses) and ports of the main system and the redundant system, the reader and writer functions are performed simultaneously on the main system and the security system, and at this time, the main system and the redundant system are both servers and clients, send messages to each other, and receive messages from each other.

In this example, a main system is taken as an execution subject and will be described in detail. Similarly, the redundant system may perform similar steps to the primary system to determine if the primary system fails. The primary and redundant systems mutually detect the validity of each other and can also be understood as mutually detecting the corresponding survivability.

The redundant system obtains the timestamp of the current system, namely the redundant system itself, at a system preset value SendPeriod time interval (a first preset time interval), encapsulates the timestamp into a network heartbeat message, and sends the network heartbeat message to the main system.

The main system maintains a queue of a preset value QueueSize of the system, after receiving a network heartbeat message sent by the redundant system, the main system puts a timestamp of the redundant system carried in the network heartbeat message into the tail of the queue, checks whether the queue is full, and removes the head element of the queue if the queue is full. For example, after receiving the heartbeat message Tslave sent by the redundant system, the main system puts the current heartbeat message Tslave into the tail of the queue.

After the network heartbeat information sent by the redundant system is stored in the queue by the main system, the network heartbeat frequency can be determined based on elements in the queue in the process of determining the network heartbeat frequency. The process of determining the network heartbeat frequency based on the elements in the queue has been described in detail in the above embodiments, and will not be described in detail here.

Calculating to obtain the network heartbeat frequency, if the frequency F=N/Tcur-Ti of the heartbeat received by the main system is obtained, checking whether F > =TimeInterval/(2 x sendperiod) is established, if so, indicating that the heartbeat detection by the network communication mechanism is not abnormal at the moment, namely the network link heartbeat detection is normal; otherwise, the term F < TimeInterval/(2×sendperiod) indicates that the heartbeat detection by the network communication mechanism is abnormal, that is, the heartbeat detection of the network link is abnormal, which may be denoted as udp_err, or may be understood as marking the heartbeat detection abnormality identifier udp_err of the network communication mechanism.

The chassis driver of the redundant system sends message information to the chassis driver of the main system at intervals of Period, and the ID of the message is ID _slave 。

The chassis driver of the main system receives the message information uploaded by the chassis, and the message ID is divided into two types, wherein one type is the message information automatically sent by the vehicle chassis, namely the chassis message, and the ID is ID _idle The other is a message sent by a redundant system driver, namely a chassis link message, and the ID is ID _slave Respectively counting IDs by using a mechanism similar to the calculation of network heartbeat frequency _idle And ID _slave Corresponding frequencies. Specifically ID _idle The corresponding frequency, i.e. the chassis transmission frequency in the above embodiment, ID _slave The corresponding frequency is the frequency of the chassis link message in the above embodiment.

If ID _slave And ID _idle If the corresponding frequencies are abnormal, the chassis link of the main system is indicated to be in problem, in this case, the main system failure (which can be understood as a failure) can be determined, that is, the first system failure is determined, and meanwhile, after the main system failure is determined, the problem can be reported to warn. If ID _slave The corresponding frequency is normal, ID _idle The corresponding frequency is abnormal, which indicates that the chassis message has a problem, under the condition, the failure of the main system can be determined, and the problem can be reported to warn after the failure of the main system is determined; if ID _idle The corresponding frequency is normal, ID _slave The corresponding frequency is abnormal, which indicates that the CAN link of the redundant system has a problem at the moment, and is recorded as CAN_ERR. Wherein, ID _slave The corresponding frequency, i.e. the first frequency, ID _idle The corresponding frequency, i.e. the second frequency, ID _slave The occurrence of anomalies at the corresponding frequencies can be understood as ID _slave The corresponding frequency does not satisfy a second condition, and the second condition may include that the chassis link message frequency is not less than a ratio of a system preset value to twice a second preset time interval, where the second preset time interval represents an interval time during which the second system transmits the chassis link message to the first system. ID (identity) _idle The occurrence of anomalies at the corresponding frequencies can be understood as ID _idle The corresponding frequency does not satisfy a third condition, which may include a ratio of the chassis transmission frequency to a third preset time interval that is not less than a system preset value and twice, where the third preset time interval represents an interval time during which the vehicle chassis transmits the chassis message to the first system. ID (identity) _slave The corresponding frequency does not satisfy the second condition and the ID _idle If the corresponding frequency satisfies the third condition, the CAN_ERR and ID are marked _slave The corresponding frequency does not satisfy the second condition and the ID _idle The corresponding frequency does not satisfy the third condition, or, ID _slave The corresponding frequency satisfies the second condition and ID _idle The corresponding frequency does not meet the third condition, which indicates that the chassis link of the main system is problematic, and the main system failure can be determined.

If the CAN_ERR and the UDP_ERR occur simultaneously, the redundant system is judged to have a fault abnormality at the moment, namely the redundant system is judged to be invalid, and the fault is also understood as a heartbeat error, and in the case, the main system takes over the vehicle in an emergency.

Similarly, when the redundant system detects that such an error has occurred in the primary system, that is, the redundant system determines that the primary system has failed, the redundant system also takes over the vehicle in an emergency.

The heart state detection mechanism based on the network and the chassis message in the embodiment of the disclosure improves the reliability of the system and reduces the problem of false alarm of heartbeat caused by the network, hardware, programs and the like.

Corresponding to the system detection method provided in the foregoing embodiment, the embodiment of the present disclosure further provides a system detection device, as shown in fig. 5, which may include:

a network heartbeat frequency determining module 501, configured to determine a network heartbeat frequency at which the first system receives a network heartbeat message, where the network heartbeat message includes a message sent by the second system to the first system through a network link;

a control message frequency determining module 502, configured to determine a control message frequency at which the first system receives a control link message, where the control link message includes a message sent by the second system to the first system through a control element; the control is used for controlling the communication between the second system and the components in the controlled platform;

a validity determining module 503, configured to determine whether the second system fails based on the network heartbeat frequency and the control message frequency.

Optionally, the validity determining module 503 is specifically configured to determine whether the network heartbeat detection is abnormal based on the network heartbeat frequency; determining whether the control heartbeat detection is abnormal or not based on the control message frequency; and determining that the second system fails in response to and controlling the network heartbeat detection anomaly.

Optionally, the validity determining module 503 is specifically configured to determine that the network heartbeat detection is abnormal in response to the network heartbeat frequency not meeting the first condition; and determining that the network heartbeat detection is normal in response to the network heartbeat frequency meeting the first condition.

Optionally, the first condition includes that the network heartbeat frequency is not less than a first preset frequency, or that the network heartbeat frequency is not less than a ratio of a system preset value to twice the first preset time interval.

Optionally, the control message frequency determining module 502 is specifically configured to determine a first frequency, where the first frequency is a frequency at which the first system receives a first control message, and the first control message includes a message sent by the second system to the first system through the control; determining a second frequency, wherein the second frequency is the frequency of the first system receiving a second control message, the second control message comprises a message sent to the first system by a controller, and the controller is used for controlling the communication between the components in the controlled platform and the first system;

The validity determining module 503 is specifically configured to determine whether the heartbeat detection is abnormal based on the first frequency and the second frequency.

Optionally, the validity determining module 503 is specifically configured to determine to control the heartbeat to detect the abnormality in response to the first frequency not meeting the second condition and the second frequency meeting the third condition.

Optionally, as shown in fig. 6, the apparatus further includes:

the first system fault determining module 601 is configured to determine whether the first system fails based on the second frequency.

Optionally, the first system failure determining module 601 is specifically configured to determine that the first system fails in response to the first frequency not meeting the second condition and the second frequency not meeting the third condition; alternatively, the first system failure is determined in response to the first frequency satisfying the second condition and the second frequency not satisfying the third condition.

Optionally, the second condition includes that the first frequency is not less than a second preset frequency, or that the first frequency is not less than a ratio of a system preset value to twice a second preset time interval; the third condition includes the second frequency not being less than a third preset frequency, or the second frequency not being less than a ratio of a system preset value to twice a third preset time interval.

Optionally, the network heartbeat frequency determining module 501 is specifically configured to determine a network heartbeat frequency based on the current time of the first system and a timestamp included in the network heartbeat message;

The control message frequency determining module 502 is specifically configured to determine the control message frequency based on the current time of the first system and a timestamp included in the control link message.

Optionally, the network heartbeat frequency determining module 501 is specifically configured to compare, according to a time sequence of time stamps included in each network heartbeat message, a current time of the first system with the time stamps included in each network heartbeat message; and responding to the time difference between the current time of the first system and one of the time stamps included in each network heartbeat message to meet the preset message receiving requirement, and calculating the network heartbeat frequency by utilizing the time difference and the time stamp meeting the preset message receiving requirement, wherein the preset message receiving requirement indicates that the heartbeat transmission is normal.

Optionally, the time stamps included in each network heartbeat message are stored in the queue according to time sequence;

the network heartbeat frequency determining module 501 is specifically configured to compare, in order from the tail to the head of the queue, a current time of the first system with a timestamp included in the queue;

the preset message receiving requirements include: and calculating a time difference value corresponding to the time stamp not smaller than a system preset value, wherein the calculated message quantity is not smaller than a first ratio, or the queue reaches the head of the queue, wherein the first ratio is the ratio of the system preset value to a first preset time interval, and the calculated message quantity represents the number of the time stamps compared with the current time of the first system.

Optionally, the control controls include a chassis driver for controlling the second system to communicate with the vehicle chassis; the controller is for controlling the vehicle chassis to communicate with the first system.

In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public order colloquial is not violated.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 7 illustrates a schematic block diagram of an example electronic device 700 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 7, the electronic device 700 includes a computing unit 701 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 may also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

Various components in the electronic device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, etc.; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, an optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The computing unit 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 performs the respective methods and processes described above, such as a system detection method. For example, in some embodiments, the system detection method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 700 via ROM 702 and/or communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the system detection method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the system detection method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

The disclosed embodiments also provide a vehicle including: such as the electronic device shown in the embodiment of fig. 7.

The vehicle may include an autopilot car or the like.

The embodiment of the disclosure also provides a cloud control platform, which comprises: such as the electronic device shown in the embodiment of fig. 7.

The cloud control platform performs processing at the cloud, and electronic equipment included in the cloud control platform can acquire data of the vehicle, such as pictures, videos and the like, so that image video processing and data calculation are performed; the cloud control platform can also be called a vehicle-road collaborative management platform, an edge computing platform, a cloud computing platform, a central system, a cloud server and the like.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A system detection method, comprising:

determining a network heartbeat frequency of a first system receiving a network heartbeat message, wherein the network heartbeat message comprises a message sent by a second system to the first system through a network link;

determining whether the second system fails based on the network heartbeat frequency and the control message frequency;

wherein the determining whether the second system fails based on the network heartbeat frequency and the control message frequency includes:

determining whether network heartbeat detection is abnormal or not based on the network heartbeat frequency;

determining whether the control heartbeat detection is abnormal or not based on the control message frequency;

determining that the second system is failed in response to the network heartbeat detection anomaly and the control heartbeat detection anomaly;

wherein the determining the control message frequency of the first system for receiving the control link message includes:

Determining a first frequency, wherein the first frequency is the frequency of the first system receiving a first control message, and the first control message comprises a message sent to the first system by the second system through the control;

determining a second frequency, wherein the second frequency is the frequency of the first system receiving a second control message, the second control message comprises a message sent to the first system by a controller, and the controller is used for controlling the communication between a component in the controlled platform and the first system;

the determining whether the control heartbeat detection is abnormal based on the control message frequency comprises the following steps:

based on the first frequency and the second frequency, it is determined whether controlling heartbeat detection is abnormal.

2. The method of claim 1, wherein the determining whether network heartbeat detection is abnormal based on the network heartbeat frequency comprises:

determining that the network heartbeat detection is abnormal in response to the network heartbeat frequency not meeting a first condition;

and determining that the network heartbeat detection is normal in response to the network heartbeat frequency meeting the first condition.

3. The method of claim 2, wherein the first condition comprises the network heartbeat frequency not being less than a first preset frequency or the network heartbeat frequency not being less than a ratio of a system preset value to twice a first preset time interval.

4. The method of claim 1, wherein the determining whether controlling heartbeat detection is abnormal based on the first frequency and the second frequency comprises:

responsive to the first frequency not meeting a second condition and the second frequency meeting a third condition, it is determined to control the heartbeat detection anomaly.

5. The method of claim 1, the method further comprising:

determining whether the first system fails based on the second frequency.

6. The method of claim 5, wherein the determining whether the first system is failed based on the second frequency comprises:

determining that the first system fails in response to the first frequency not meeting a second condition and the second frequency not meeting a third condition; alternatively, the first system is determined to fail in response to the first frequency meeting the second condition and the second frequency not meeting the third condition.

7. The method of claim 4 or 6, wherein the second condition comprises the first frequency being not less than a second preset frequency, or the first frequency being not less than a ratio of a system preset value to twice a second preset time interval; the third condition includes the second frequency not being less than a third preset frequency, or the second frequency not being less than a ratio of the system preset value to twice a third preset time interval.

8. The method of claim 1, wherein the determining a network heartbeat frequency at which the first system receives network heartbeat messages comprises:

determining a network heartbeat frequency based on a current time of the first system and a timestamp included in the network heartbeat message;

the determining the control message frequency of the first system for receiving the control link message includes:

and determining the frequency of the control message based on the current time of the first system and the timestamp included in the control link message.

9. The method of claim 8, wherein the determining a network heartbeat frequency based on the current time of the first system and a timestamp included in the network heartbeat message comprises:

comparing the current time of the first system with the time stamp included in each network heartbeat message according to the time sequence of the time stamp included in each network heartbeat message;

and responding to the time difference between the current time of the first system and one of time stamps included in each network heartbeat message to meet a preset message receiving requirement, and calculating the network heartbeat frequency by using the time difference and the time stamp meeting the preset message receiving requirement, wherein the preset message receiving requirement indicates that heartbeat transmission is normal.

10. The method of claim 9, wherein the timestamps included in the respective network heartbeat messages are stored in a queue in chronological order;

the comparing the current time of the first system with the time stamp included in each network heartbeat message according to the time sequence of the time stamp included in each network heartbeat message comprises the following steps:

comparing the current time of the first system with the time stamp included in the queue according to the sequence from the tail to the head of the queue;

the preset message receiving requirements include: and calculating the time difference value corresponding to the time stamp to be not smaller than a system preset value, wherein the calculated message quantity is not smaller than a first ratio, or the queue reaches the head of the queue, wherein the first ratio is the ratio of the system preset value to a first preset time interval, and the calculated message quantity represents the quantity of the time stamp which is compared with the current time of the first system.

11. The method of any of claims 1-6 or 8-10, wherein the control comprises a chassis driver for controlling the second system to communicate with a vehicle chassis; the controller is for controlling the vehicle chassis to communicate with the first system.

12. A system detection device, comprising:

the network heartbeat frequency determining module is used for determining the network heartbeat frequency of the first system for receiving the network heartbeat messages, wherein the network heartbeat messages comprise messages sent to the first system by the second system through a network link;

the validity determining module is used for determining whether the second system fails or not based on the network heartbeat frequency and the control message frequency;

the validity determining module is specifically configured to determine whether network heartbeat detection is abnormal based on the network heartbeat frequency; determining whether the control heartbeat detection is abnormal or not based on the control message frequency; determining that the second system is failed in response to the network heartbeat detection anomaly and the control heartbeat detection anomaly;

the control message frequency determining module is specifically configured to determine a first frequency, where the first frequency is a frequency at which the first system receives a first control message, and the first control message includes a message sent by the second system to the first system through the control; determining a second frequency, wherein the second frequency is the frequency of the first system receiving a second control message, the second control message comprises a message sent to the first system by a controller, and the controller is used for controlling the communication between a component in the controlled platform and the first system;

The validity determining module is specifically configured to determine whether the heartbeat detection is abnormal based on the first frequency and the second frequency.

13. The apparatus of claim 12, wherein the validity determination module is configured to determine that a network heartbeat detection anomaly in response to the network heartbeat frequency not meeting a first condition; and determining that the network heartbeat detection is normal in response to the network heartbeat frequency meeting the first condition.

14. The apparatus of claim 13, wherein the first condition comprises the network heartbeat frequency not being less than a first preset frequency or the network heartbeat frequency not being less than a ratio of a system preset value to twice a first preset time interval.

15. The apparatus of claim 12, wherein the validity determination module is specifically configured to determine to control the heartbeat detection anomaly in response to the first frequency not meeting a second condition and the second frequency meeting a third condition.

16. The apparatus of claim 12, wherein the validity determination module is specifically configured to determine to control the heartbeat detection anomaly in response to the first frequency not meeting a second condition and the second frequency meeting a third condition.

17. The apparatus of claim 16, wherein the first system failure determination module is specifically configured to determine that the first system fails in response to the first frequency not meeting a second condition and the second frequency not meeting a third condition; alternatively, the first system is determined to fail in response to the first frequency meeting the second condition and the second frequency not meeting the third condition.

18. The apparatus of claim 15 or 17, wherein the second condition comprises the first frequency being no less than a second preset frequency, or the first frequency being no less than a ratio of a system preset value to twice a second preset time interval; the third condition includes the second frequency not being less than a third preset frequency, or the second frequency not being less than a ratio of the system preset value to twice a third preset time interval.

19. The apparatus of claim 12, wherein the network heartbeat frequency determination module is configured to determine a network heartbeat frequency based on a current time of the first system and a timestamp included in the network heartbeat message;

the control message frequency determining module is specifically configured to determine a control message frequency based on a current time of the first system and a timestamp included in the control link message.

20. The apparatus of claim 19, wherein the network heartbeat frequency determination module is specifically configured to compare the current time of the first system with the time stamp included in each network heartbeat message according to a time sequence of the time stamps included in each network heartbeat message; and responding to the time difference between the current time of the first system and one of time stamps included in each network heartbeat message to meet a preset message receiving requirement, and calculating the network heartbeat frequency by using the time difference and the time stamp meeting the preset message receiving requirement, wherein the preset message receiving requirement indicates that heartbeat transmission is normal.

21. The apparatus of claim 20, wherein the timestamps included in the respective network heartbeat messages are stored in a queue in chronological order;

the network heartbeat frequency determining module is specifically configured to compare, according to an order from a tail of the queue to a head of the queue, a current time of the first system with a timestamp included in the queue;

22. The apparatus of any of claims 12 to 17 or 19 to 21, wherein the control comprises a chassis driver for controlling the second system to communicate with a vehicle chassis; the controller is for controlling the vehicle chassis to communicate with the first system.

23. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.

24. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-11.

25. A vehicle, comprising: the electronic device of claim 23.

26. A cloud control platform comprising the electronic device of claim 23.