CN115366900A

CN115366900A - Vehicle fault detection method and device, vehicle and storage medium

Info

Publication number: CN115366900A
Application number: CN202110535530.6A
Authority: CN
Inventors: 杨岳; 曲彤
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2021-05-17
Filing date: 2021-05-17
Publication date: 2022-11-22

Abstract

A method, an apparatus, a vehicle, a non-transitory computer readable storage medium, and a computer program product for detecting a vehicle fault are provided. The vehicle fault detection method comprises the following steps: receiving first information, wherein the first information comprises first identification information used for identifying a vehicle to be detected which sends the first information and driving instruction information of the vehicle to be detected; in response to receiving the first information, acquiring second information about at least one vehicle around the own vehicle; determining the vehicle to be detected from the at least one vehicle based on the first information and the second information, and determining whether the vehicle to be detected is in a fault state; and in response to determining that the vehicle to be detected is in a fault state, sending a fault state notification to the vehicle to be detected.

Description

Vehicle fault detection method and device, vehicle and storage medium

Technical Field

The present disclosure relates to the field of vehicle safety technologies and intelligent networking technologies, and in particular, to a method and an apparatus for detecting a vehicle fault, a vehicle, a non-transitory computer-readable storage medium, and a computer program product.

Background

In the process of driving, if the external parts (such as steering lamps, brake lamps and the like) of the vehicle are in failure, the driver of the vehicle and the drivers of the vehicles around the driver are difficult to know, and the driver of the vehicle is easy to make wrong judgment, so that serious traffic accidents such as collision or rear-end collision are caused, and the safety risk is high.

With the development of intelligent networking technology, people increasingly use V2X communication for the active safety aspect of vehicles to reduce the occurrence of traffic accidents. Among them, V2X (including vehicle-to-vehicle V2V, vehicle-to-infrastructure V2I, vehicle-to-pedestrian V2P, vehicle-to-cloud V2C, etc.) communication is a communication technology that is not limited to a fixed base station, and provides direct end-to-end wireless communication for moving vehicles. At present, the applications of V2V communication in the active safety aspect of vehicles mainly include traffic accident early warning, emergency stop early warning, turn reminding, overtaking reminding, and the like. However, there is currently no relevant research on the application of V2V technology to vehicle fault detection.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.

Disclosure of Invention

According to an aspect of the present disclosure, there is provided a method of detecting a vehicle fault, including: receiving first information, wherein the first information comprises first identification information used for identifying a vehicle to be detected which sends the first information and driving instruction information of the vehicle to be detected; in response to receiving the first information, obtaining second information about at least one vehicle around the host vehicle; determining the vehicle to be detected from the at least one vehicle based on the first information and the second information, and determining whether the vehicle to be detected is in a fault state; and in response to determining that the vehicle to be detected is in a fault state, sending a fault state notification to the vehicle to be detected.

According to another aspect of the present disclosure, there is provided a vehicle malfunction detection apparatus including: the vehicle-mounted monitoring system comprises a receiving module and a monitoring module, wherein the receiving module is configured to receive first information, and the first information comprises first identification information for identifying a vehicle to be detected which transmits the first information and driving instruction information of the vehicle to be detected; an acquisition module configured to acquire second information about at least one vehicle around a host vehicle in response to receiving the first information; a determination module configured to determine the vehicle to be detected from the at least one vehicle based on the first information and the second information, and determine whether the vehicle to be detected is in a fault state; and a transmitting module configured to transmit a fault status notification to the vehicle to be detected in response to determining that the vehicle to be detected is in a fault status.

According to another aspect of the present disclosure, there is provided a vehicle failure detection apparatus including a processor and a memory storing a program including instructions that, when executed by the processor, cause the processor to perform a vehicle failure detection method according to the present disclosure.

According to another aspect of the present disclosure, there is provided a vehicle including a vehicle malfunction detection apparatus according to the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing a program, the program comprising instructions which, when executed by one or more processors, cause the one or more processors to perform a method of vehicle fault detection according to the present disclosure.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of detection of a vehicle fault according to the present disclosure.

The embodiment of the disclosure provides a method for judging whether a vehicle has a fault by combining information transmitted by vehicle V2V communication and information sensed by a sensor. Specifically, whether the vehicle to be detected is in a fault state is determined based on the received first information from the vehicle to be detected and the acquired second information of the vehicles around the vehicle. And then, if the vehicle to be detected is determined to be in the fault state, transmitting the fault state. By comparing information from different sources to determine the fault state and sending a fault state notification, the fault state of the vehicle to be detected can be more accurately reflected, and early warning can be given to the fault vehicle and surrounding vehicles thereof, so that the driving safety is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.

FIG. 1 is a scene diagram illustrating vehicle fault detection according to an exemplary embodiment;

FIG. 2 is a flow chart illustrating a method of detection of vehicle faults, according to some exemplary embodiments;

FIG. 3 is a flow chart illustrating a method of vehicle fault detection according to further exemplary embodiments;

FIG. 4 is a block diagram illustrating a vehicle fault detection apparatus according to some exemplary embodiments;

FIG. 5 shows a block diagram of a vehicle fault detection apparatus according to some exemplary embodiments; and

fig. 6 is a schematic view of an application scenario of a motor vehicle according to some exemplary embodiments of the present disclosure.

Detailed Description

In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to define a positional relationship, a temporal relationship, or an importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.

The terminology used in the description of the various described examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element may be one or a plurality of. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.

In the driving process of an automobile, for faults occurring on external decorative parts (such as a steering lamp, a brake lamp and the like) of the vehicle, drivers of the vehicle and vehicles around the vehicle are often difficult to know, which easily causes the drivers of the vehicle and vehicles around the vehicle to make wrong judgments, so that serious traffic accidents such as collision or rear-end collision are caused, and the safety risk is high.

In the prior art, most of the detection of vehicle faults is in a self-checking mode, that is, a corresponding detection device or system is additionally arranged on a vehicle to detect the faults of the vehicle. For example, a voltage detection device is added to a vehicle to detect the voltage of a turn signal lamp, thereby determining whether the turn signal lamp is malfunctioning. However, this method of detecting a vehicle failure by incorporating a detection device is complicated, and it is impossible to warn other vehicles.

With the development of intelligent networking technology, people increasingly use V2X communication for the active safety aspect of vehicles to reduce the occurrence of traffic accidents. At present, the applications of V2V communication in the aspect of active safety of vehicles mainly include car accident early warning, emergency stop early warning, turn reminding, overtaking reminding, and the like. However, at present, there is no specific study on the application of the V2V technology to vehicle failure detection.

Accordingly, the disclosed embodiments provide a method for detecting a vehicle fault based on V2V communication. Specifically, whether the vehicle to be detected is in a fault state is determined based on the received first information from the vehicle to be detected and the acquired second information of the vehicles around the vehicle. And then, if the vehicle to be detected is determined to be in the fault state, transmitting the fault state. By comparing information from different sources to determine the fault state and sending a fault state notification, the fault state of the vehicle to be detected can be more accurately reflected, and early warning can be given to the fault vehicle and surrounding vehicles, so that the driving safety is improved.

Here, it should be noted that the detection method of vehicle failure according to the present disclosure may be used to detect failure conditions of components such as lamps (e.g., turn lamps, brake lamps, etc.), wipers, antennas, and the like.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a scene diagram illustrating vehicle fault detection according to an exemplary embodiment. As shown in fig. 1, the vehicle 110 to be detected is about to change lanes to the right, and therefore, the driver of the vehicle 110 to be detected turns on the right turn lamp to indicate to the vehicles around it. At this time, the right front turn signal lamp 111 of the vehicle 110 to be tested is turned on (as indicated by the black square in fig. 1), and the right rear turn signal lamp 112 is not turned on (as indicated by the white square in fig. 1). The vehicle 110 to be detected and the vehicles (host vehicle) 120, 130, 140 are equipped with V2V devices (e.g., on board units OBUs) and can establish a V2V connection, i.e., can broadcast or send information to the host vehicle 120. The V2V connection may employ dedicated short-range communication technology DSRC, V2X communication technology based on LTE mobile cellular network, and V2X communication technology based on 5G, for example. The vehicle (host vehicle) 120 is provided with various sensors including: such as ultrasonic sensors, millimeter wave radar, liDAR (LiDAR), vision cameras, infrared cameras, and the like. The host vehicle 120 may sense the speed, position, relative distance from the host vehicle, and the like of the surrounding vehicle through its sensor, or may capture a picture of the surrounding vehicle through a visual camera, and obtain the license plate number, body color, vehicle brand, status information (for example, whether the vehicle lights are turned on or not) and the like of the surrounding vehicle through analyzing the picture.

FIG. 2 is a flow chart illustrating a method of detection of vehicle faults, according to some exemplary embodiments. The method 2000 of fig. 2 is described below in conjunction with the exemplary scenario of fig. 1. The method 2000 for detecting a vehicle fault includes: step S202, receiving first information, wherein the first information comprises first identification information for identifying the vehicle 110 to be detected which sends the first information and driving instruction information of the vehicle 110 to be detected; step S204, responding to the received first information, acquiring second information about at least one

vehicle

110, 130, 140 around the host vehicle 120; step S206, determining the vehicle 110 to be detected from at least one

vehicle

110, 130, 140 based on the first information and the second information, and determining whether the vehicle 110 to be detected is in a fault state; and step S208, responding to the determination that the vehicle 110 to be detected is in the fault state, sending a fault state notification to the vehicle 110 to be detected.

The detection method of the vehicle fault is based on a V2V communication technology. The vehicle determines the fault condition of the vehicle to be detected based on the first information from the vehicle to be detected and the second information obtained from the vehicles around the vehicle, and sends the fault state notification.

Here, it should be understood that "transmitting the failure state notification to the vehicle under inspection" refers to transmitting any one of the failure state notification and broadcasting the failure state notification end-to-end.

In some embodiments, the first information received by the host vehicle 120 may be the first information sent by the vehicle 110 to be detected to the

other vehicles

120, 130, and 140 after sending the driving instruction, or may be the first information regularly broadcast by the vehicle 110 to be detected. In some examples, the first identification information may include at least one of a location of the vehicle 110 to be detected (e.g., a vehicle satellite navigation location), a vehicle license plate number, a vehicle body color, a vehicle make, a vehicle model, and the like. In some examples, the driving instruction information refers to instruction information issued by a driver of the vehicle to perform corresponding driving behaviors, and includes, for example, information such as a left turn light turn-on instruction, a right turn light turn-on instruction, an acceleration or deceleration instruction, and the like. For example, in the scenario of fig. 1, the driving instruction information sent by the vehicle to be detected 110 is right turn signal turning-on instruction information.

In some embodiments, upon receiving the first information, the host-vehicle 120 acquires second information about at least one

vehicle

110, 130, 140 surrounding the host-vehicle 120 using its sensors. In some examples, the second information includes second identification information for identifying at least one vehicle surrounding the host vehicle, including, for example, at least one of a vehicle satellite navigation location, a relative location to the host vehicle, a vehicle license plate number, a vehicle body color, a vehicle make, a vehicle model, and the like. In some examples, the second information may further include status information associated with the second identification information, that is, status information associated with vehicles in at least one vehicle around the host vehicle, where the status information refers to behavior characteristics exhibited by the vehicle after an instruction is issued by a driver of the vehicle, and includes, for example, information that the left turn light is turned on or not turned on, the right turn light is turned on or not turned on, and the brake light is turned on or not turned on.

In some embodiments, in response to receiving the first information, the host vehicle may trigger an operation of acquiring the second information about at least one vehicle around the host vehicle after it is judged in advance that the driving instruction information in the first information is valid information. That is, as shown in fig. 3, step S204 may include: step S2041, responding to the received first information, and determining whether the driving instruction information is effective; step S2042, in response to determining that the driving instruction information is valid, acquires second information about at least one vehicle around the host-vehicle 120. Therefore, the error of the detection result caused by the misoperation of the driver of the vehicle to be detected (for example, the situation that the left turn light is turned on by mistake and then is turned off immediately) can be avoided, so that the accuracy of the detection result of the vehicle fault is improved, the calculation amount of data is reduced, and the processing efficiency is improved. In some examples, the host vehicle 120 may determine whether the received driving instruction information is valid by counting the number of times that the same driving instruction information of the same vehicle is continuously received within a certain time, and determining whether the number of times exceeds a threshold, or may determine by comparing the driving instruction information with a driving tendency of the vehicle to be detected (for example, whether there is a tendency to change lanes to the left after a left turn light turn-on instruction is issued) obtained based on a signal sensed by a sensor, or may determine by a combination of the above two manners. It is to be understood that the present disclosure is not so limited. For example, in the scenario of fig. 1, after receiving the first information of the vehicle 110 to be detected, the host-vehicle 120 may count the number of times of the left turn-on command information of the vehicle 110 to be detected that is continuously received within a certain time and determine whether the number of times exceeds a threshold value, so as to determine whether the left turn-on command of the vehicle 110 to be detected is valid.

In some embodiments, the second information includes status information associated with the second identification information, and at this time, in step S204, status information related to driving instruction information sent by the vehicle to be detected may also be directly acquired with respect to at least one vehicle around the own vehicle. Therefore, the computing resources of the subsequent steps can be saved, the operation efficiency is improved, and the state information related to the driving instruction information does not need to be selected from the acquired state information in the subsequent steps. For example, in the scenario of fig. 1, the host vehicle 120 may directly acquire information on whether the right turn light of the

vehicles

110, 130, 140 is turned on through a sensor, or may analyze only status information on whether the right turn light is turned on from a picture taken by a visual camera.

In some embodiments, as shown in fig. 3, the step S206 of determining the vehicle to be detected 110 from the at least one

vehicle

110, 130, 140 based on the first information and the second information, and determining whether the vehicle to be detected is in the failure state may include: step S2062 of determining the vehicle 110 to be detected from the at least one

vehicle

110, 130, 140 and acquiring the state information of the vehicle 110 to be detected based on the first identification information and the second identification information; step S2064, determining whether the vehicle 110 to be detected is in a fault state based on the driving instruction information and the state information, so as to directly determine whether the vehicle is in a fault state based on the instruction sent by the vehicle to be detected and the execution result observed by the vehicle, so that the fault detection is simpler and more accurate.

In some embodiments, when the first identification information includes a location of the vehicle 110 to be detected and the second identification information includes a second relative location of a vehicle of the at least one

vehicle

110, 130, 140 from the host vehicle 120, determining the vehicle 110 to be detected from the at least one

vehicle

110, 130, 140 based on the first identification information and the second identification information may include: calculating a first relative position of the vehicle 110 to be detected from the host vehicle 120 based on the position of the vehicle 110 to be detected and the position of the host vehicle 120 in the same coordinate system; and determining a vehicle to be detected from the at least one

vehicle

110, 130, 140 based on the similarity of the first relative position and the second relative position. The method for identifying the vehicle to be detected based on the relative position can increase the accuracy of the identification result, and further increase the accuracy of the fault detection result. In some embodiments, each of the first identification information and the second identification information comprises at least one selected from the group consisting of: when the vehicle license plate number, the vehicle body color, the vehicle brand, the vehicle model and the vehicle satellite navigation position are used, the vehicle to be detected can be determined from at least one

vehicle

110, 130 and 140 directly based on the similarity between the first identification information and the second identification information. This approach is less computationally intensive and increases the efficiency of vehicle fault detection. In some embodiments, the vehicle to be detected may also be determined from at least one vehicle around the host vehicle in a combination of the two manners as desired, but it should be understood that the disclosure is not limited thereto.

In some embodiments, in a case where the second information acquired by the host-vehicle 120 includes state information associated with the second identification information, step S2062 may include: generating a second set of information, wherein the second set of information includes second information for each of the at least one

vehicle

110, 130, 140; and determining the vehicle to be detected 110 from the at least one

vehicle

110, 130, 140 and obtaining the status information of the vehicle to be detected from the second information set based on the first identification information and the second identification information. For example, in the scenario of fig. 1, the second identification information about at least one of the

vehicles

110, 130, and 140 acquired by the host vehicle 120 respectively includes a second relative position (x 1, y 1) of the vehicle 110, a second relative position (x 3, y 3) of the vehicle 130, and a second relative position (x 4, y 4) of the vehicle 140, and the status information about at least one of the

vehicles

110, 130, and 140 includes vehicle light status information L1 of the vehicle 110, vehicle light status information L3 of the vehicle 130, and vehicle light status information L4 of the vehicle 140, so that the second information generated by the host vehicle 120 is { [ (x 1, y 1): L1], [ (x 3, y 3): L3], [ (x 4, y 4): L4 }. By comparing the first relative position (x 0, y 0) and the second relative position (x 1, y 1), (x 3, y 3), (x 4, y 4) obtained based on the vehicle satellite navigation positions of the vehicle 110 to be detected and the host vehicle 120, the vehicle 110 to be detected is identified from at least one of the

vehicles

110, 130, 140 and the lamp state information L1 of the vehicle (i.e., the vehicle 110) to be detected is collectively obtained from the second information.

In some embodiments, the second information of the surrounding vehicles acquired by the host-vehicle 120 may not include status information after receiving the first information. Instead, after the vehicle 110 to be detected is determined from at least one

vehicle

110, 130, 140 based on the first identification information and the second identification information, the state information of the vehicle 110 to be detected is obtained by the sensor on the host vehicle 120. By the mode, the state information of the vehicle to be detected can be acquired in a targeted manner, so that the calculated amount of data is reduced, and the efficiency of vehicle fault detection is improved.

In some embodiments, step S2064 may comprise: selecting target state information related to the driving instruction information of the vehicle to be detected from the state information of the vehicle to be detected; and determining whether the vehicle 110 to be detected is in a fault state based on the driving instruction information and the target state information. For example, in the scenario of fig. 1, after the lamp state information L1 of the vehicle 110 to be detected is obtained, the target state information related to the right turn lamp turn-on instruction of the vehicle 110 to be detected is selected from the lamp state information L1, that is, the right front turn lamp 111 is turned on, and the right rear turn lamp 112 is not turned on. Then, by comparing the right turn signal lamp turn-on command with the target state information, it can be determined that the right front turn signal lamp 111 of the vehicle 110 to be detected is normal and the right rear turn signal lamp 112 has a fault. In some examples, before step S2064, in step S204, second information about at least one vehicle around the host vehicle, that is, state information about at least one vehicle around the host vehicle related to the driving instruction information, may be acquired based on the driving instruction information of the vehicle to be detected, or the state information about the driving instruction information of the vehicle to be detected may be directly acquired in step S2062. In this way, in step S2062, it is not necessary to select the target state information from the state information, thereby saving the computing resources and improving the operating efficiency.

In some embodiments, as shown in fig. 3, when the first information further includes the vehicle ID, in response to determining that the vehicle to be detected is in the failure state, the failure state and the vehicle ID of the vehicle to be detected are broadcast (step S208'), so that the vehicle to be detected and other vehicles can be reminded of the failure state of the vehicle to be detected, thereby increasing the driving safety of the vehicle. The vehicle ID may be, for example, a frame number of the vehicle or a serial number set according to a specific rule that uniquely identifies each vehicle. In the scenario of fig. 1 described above, in the case where it is determined that the rear right turn lamp 112 of the vehicle 110 to be detected is in the failure state, the host vehicle 120 broadcasts the failure of the rear right turn lamp of the vehicle 110 to be detected and the vehicle ID of the vehicle 110 to be detected.

According to another aspect of the present disclosure, a vehicle malfunction detection apparatus is provided. Fig. 4 shows a block diagram of a vehicle fault detection apparatus 4000 according to some exemplary embodiments. As shown in fig. 4, the detection apparatus 4000 includes a receiving module 401, an obtaining module 402, a determining module 403, and a sending module 404, wherein the receiving module 401 is configured to receive first information, wherein the first information includes first identification information for identifying a vehicle to be detected that sends the first information and driving instruction information of the vehicle to be detected; the acquisition module 402 is configured to acquire second information about at least one vehicle around the host vehicle in response to receiving the first information; the determination module 403 is configured to determine a vehicle to be detected from the at least one vehicle based on the first information and the second information, and determine whether the vehicle to be detected is in a fault state; the transmitting module 404 is configured to transmit a fault status notification to the vehicle to be detected in response to determining that the vehicle to be detected is in a fault status.

Additionally, while particular functionality is discussed above with reference to particular modules, it should be noted that the functionality of the various modules discussed herein may be separated into multiple modules and/or at least some of the functionality of multiple modules may be combined into a single module. Performing an action by a particular module discussed herein includes the particular module itself performing the action, or alternatively the particular module invoking or otherwise accessing another component or module that performs the action (or performs the action in conjunction with the particular module). Thus, a particular module performing an action can include the particular module performing the action itself and/or another module performing the action that the particular module invokes or otherwise accesses. For example, the acquisition module 402 and the determination module 403 described above may be combined into a single module in some embodiments.

More generally, various techniques may be described herein in the general context of software hardware elements or program modules. The various modules described above with respect to fig. 4 may be implemented in hardware or in hardware in combination with software and/or firmware. For example, the modules may be implemented as computer program code/instructions configured to be executed in one or more processors and stored in a computer-readable storage medium. Alternatively, the modules may be implemented as hardware logic/circuitry. For example, in some embodiments, one or more of the receiving module 401, the obtaining module 402, the determining module 403, and the sending module 404 may be implemented together in a system on a chip (SoC). The SoC may include an integrated circuit chip that includes one or more components of a processor (e.g., a Central Processing Unit (CPU), microcontroller, microprocessor, digital Signal Processor (DSP), etc.), memory, one or more communication interfaces, and/or other circuitry, and may optionally execute received program code and/or include embedded firmware to perform functions.

According to another aspect of the present disclosure, a vehicle malfunction detection apparatus is provided. Fig. 5 shows a block diagram of a vehicle malfunction detection arrangement 5000 according to some exemplary embodiments. The detection apparatus 5000 comprises a processor 501 and a memory 502 storing a program comprising instructions which, when executed by the processor, cause the processor to perform the method 2000 or the method 3000 described above or variations thereof.

According to another aspect of the present disclosure, there is provided a vehicle comprising a detection device 4000 or a detection device 5000 of vehicle malfunction according to the present disclosure or various variations thereof.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing a program, the program comprising instructions which, when executed by one or more processors, cause the one or more processors to perform the method 2000 or the method 3000 described above, or variations thereof.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method 2000 or the method 3000 described above or variations thereof.

Fig. 6 shows a schematic diagram of an application scenario comprising a motor vehicle 610 and a communication and control system for the motor vehicle 610. Where the vehicle 610 (the host vehicle) communicates with various entities (e.g., another vehicle 620) via various communication links (e.g., V2V). It is noted that the structure and function of the vehicle 610 shown in fig. 6 is merely an example, and that the vehicle of the present disclosure may include one or more of the structure and function of the vehicle 610 shown in fig. 5, depending on the particular implementation. According to some embodiments, vehicle 610 may be vehicle 120 (the host-vehicle) described above with respect to fig. 2 and vehicle 120 (the host-vehicle) described with respect to fig. 3.

The motor vehicle 610 may include sensors 611 for sensing the surrounding environment. The sensors 611 may include one or more of the following sensors: ultrasonic sensors, millimeter wave radar, liDAR (LiDAR), vision cameras, and infrared cameras. Different sensors may provide different detection accuracies and ranges. The ultrasonic sensors can be arranged on the periphery of the vehicle and used for measuring the distance between an object outside the vehicle and the vehicle by utilizing the characteristics of strong ultrasonic directionality and the like. The millimeter wave radar may be installed in front of, behind, or other positions of the vehicle for measuring the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves. The lidar may be mounted in front of, behind, or otherwise of the vehicle for detecting object edges, shape information, and thus object identification and tracking. The radar apparatus can also measure a speed variation of the vehicle and the moving object due to the doppler effect. The camera may be mounted in front of, behind, or otherwise on the vehicle. The visual camera may capture conditions inside and outside the vehicle in real time and present to the driver and/or passengers. In addition, by analyzing the picture captured by the visual camera, information such as traffic light indication, intersection situation, other vehicle running state, and the like can be acquired. The infrared camera can capture objects under night vision conditions.

The motor vehicle 610 may also include an output device 612. The output devices 612 include, for example, a display and speakers to present various outputs or instructions. Furthermore, the display may be implemented as a touch screen, so that input may also be detected in different ways. A user graphical interface may be presented on the touch screen to enable a user to access and control the corresponding controls.

The motor vehicle 610 may also include one or more controllers 613. The controller 613 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special purpose processor, etc., that communicates with various types of computer-readable storage devices or media. A computer-readable storage apparatus or medium may include any non-transitory storage device, which may be non-transitory and may implement any storage device that stores data, and may include, but is not limited to, a magnetic disk drive, an optical storage device, solid state memory, floppy disk, flexible disk, hard disk, magnetic tape, or any other magnetic medium, an optical disk or any other optical medium, a Read Only Memory (ROM), a Random Access Memory (RAM), a cache memory, and/or any other memory chip or cartridge, and/or any other medium from which a computer may read data, instructions, and/or code. Some of the data in the computer readable storage device or medium represents executable instructions used by the controller 613 to control the vehicle. The controller 613 may include an autopilot system for automatically controlling various actuators in the vehicle. The autopilot system is configured to control the powertrain, steering system, and braking system, etc. of the motor vehicle 610 via a plurality of actuators in response to inputs from a plurality of sensors 611 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Part of the processing functions of the controller 613 may be implemented by cloud computing. For example, some processing may be performed using an onboard processor while other processing may be performed using the computing resources in the cloud. According to some embodiments, the controller 613 may be configured to perform the method 2000 described in conjunction with fig. 2 or the method 3000 described in fig. 3, and variations thereof. The controller 613 and its associated computer readable storage are one example of the device 5000 of fig. 5 above. The computer-readable storage device associated with the controller 613 may be one example of the non-transitory computer-readable storage medium described above.

The motor vehicle 610 also includes a communication device 614. The communication device 614 includes a satellite positioning module capable of receiving satellite positioning signals from the satellites 630 and generating coordinates based on these signals. The communication device 614 also includes modules to communicate with a mobile communication network 640, which may implement any suitable communication technology, such as current or evolving wireless communication technologies (e.g., 5G technologies) like GSM/GPRS, CDMA, LTE, etc. The communication device 614 may also have a Vehicle-to-Vehicle (V2X) networking or Vehicle-to-anything (V2X) module configured to enable, for example, vehicle-to-Vehicle (V2V) communication with other vehicles 620 and Vehicle-to-Infrastructure (V2I) communication with Infrastructure to the outside. Further, the communication device 614 may also have a module configured to communicate with a user terminal 650 (including but not limited to a smartphone, a tablet, or a wearable device such as a watch), for example, by wireless local area network using IEEE802.11 standards or bluetooth. With the communications device 614, the motor vehicle 610 may access an online server 660 or a cloud server 670 via a wireless communication system, the online server or the cloud server being configured to provide services such as data processing, data storage and data transmission for the motor vehicle.

In addition, the motor vehicle 610 includes a powertrain, a steering system, a brake system, and the like, which are not shown in fig. 6, for implementing a driving function of the motor vehicle.

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.

Claims

1. A method of detecting a vehicle fault, comprising:

receiving first information, wherein the first information comprises first identification information used for identifying a vehicle to be detected which sends the first information and driving instruction information of the vehicle to be detected;

in response to receiving the first information, obtaining second information about at least one vehicle around the host vehicle;

determining the vehicle to be detected from the at least one vehicle based on the first information and the second information, and determining whether the vehicle to be detected is in a fault state; and

and responding to the determination that the vehicle to be detected is in the fault state, and sending a fault state notification to the vehicle to be detected.

2. The detection method according to claim 1, wherein the second information includes second identification information for identifying a vehicle of the at least one vehicle, and the determination of the vehicle to be detected from the at least one vehicle based on the first information and the second information, and the determination of whether the vehicle to be detected is in a failure state includes:

determining the vehicle to be detected from the at least one vehicle and acquiring state information of the vehicle to be detected based on the first identification information and the second identification information; and

and determining whether the vehicle to be detected is in a fault state or not based on the driving instruction information and the state information.

3. The detection method of claim 2, wherein the second information further includes status information associated with the second identification information, and determining the vehicle to be detected from the at least one vehicle and acquiring the status information of the vehicle to be detected based on the first identification information and the second identification information comprises:

generating a second set of information, wherein the second set of information includes second information for each of the at least one vehicle; and

determining the vehicle to be detected from the at least one vehicle and acquiring the state information of the vehicle to be detected from the second information set based on the first identification information and the second identification information.

4. The detection method according to claim 2 or 3, wherein the first identification information includes a position of the vehicle to be detected, the second identification information includes a second relative position of a vehicle of the at least one vehicle from the host vehicle, and determining the vehicle to be detected from the at least one vehicle based on the first identification information and the second identification information includes:

calculating a first relative position of the vehicle to be detected from the vehicle on the basis of the position of the vehicle to be detected and the position of the vehicle under the same coordinate system; and

and determining the vehicle to be detected from the at least one vehicle based on the similarity of the first relative position and the second relative position.

5. The detection method of claim 2 or 3, wherein each of the first identification information and the second identification information comprises at least one selected from the group consisting of: the vehicle to be detected is determined from the at least one vehicle based on the similarity of the first identification information and the second identification information.

6. The detection method according to any one of claims 2 to 5, wherein determining whether the vehicle to be detected is in a failure state based on the driving instruction information and the state information includes:

selecting target state information related to the driving instruction information of the vehicle to be detected from the state information of the vehicle to be detected; and

and judging whether the vehicle to be detected is in a fault state or not based on the driving instruction information and the target state information.

7. The detection method according to any one of claims 3 to 5, wherein second information about at least one vehicle around the own vehicle is acquired based on the driving instruction information.

8. The detection method according to any one of claims 1 to 7, wherein acquiring, in response to receiving the first information, second information about at least one vehicle around the host vehicle includes:

determining whether the driving instruction information is valid in response to receiving the first information; and

in response to determining that the driving instruction information is valid, second information about at least one vehicle around the host vehicle is acquired.

9. The detection method according to any one of claims 1 to 8, wherein the first information further includes a vehicle ID, and in response to determining that the vehicle to be detected is in a fault state, the fault state of the vehicle to be detected and the vehicle ID are broadcast.

10. The detection method according to any one of claims 1 to 9, wherein the detection method is used for detecting a fault condition of a vehicle lamp.

11. A vehicle malfunction detection apparatus comprising:

the device comprises a receiving module, a judging module and a judging module, wherein the receiving module is configured to receive first information, and the first information comprises first identification information for identifying a vehicle to be detected which sends the first information and driving instruction information of the vehicle to be detected;

an acquisition module configured to acquire second information about at least one vehicle around a host vehicle in response to receiving the first information;

a determination module configured to determine the vehicle to be detected from the at least one vehicle based on the first information and the second information, and determine whether the vehicle to be detected is in a fault state; and

a sending module configured to send a fault status notification to the vehicle to be detected in response to determining that the vehicle to be detected is in a fault status.

12. A vehicle malfunction detection apparatus comprising:

a processor, and

a memory storing a program comprising instructions that, when executed by the processor, cause the processor to perform the method of any of claims 1 to 10.

13. A vehicle, comprising:

the apparatus of claim 11 or 12.

14. A non-transitory computer-readable storage medium storing a program, the program comprising instructions that when executed by one or more processors cause the one or more processors to perform the method of any one of claims 1-10.

15. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1-10 when executed by a processor.