CN112118991A - A sensor detection method and vehicle control terminal - Google Patents

Abstract

A sensor detection method and a vehicle-mounted control terminal are provided, wherein the method comprises the following steps: acquiring the registration information of the sensor, receiving the data sent by the sensor, determining the current state of the sensor according to the registration information and the data sent by the sensor, and sending a corresponding control instruction for controlling the vehicle according to the current state of the sensor. By implementing the method, the state of the sensor can be monitored in real time, and when the sensor is found to be abnormal, the automatic driving system can process the abnormal state in time, so that the traffic accident probability of automatic driving can be reduced to a certain extent, and the overall reliability and robustness of the automatic driving system are improved.

Description

A sensor detection method and vehicle control terminal

technical field

The invention relates to the technical field of automatic driving control, in particular to a sensor detection method and a vehicle-mounted control terminal.

Background technique

A self-driving car is a smart car that relies on a computer system to replace the driver to achieve driverless driving. The core of an autonomous vehicle is the autonomous driving system, which is highly dependent on sensor technology, which mainly relies on various sensors (including cameras, lidars, inertial navigation systems, global positioning systems, etc.) information, and then through the calculation of the computer system how to proceed to the next step. Stable and reliable sensor data transmission is a prerequisite for ensuring the safety of autonomous driving. When an abnormality occurs in the sensor, if the automatic driving system does not detect the abnormality, it may cause the automatic driving system to produce wrong actions, which may lead to traffic accidents.

At present, the automatic driving system cannot realize the monitoring of real-time sensor links and status. When the sensors are abnormal, the automatic driving system cannot identify these abnormalities in time, which may lead to the occurrence of traffic accidents of different levels, making the automatic driving system insufficient. Reliable and robust.

SUMMARY OF THE INVENTION

The embodiments of the present invention provide a sensor detection method and a vehicle-mounted control terminal, which can monitor the state of the sensor in real time. When the sensor is abnormal, the automatic driving system can process it in time, which can reduce the traffic accident probability of automatic driving to a certain extent. This improves the overall reliability and robustness of the autonomous driving system.

A first aspect of the embodiments of the present invention provides a sensor detection method, which is applied to safe driving of a vehicle, and the method includes:

obtain the registration information of the sensor;

receive data sent by the sensor;

Determine the current state of the sensor according to the registration information and the data sent by the sensor;

According to the current state of the sensor, a corresponding control command for controlling the vehicle is issued.

A second aspect of the embodiments of the present invention provides a vehicle-mounted control terminal, a sensor and a memory, the processor and the memory are connected to each other, wherein:

the memory is used to store a computer program, the computer program includes program instructions;

When the processor calls the program instructions, it is used to execute:

obtain the registration information of the sensor;

receive data sent by the sensor;

Determine the current state of the sensor according to the registration information and the data sent by the sensor;

According to the current state of the sensor, a corresponding control command for controlling the vehicle is issued.

A third aspect of the embodiments of the present invention provides a sensor detection device, which is applied to safe driving of vehicles, and the device includes:

an acquisition module for acquiring the registration information of the sensor;

a receiving module for receiving data sent by the sensor;

a determining module, configured to determine the current state of the sensor according to the registration information and the data sent by the sensor;

The control module is configured to issue corresponding control instructions for controlling the vehicle according to the current state of the sensor.

A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program implements the sensor detection method described in the first aspect above when the computer program is executed by a processor.

The embodiment of the present invention can acquire the registration information of the sensor, receive the data sent by the sensor, determine the current state of the sensor according to the registration information and the data sent by the sensor, and issue a corresponding control command to control the vehicle according to the current state of the sensor, so as to Real-time monitoring of the sensor status, when the sensor is found to be abnormal, the automatic driving system can give an alarm and emergency response in time, which can reduce the probability of automatic driving traffic accidents to a certain extent, thereby improving the overall reliability and robustness of the automatic driving system.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of a sensor detection method disclosed in an embodiment of the present invention;

2a is a schematic structural diagram of an automatic driving system disclosed in an embodiment of the present invention;

2b is a schematic diagram of a monitoring relationship between link anomalies and state anomalies disclosed in an embodiment of the present invention;

3 is a schematic structural diagram of a sensor detection device disclosed in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a vehicle-mounted control terminal disclosed in an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The sensor detection method provided by the embodiments of the present invention can be applied to scenarios such as automatic driving, and is used to reduce the probability of traffic accidents in automatic driving, improve the ability of the automatic driving system to alarm in time and deal with emergencies, and make the automatic driving system more reliable and robust.

Please refer to FIG. 1 , which is a schematic flowchart of a sensor detection method according to an embodiment of the present invention. The sensor detection method described in this embodiment is applied to the vehicle-mounted control terminal, and may include the following steps:

101. Acquire registration information of the sensor.

Wherein, the sensor may include, but is not limited to, at least one of the following: a camera, a lidar, an inertial navigation system, and a global positioning system.

The registration information includes one or more of the sensor type, address list, data generation frequency range, maximum frame interval duration, correspondence between fault codes and fault descriptions, data value ranges, and processing mechanisms when the sensor is abnormal .

Specifically, the registration information of each sensor installed on the vehicle can be submitted to the on-board control terminal of the automatic driving system, and the on-board control terminal obtains the registration information of each sensor.

102. Receive data sent by the sensor.

Specifically, after the vehicle is started, each sensor starts to work, and sends its own sensor data to the vehicle-mounted control terminal, and the vehicle-mounted control terminal receives the data of each sensor.

103. Determine the current state of the sensor according to the registration information and the data sent by the sensor.

Specifically, the vehicle-mounted control terminal may use the registration information as reference data, and after receiving the data of the sensor, compare the data of the sensor with the registration information, and determine the current state of the sensor according to the comparison result.

104. Send out a corresponding control instruction for controlling the vehicle according to the current state of the sensor.

Specifically, when the current state of the sensor indicates that the sensor is abnormal, the vehicle-mounted control terminal can obtain the target processing mechanism corresponding to the abnormal sensor, and generate corresponding control instructions to control the vehicle. The corresponding control instructions include one or more of the following control instructions: throttle control, steering control, and light control.

In the embodiment of the present invention, the vehicle-mounted control terminal acquires the registration information of the sensor, receives the data sent by the sensor, determines the current state of the sensor according to the registration information and the data sent by the sensor, and sends out a corresponding response to control the vehicle according to the current state of the sensor. Control instructions, so that through the real-time monitoring of the sensor status, the automatic driving system can improve the processing ability of the automatic driving system when the sensor is abnormal, reduce the probability of traffic accidents, and make the automatic driving system more reliable and robust.

In an implementation manner, when the current state of the sensor is abnormal, it may specifically include at least one of the following: abnormal state and abnormal link. The abnormal state may specifically include at least one of the following: the sensor is not activated, the sensor self-detects a fault, the sensor data is abnormal, and the link abnormality may specifically include at least one of the following: the sensor link is disconnected, and the frequency of the sensor data is abnormal.

It can be seen that the current state of the sensor can accurately locate the problem of the sensor, so that the driver can perform corresponding protection actions according to the specific situation, and it is also convenient for maintenance personnel to quickly locate the fault point of the automatic driving system, thereby improving the overall reliability of the automatic driving system. robustness.

In an implementation manner, the data sent by the sensor may include the address of the sensor that has been successfully activated, and the registration information may include the address list of at least one sensor. After the automatic driving system is powered on and works, and the self-address sent by the sensor is successfully received , the vehicle control terminal will compare the address list in the registration information and the received sensor address, and when it finds that the received address is less than the registered address, it will determine the sensor that failed to start. At this time, the current state of the sensor that failed to start belongs to The sensor in the abnormal state is not activated.

In an implementation manner, for the first sensor of the sensor after the successful startup, the vehicle-mounted control terminal will obtain the characteristic parameters of the first sensor when the data is sent, and the characteristic parameters here include the target time of the last frame of data sent by the first sensor. , the first sensor is any one of the sensors that have been successfully activated, and the registration information can include the maximum frame interval duration. When the duration between the target time and the current time reaches the maximum frame interval duration, it is determined that the link of the first sensor is abnormal. Specifically It is described that the sensor abnormality is the sensor link disconnection in the link abnormality.

For example, assuming that the target time of the last frame of data sent by the first sensor is 14:25:30, and the maximum frame interval is 1 second, if the next frame has not been received at 14:25:31 frame data, it is determined that the sensor link of this road is disconnected.

In an implementation manner, for the first sensor of the sensor after successful activation, the vehicle-mounted control terminal obtains characteristic parameters when the first sensor sends data, where the characteristic parameters include the frequency at which the first sensor sends data, and the first sensor is activated For any sensor in the successful sensor, the registration information includes the data generation frequency range. If the frequency of the first sensor sending data is not within the data generation frequency range, it is determined that the link of the first sensor is abnormal, and the specific description is that the sensor is abnormal. Indicates that the sensor data frequency is abnormal in the link abnormality.

For example, assuming that the entire data generation frequency range of the registration information is 10-20 Hz, if the frequency of the first sensor sending data is 15 times per second, then the sensor is considered to be normal. If the frequency of the first sensor sending data is per second 9 times or 25 times, then the sensor is considered abnormal, that is, there is abnormal sensor data frequency.

In an implementation manner, the registration information includes a data value range, and for the second sensor among the sensors whose startup is successful and the link is not abnormal, the vehicle-mounted control terminal obtains and receives data sent by the second sensor that does not contain a data value. The number or proportion of data within the range, where the second sensor is any one of the sensors that are successfully activated and the link is not abnormal. If the number or proportion reaches a preset value, the second sensor is determined as an abnormal sensor, which is specifically described as abnormal sensor data in abnormal state.

For example, it is assumed that the number of data that is not within the data value range in the received data sent by the second sensor is 6, or the proportion is 5.5%, and the on-board control terminal is mainly responsible for recording here. The number is 5, and the preset proportion is 5%, then it can be clearly seen that 6 is greater than 5, and 5.5% is also greater than 5%. Therefore, it can be determined that the second sensor has abnormal status, specifically sensor data abnormality.

In an implementation manner, the registration information includes the corresponding relationship between the fault code and the fault description, and the vehicle-mounted control terminal obtains the fault code sent by the first sensor that has been successfully started, and uses the corresponding relationship between the fault code and the fault description to determine the fault code sent by the first sensor. The target fault description corresponding to the fault code. If the target fault description indicates that the first sensor is faulty, the first sensor is determined to be an abnormal sensor, and the specific description is that the sensor abnormality is the number of sensors in the abnormal state that self-detected a fault.

It can be seen that by determining the current state of the sensor through the registration information and the data sent by the sensor, it is convenient for the automatic driving system to better detect the problem of the sensor, so as to provide the driver with alarm information in time and assist the upper-level algorithm to execute the corresponding response to the abnormal situation. protection actions, thereby improving the overall reliability and robustness of the autonomous driving system.

In an implementation manner, the registration information includes a processing mechanism when the sensor is abnormal, and the vehicle-mounted control terminal outputs an alarm message for the abnormal sensor and obtains the abnormality type and/or sensor type of the abnormal sensor, from the processing when the sensor is abnormal. The target processing mechanism corresponding to the abnormal type and/or sensor type is determined in the mechanism, and the vehicle is controlled according to the target processing mechanism. Among them, the processing mechanism when the sensor is abnormal includes one or more of activating the backup sensor, refusing to drive after starting, adjusting the automatic driving level, decelerating, stopping, and turning on the hazard warning flasher.

It can be seen that through the current state of the sensor, combined with the specific control instructions, the vehicle can be controlled more conveniently and accurately, so that the automatic driving system can be solved in a timely manner when there is a problem, and achieve more efficient control, thereby improving the overall automatic driving system. reliability and robustness.

Please refer to FIG. 2a , which is a schematic structural diagram of an automatic driving system framework provided by an embodiment of the present invention. The automatic driving system framework includes an execution unit 201, a computing unit 202, and a sensor unit 203, wherein:

The execution unit 201 may specifically include accelerator control, steering control, lighting control, and the like.

Specifically, the execution unit 201 is used to issue corresponding control instructions for controlling the vehicle according to the current state of the sensors, such as enabling backup sensors, refusing to drive after starting, adjusting the level of automatic driving, decelerating, stopping, and opening dangers Alarm flash, etc.

The computing unit 202 includes a system common middleware, a human-computer interaction interface, a planning algorithm layer, a perception algorithm layer, and a hardware abstraction layer. Among them, the planning algorithm layer is the control unit acting on the execution unit 201, and the hardware abstraction layer is acting on the sensor of the sensor unit 203; the human-computer interaction interface is used for alarming, and the alarming form can be in the form of voice, or it can be in the form of interface pop-up display. .

The sensor unit 203 may include a camera, a lidar, an inertial navigation system, a global positioning system, and the like. Specifically, any sensor in the sensor unit 203 is installed on the vehicle body.

It can be seen that the above sensor detection method can run on the hardware abstraction layer of the automatic driving system shown in Figure 2. Real-time detection, each unit of the automatic driving system cooperates with each other, so that the automatic driving system can detect sensor problems in time, and through the real-time monitoring of the sensor status, the automatic driving system can improve the timely alarm and emergency handling capabilities, and reduce the probability of traffic accidents. Make the autonomous driving system more reliable and robust.

Please refer to FIG. 2b, which is a schematic diagram of a monitoring relationship between link abnormality and state abnormality provided by an embodiment of the present invention, wherein:

First, the vehicle control terminal judges whether the sensor is activated. If the sensor is activated successfully, it determines whether the link is abnormal. If the sensor is not activated, it directly activates the sensor and does not start monitoring.

Further, the vehicle-mounted control terminal judges the link of the sensor. Here, the judgment of whether the sensor link is normal is performed from the maximum frame interval duration of the sensor data and the normal frequency range of the sensor data.

Among them, for the first sensor in the sensors after the successful startup, the automatic driving system will obtain the characteristic parameters when the first sensor sends data, the characteristic parameters here include the target time of the last frame of data sent by the first sensor, and the registration information is When the maximum frame interval duration is set, when the distance between the target time and the current time reaches the maximum frame interval duration, the sensor will be monitored for link disconnection.

Alternatively, the characteristic parameter may also include the frequency of data sent by the first sensor, and the registration information includes the frequency range of data generation. If the frequency of data sent by the first sensor is not within the frequency range of data generation, the sensor will be monitored for frequency abnormality. The solutions are all cases where the sensor link is disconnected.

Further, when the sensor is normally started and the link is not disconnected, the data and fault codes of the sensor are monitored.

Specifically, the registration information includes a data value range, and for the second sensor among the sensors whose startup is successful and the link is not abnormal, obtain the number of received data sent by the second sensor that is not within the data value range, or If the number or the proportion reaches a preset value, the second sensor is monitored for abnormal sensor data.

Alternatively, the registration information includes the corresponding relationship between the fault code and the fault description, and the vehicle-mounted control terminal obtains the fault code sent by the first sensor that has been successfully started, and uses the corresponding relationship between the fault code and the fault description to determine the target corresponding to the fault code sent by the first sensor. Fault description, if the target fault description indicates that the first sensor has a fault, the sensor fault code monitoring is performed on the first sensor.

In the embodiment of the present invention, it is possible to monitor whether the sensor is successfully started, whether the sensor link is disconnected, and whether the data state of the sensor is abnormal, so that the reliability and robustness of the automatic driving system can be greatly improved, and the risk of traffic accidents can be reduced. probability.

Please refer to FIG. 3 , which is a schematic structural diagram of a sensor detection device according to an embodiment of the present invention. The sensor detection device 30 includes an acquisition module 301, a receiving module 302, a determination module 303, and a control module 304:

an acquisition module 301, configured to acquire the registration information of the sensor;

a receiving module 302, configured to receive data sent by the sensor;

A determination module 303, configured to determine the current state of the sensor according to the registration information and the data sent by the sensor;

The control module 304 is configured to issue a corresponding control instruction for controlling the vehicle according to the current state of the sensor.

Optionally, the registration information includes one of the sensor type, address list, data generation frequency range, maximum frame interval duration, correspondence between fault codes and fault descriptions, data value ranges, and a processing mechanism when the sensor is abnormal. or more.

Optionally, the current state of the sensor includes at least one of the following: abnormal state and abnormal link. The state abnormality includes at least one of the following: the sensor is not started, the sensor self-detects a fault, and the sensor data is abnormal; the link abnormality includes at least one of the following: the sensor link is disconnected, and the sensor data frequency is abnormal.

Optionally, the sensor includes at least one of the following: a camera, a lidar, an inertial navigation system, and a global positioning system.

Optionally, the corresponding control instructions include one or more of the following control instructions: accelerator control, steering control, and lighting control.

Optionally, the determining module 303 is specifically used for:

An abnormal sensor is determined from at least one of the sensors according to the registration information and data sent by the respective sensors.

Optionally, the control module 304 is further configured to:

The vehicle is controlled according to the target processing mechanism corresponding to the abnormal sensor.

Optionally, the determining module 303 is specifically used for:

determining a sensor that fails to start from at least one of the sensors according to the address list and the addresses of the sensors that are successfully started;

The sensor that fails to start is determined to be an abnormal sensor.

Optionally, for the first sensor in the successfully activated sensors, the acquisition module 301 is further configured to acquire characteristic parameters when the first sensor sends data, and the first sensor is the successfully activated sensor. Any one of the sensors, the characteristic parameter includes the target time of the last frame of data sent by the first sensor or the frequency of data sent by the first sensor;

The determining module 303 is further configured to determine whether the first sensor is a sensor with abnormal link according to the characteristic parameter;

If so, the determining module 303 determines the first sensor as an abnormal sensor.

Optionally, the determining module 303 is specifically used for:

The characteristic parameter includes the target time of the last frame of data sent by the first sensor, the registration information further includes the maximum frame interval duration, and the determining whether the first sensor is abnormal in the link according to the characteristic parameter The sensor, if the duration between the target time and the current time reaches the maximum frame interval duration, determine that the link of the first sensor is abnormal.

Optionally, the determining module 303 is specifically used for:

The characteristic parameter includes the frequency at which the first sensor sends data, the registration information further includes a data generation frequency range, and the determining whether the first sensor is a sensor with an abnormal link according to the characteristic parameter, if the If the frequency of the data sent by the first sensor is not within the data generation frequency range, it is determined that the link of the first sensor is abnormal.

Optionally, the registration information further includes a data value range, and for the second sensor in the sensors whose startup is successful and the link is not abnormal, the obtaining module 301 is further configured to obtain the received data sent by the second sensor. The number or proportion of the data that is not within the range of the data value, and the second sensor is any one of the sensors whose startup is successful and the link is not abnormal;

If the number or the proportion reaches a preset value, the determining module 303 is further configured to determine the second sensor as an abnormal sensor.

Optionally, the registration information further includes the corresponding relationship between the fault code and the fault description, and the acquiring module 301 is further configured to acquire the fault code sent by the first sensor;

The determining module 303 is further configured to determine the target fault description corresponding to the fault code sent by the first sensor by using the corresponding relationship between the fault code and the fault description;

The determining module 303 is further configured to determine that the first sensor is an abnormal sensor if the target fault description indicates that the first sensor is faulty.

Optionally, the registration information further includes a processing mechanism when the sensor is abnormal, and the control module 304 is configured to send an alarm message for the abnormal sensor;

The obtaining module 301 is configured to obtain the abnormality type and/or sensor type of the abnormal sensor;

The determining module 303 is configured to determine the abnormal type and/or the target processing mechanism corresponding to the sensor type from the processing mechanism when the sensor is abnormal;

The control module 304 is used to control the vehicle according to the target processing mechanism.

Optionally, the processing mechanism when the sensor is abnormal includes one or more of activating a backup sensor, refusing to drive after starting, adjusting the automatic driving level, decelerating, stopping, and turning on a hazard warning flasher.

In the embodiment of the present invention, the acquisition module 301 acquires the registration information of the sensor, the receiving module 302 receives the data sent by the sensor, and the determination module 303 determines the current state of the sensor according to the registration information and the data sent by the sensor, and according to the current state of the sensor, the control module 304 issues a corresponding control command to control the vehicle. It can be seen that the real-time monitoring of the sensor status can improve the timely alarm and emergency handling capabilities of the automatic driving system, reduce the probability of traffic accidents, and make the automatic driving system more reliable and robust.

Please refer to FIG. 4 , which is a schematic structural diagram of a vehicle-mounted control terminal provided by an embodiment of the present invention. The vehicle-mounted control terminal described in this embodiment includes: a processor 401 and a memory 402 . The above-mentioned processor 401 and memory 402 are connected by a bus.

The aforementioned processor 401 may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC) ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The above-mentioned memory 402 may include read-only memory and random access memory, and provides program instructions and data to the processor 401 . A portion of memory 402 may also include non-volatile random access memory. Wherein, when the processor 401 calls the program instructions, it is used to execute:

obtain the registration information of the sensor;

receive data sent by the sensor;

Determine the current state of the sensor according to the registration information and the data sent by the sensor;

According to the current state of the sensor, a corresponding control command for controlling the vehicle is issued.

Optionally, the processor 401 is specifically used for:

An abnormal sensor is determined from at least one of the sensors according to the registration information and the data sent by the sensor.

Optionally, the processor 401 is specifically used for:

The vehicle is controlled according to the target processing mechanism corresponding to the abnormal sensor.

Optionally, the processor 401 is specifically used for:

determining a sensor that fails to start from at least one of the sensors according to the address list and the addresses of the sensors that are successfully started;

The sensor that fails to start is determined to be an abnormal sensor.

Optionally, the processor 401 is specifically used for:

Determine whether the first sensor is a sensor with abnormal link according to the characteristic parameter;

If so, the first sensor is determined to be an abnormal sensor.

Optionally, the processor 401 is specifically used for:

If the duration between the target time and the current time reaches the maximum frame interval duration, it is determined that the link of the first sensor is abnormal.

Optionally, the processor 401 is specifically used for:

If the frequency of sending data by the first sensor is not within the data generating frequency range, it is determined that the link of the first sensor is abnormal.

Optionally, the processor 401 is specifically used for:

Obtain the number or proportion of data that is not within the data value range in the received data sent by the second sensor;

If the number or the proportion reaches a preset value, the second sensor is determined to be an abnormal sensor.

Optionally, the processor 401 is specifically used for:

Obtain the fault code sent by the first sensor;

Determine the target fault description corresponding to the fault code sent by the first sensor by using the corresponding relationship between the fault code and the fault description;

If the target fault description indicates that the first sensor is faulty, the first sensor is determined to be an abnormal sensor.

In specific implementation, the processor 401 and the memory 402 described in this embodiment of the present invention may perform the implementation described in the sensor detection method provided in FIG. 1 according to the embodiment of the present invention, and may also perform the implementation described in FIG. The implementation of the sensor detection device will not be repeated here.

In the embodiment of the present invention, the processor 401 may acquire the registration information of the sensor, receive the data sent by the sensor, determine the current state of the sensor according to the registration information and the data sent by the sensor, and issue a corresponding response to control the vehicle according to the current state of the sensor. Control commands, through the real-time monitoring of sensor status, can improve the timely alarm and emergency handling capabilities of the automatic driving system, reduce the probability of traffic accidents, and make the automatic driving system more reliable and robust.

An embodiment of the present invention further provides a vehicle, including a vehicle body, at least one sensor, and a vehicle-mounted control terminal, wherein the at least one sensor and the vehicle-mounted control terminal are mounted on the vehicle body, and the vehicle-mounted control terminal The configurations of the above-described respective embodiments can be adopted.

Embodiments of the present invention further provide a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, the program may include some or all of the steps of the sensor detection method in the embodiment corresponding to FIG. 1 .

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

A sensor detection method, device, vehicle-mounted control terminal, and vehicle provided by the embodiments of the present invention have been described above in detail. In this paper, specific examples are used to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only It is used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific embodiments and application scope. The contents of the description should not be construed as limiting the present invention.

Claims (31)

1. A sensor detection method, applied to safe driving of a vehicle, wherein the vehicle is configured with at least one sensor, wherein the method comprises: obtain the registration information of the sensor; receive data sent by the sensor; Determine the current state of the sensor according to the registration information and the data sent by the sensor; According to the current state of the sensor, a corresponding control command for controlling the vehicle is issued. 2. The method according to claim 1, wherein the registration information includes the type of the sensor, the address list, the data generation frequency range, the maximum frame interval duration, the corresponding relationship between the fault code and the fault description, the data value range and One or more of the processing mechanisms when the sensor is abnormal. 3. The method according to claim 1, wherein the current state of the sensor comprises at least one of the following: abnormal state and abnormal link; The abnormal state includes at least one of the following: the sensor is not activated, the sensor self-detects a fault, and the sensor data is abnormal; The link abnormality includes at least one of the following: the sensor link is disconnected, and the sensor data frequency is abnormal. 4. The method according to claim 1, wherein the sensor comprises at least one of the following: a camera, a lidar, an inertial navigation system, and a global positioning system. 5 . The method according to claim 1 , wherein the corresponding control instructions include one or more of the following control instructions: throttle control, steering control, and light control. 6 . 6 . The method according to claim 1 , wherein the determining the current state of the sensor according to the registration information and the data sent by the sensor comprises: 6 . An abnormal sensor is determined from at least one of the sensors according to the registration information and the data sent by the sensor. 7. The method according to claim 6, wherein the method further comprises: The vehicle is controlled according to the target processing mechanism corresponding to the abnormal sensor. 8 . The method according to claim 6 , wherein the data sent by the sensor includes an address of a sensor that has been successfully activated, the registration information includes an address list, and the data sent according to the registration information and the sensor An abnormal sensor is determined from at least one of the sensors, including: determining a sensor that fails to start from at least one of the sensors according to the address list and the addresses of the sensors that are successfully started; The sensor that fails to start is determined to be an abnormal sensor. 9. The method according to claim 8, wherein the method further comprises: For the first sensor in the successfully activated sensors, acquire characteristic parameters when the first sensor sends data, the first sensor is any one of the successfully activated sensors, and the characteristic parameters include all The target time of the last frame of data sent by the first sensor or the frequency of data sent by the first sensor; Determine whether the first sensor is a sensor with abnormal link according to the characteristic parameter; If so, the first sensor is determined to be an abnormal sensor. 10 . The method according to claim 9 , wherein the characteristic parameter includes the target time of the last frame of data sent by the first sensor, and the registration information further includes a maximum frame interval duration. The characteristic parameter determines whether the first sensor is a sensor with an abnormal link, including: If the duration between the target time and the current time reaches the maximum frame interval duration, it is determined that the link of the first sensor is abnormal. 11 . The method according to claim 9 , wherein the characteristic parameter comprises a frequency at which the first sensor sends data, the registration information further comprises a data generation frequency range, and the determination of the Whether the first sensor is a sensor with abnormal link, including: If the frequency of sending data by the first sensor is not within the data generating frequency range, it is determined that the link of the first sensor is abnormal. 12 . The method according to claim 9 , wherein the registration information further includes a data value range, and the method further includes: 12 . For the second sensor in the sensors whose startup is successful and the link is not abnormal, obtain the number or proportion of the received data sent by the second sensor that is not within the data value range, and the second sensor The sensor is any one of the sensors whose startup is successful and the link is not abnormal; If the number or the proportion reaches a preset value, the second sensor is determined to be an abnormal sensor. 13. The method according to claim 9, wherein the registration information further comprises the corresponding relationship between the fault code and the fault description, and the method further comprises: Obtain the fault code sent by the first sensor; Determine the target fault description corresponding to the fault code sent by the first sensor by using the corresponding relationship between the fault code and the fault description; If the target fault description indicates that the first sensor is faulty, the first sensor is determined to be an abnormal sensor. 14 . The method according to claim 7 , wherein the registration information includes a processing mechanism when a sensor is abnormal, and the control of the vehicle according to the target processing mechanism corresponding to the abnormal sensor includes: 14 . sending out an alarm message for the abnormal sensor; obtaining the abnormality type and/or sensor type of the abnormal sensor; The abnormal type and/or the target processing mechanism corresponding to the sensor type is determined from the processing mechanism when the sensor is abnormal, and the vehicle is controlled according to the target processing mechanism. 15 . The method according to claim 14 , wherein the processing mechanism when the sensor is abnormal comprises one of activating a backup sensor, refusing to drive after starting, adjusting the automatic driving level, decelerating, stopping, and turning on a hazard warning flasher. 16 . variety. 16. A vehicle-mounted control terminal, characterized in that the vehicle-mounted control terminal comprises: a processor and a memory, the processor and the memory being connected to each other, wherein: the memory is used to store a computer program, the computer program includes program instructions; When the processor calls the program instructions, it is used to execute: obtain the registration information of the sensor; receive data sent by the sensor; Determine the current state of the sensor according to the registration information and the data sent by the sensor; According to the current state of the sensor, a corresponding control command for controlling the vehicle is issued. 17. The vehicle-mounted control terminal according to claim 16, wherein the registration information includes the type of the sensor, the address list, the frequency range of data generation, the maximum frame interval duration, the corresponding relationship between the fault code and the fault description, and the data value. One or more of the range and handling mechanisms for sensor exceptions. 18. The vehicle-mounted control terminal according to claim 16, wherein the current state of the sensor comprises at least one of the following: abnormal state and abnormal link; The abnormal state includes at least one of the following: the sensor is not activated, the sensor self-detects a fault, and the sensor data is abnormal; The link abnormality includes at least one of the following: the sensor link is disconnected, and the sensor data frequency is abnormal. 19. The vehicle-mounted control terminal according to claim 16, wherein the sensor comprises at least one of the following: a camera, a laser radar, an inertial navigation system, and a global positioning system. 20. The vehicle-mounted control terminal according to claim 16, wherein the corresponding control instructions include one or more of the following control instructions: accelerator control, steering control, and lighting control. 21. The vehicle-mounted control terminal according to claims 16 to 20, wherein the processor is specifically used for: An abnormal sensor is determined from at least one of the sensors according to the registration information and the data sent by the sensor. 22. The vehicle-mounted control terminal according to claim 21, wherein the processor is further used for: The vehicle is controlled according to the target processing mechanism corresponding to the abnormal sensor. 23. The vehicle-mounted control terminal according to claim 21, wherein the processor is further used for: determining a sensor that fails to start from at least one of the sensors according to the address list and the addresses of the sensors that are successfully started; The sensor that fails to start is determined to be an abnormal sensor. 24. The vehicle-mounted control terminal according to claim 23, wherein the processor is further used for: For the first sensor in the successfully activated sensors, acquire characteristic parameters when the first sensor sends data, the first sensor is any one of the successfully activated sensors, and the characteristic parameters include all The target time of the last frame of data sent by the first sensor or the frequency of data sent by the first sensor; Determine whether the first sensor is a sensor with abnormal link according to the characteristic parameter; If so, the first sensor is determined to be an abnormal sensor. 25. The vehicle-mounted control terminal according to claim 24, wherein the processor is specifically used for: If the duration between the target time and the current time reaches the maximum frame interval duration, it is determined that the link of the first sensor is abnormal. 26. The vehicle-mounted control terminal according to claim 24, wherein the processor is specifically used for: If the frequency of sending data by the first sensor is not within the data generating frequency range, it is determined that the link of the first sensor is abnormal. 27. The vehicle-mounted control terminal according to any one of claims 24 to 26, wherein the processor is further configured to: For the second sensor in the sensors whose startup is successful and the link is not abnormal, obtain the number or proportion of the received data sent by the second sensor that is not within the data value range, and the second sensor The sensor is any one of the sensors whose startup is successful and the link is not abnormal; If the number or the proportion reaches a preset value, the second sensor is determined to be an abnormal sensor. 28. The vehicle-mounted control terminal according to claim 24, wherein the processor is further used for: Obtain the fault code sent by the first sensor; Determine the target fault description corresponding to the fault code sent by the first sensor by using the corresponding relationship between the fault code and the fault description; If the target fault description indicates that the first sensor is faulty, the first sensor is determined to be an abnormal sensor. 29. The vehicle-mounted control terminal according to claim 22, wherein the processor is specifically used for: outputting an alarm message for the abnormal sensor; obtaining the abnormality type and/or sensor type of the abnormal sensor; The abnormal type and/or the target processing mechanism corresponding to the sensor type is determined from the processing mechanism when the sensor is abnormal, and the vehicle is controlled according to the target processing mechanism. 30. The vehicle-mounted control terminal according to claim 29, wherein the processing mechanism when the sensor is abnormal comprises one of: enabling a backup sensor, refusing to drive after starting, adjusting the automatic driving level, decelerating, stopping, and turning on a hazard warning flasher. one or more. 31. A vehicle, characterized in that the vehicle comprises: body; at least one sensor; The vehicle-mounted control terminal according to any one of claims 16 to 30, wherein the at least one sensor and the vehicle-mounted control terminal are mounted on the vehicle body.

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