CN112109726A

CN112109726A - Fault processing method for automatic driving vehicle, vehicle and readable storage medium

Info

Publication number: CN112109726A
Application number: CN201910644528.5A
Authority: CN
Inventors: 陈林; 王鑫玥; 谢孟秦; 许冰; 潘涛
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2019-07-17
Filing date: 2019-07-17
Publication date: 2020-12-22

Abstract

The invention provides a fault processing method of an automatic driving vehicle, the vehicle and a computer readable storage medium, wherein the automatic driving vehicle comprises a brake-by-wire system EBS and an electronic parking system EPB, and the method comprises the following steps: judging whether the EBS or the EPB has a fault; when the EBS is in failure, performing parking operation through the EPB; when the EPB malfunctions, the parking operation is performed by the EBS. When the brake-by-wire system EBS or the electronic parking system EPB fails, the parking operation is carried out through the side without the failure, so that the safety of the vehicle when the failure occurs is effectively guaranteed.

Description

Fault processing method for automatic driving vehicle, vehicle and readable storage medium

Technical Field

The present invention relates to the field of automatic driving, and in particular, to a method for processing a fault of an automatic driving vehicle, a vehicle, and a computer-readable storage medium.

Background

The automatic driving technology is an enthusiastic technology, and more manufacturers are keen to research the automatic driving technology. However, in the prior art, most of the control algorithms of the automatic driving automobile in the driving process, namely the intelligent driving controller in the running process, are researched, and a reasonable parking system fault processing logic is not formulated according to the working characteristics of the automatic driving automobile, so that the safety of the automobile when the parking system has a fault cannot be ensured in the prior art.

Disclosure of Invention

The invention mainly aims to provide a fault processing method for an automatic driving vehicle, the vehicle and a computer readable storage medium, and aims to solve the problem that the safety of the vehicle cannot be guaranteed when a parking system fails in the prior art.

To achieve the above object, the present invention provides a fault handling method of an autonomous vehicle including a brake-by-wire system EBS and an electronic parking system EPB, the method including the steps of:

judging whether the EBS or the EPB has a fault;

when the EBS is in failure, performing parking operation through the EPB;

when the EPB malfunctions, the parking operation is performed by the EBS.

Optionally, the step of determining whether the EBS or EPB fails includes:

judging whether self-checking fault information sent after EBS self-checking is received through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet;

when self-checking fault information sent after the EBS is subjected to self-checking is received through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet, determining that the EBS has a fault;

alternatively, the first and second electrodes may be,

detecting whether the message communication condition sent by the EBS is abnormal or not through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet;

and when the communication condition of the message sent by the EBS is detected to be abnormal through at least one of the CAN bus, the LIN bus and the vehicle-mounted Ethernet, determining that the EBS has a fault.

Optionally, the step of determining whether the EBS or EPB fails includes:

judging whether self-checking fault information sent after EPB self-checking is received through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet;

when self-checking fault information sent after EPB self-checking is received through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet, determining that EPB has a fault;

alternatively, the first and second electrodes may be,

detecting whether the communication condition of the message sent by the EPB is abnormal or not through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet;

when the communication condition of the message sent by the EPB is detected to be abnormal through at least one of the CAN bus, the LIN bus and the vehicle-mounted Ethernet, the EPB is determined to have a fault.

Optionally, the autonomous vehicle further includes an intelligent driving controller IDU and a vehicle control unit VCU, and the step of performing the parking operation by the EPB includes:

sending a parking command to the EPB through the IDU so that the EPB performs dynamic parking braking according to the parking command;

before the step of sending the parking command to the EPB by the IDU so that the EPB performs dynamic parking braking according to the parking command, the method further includes:

and sending a parking command containing an acceleration calibration value to the VCU through the IDU, so that the VCU performs deceleration operation with the acceleration calibration value according to the parking command.

Optionally, after the step of sending a parking command to the EPB by the IDU so that the EPB performs dynamic parking braking according to the parking command, the method further includes:

and when the vehicle speed is less than or equal to a preset threshold value, controlling the EPB to adjust the working state to a clamping state according to the parking command so as to finish the parking operation.

Optionally, the autonomous vehicle further includes an intelligent driving controller IDU and a vehicle control unit VCU, and the step of performing the parking operation by the EBS includes:

sending a parking command containing a brake pressure calibration value to an EBS (electronic brake system) through an IDU (integrated digital Unit), so that the EBS performs pressure building braking according to the parking command and the brake pressure calibration value;

before the step of sending a parking command containing a brake pressure calibration value to the EBS through the IDU so that the EBS performs pressure build braking with the brake pressure calibration value according to the parking command, the method further includes:

Optionally, while the step of sending a parking command containing an acceleration calibration value to the VCU through the IDU is executed, so that the VCU performs a deceleration operation with the acceleration calibration value according to the parking command, the following steps are also executed:

and sending a parking command containing an energy recovery calibration value to the VCU through the IDU so that the VCU performs braking energy recovery operation with the energy recovery calibration value.

Optionally, the autonomous vehicle further includes a user connection unit UCU, and after the step of performing the parking operation by the EPB or the parking operation by the EBS, the autonomous vehicle further includes:

switching the vehicle from an automatic driving mode to a manual mode;

and outputting the fault information to a display terminal through the UCU.

To achieve the above object, the present invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implementing the steps of the fault handling method of an autonomous vehicle as described above.

To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the fault handling method of an autonomous vehicle as described above.

The invention provides a fault processing method of an automatic driving vehicle, the vehicle and a computer readable storage medium, wherein the vehicle comprises a brake-by-wire system (EBS) and an electronic parking system (EPB), and the method comprises the following steps: judging whether the EBS or the EPB has a fault; when the EBS is in failure, performing parking operation through the EPB; when the EPB malfunctions, the parking operation is performed by the EBS. Since the parking operation is performed by the side which is not failed when the EBS or EPB is failed, the safety of the vehicle when the vehicle is failed is effectively secured.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating a first embodiment of a fault handling method for an autonomous vehicle according to the present invention;

FIG. 2 is a schematic flow chart diagram of a second embodiment of a fault handling method for an autonomous vehicle according to the present invention;

FIG. 3 is a schematic flow chart diagram illustrating a third embodiment of a fault handling method for an autonomous vehicle according to the present invention;

fig. 4 is a schematic block diagram of the vehicle of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The present invention provides a fault handling method for an autonomous vehicle, referring to fig. 1, where fig. 1 is a schematic flow chart of a first embodiment of the fault handling method for the autonomous vehicle according to the present invention, and in this embodiment, the autonomous vehicle includes an EBS (electronic Brake System) and an EPB (Electrical park Brake System), and the method includes the steps of:

step S10, judging whether the EBS or the EPB has a fault;

the EBS is an electronic control System that is arranged on the basis of an ABS (Antilock Brake System) and is used to replace an original mechanical System to control a Brake, and is not only improved in performance but also fully expanded in functionality. Therefore, the EBS is not only a system with a single function, but also can be used as a working platform to derive a plurality of auxiliary functions, including vehicle body stability control, rollover prevention system, driving antiskid, ramp auxiliary and the like.

When the automatic driving vehicle is normally used, the EBS plays a role in dynamic parking, and the EPB plays a role in static parking. However, in this embodiment, there are various failure determination manners for the EBS or EPB, for example, the EBS and EPB may perform self-checking, and when an internal failure is self-checked, the failure information may be transmitted through at least one of the CAN bus, the LIN bus, and the vehicle-mounted ethernet network, so that it may be determined whether to detect the failure information sent by the EBS or EPB through at least one of the CAN bus, the LIN bus, and the vehicle-mounted ethernet network to correspondingly determine whether to have a failure in the EBS or EPB. It should be noted that the CAN bus is a serial communication protocol standardized by ISO international standards. In the automobile industry, in order to meet the needs of "reducing the number of harnesses" and "performing high-speed communication of a large amount of data through a plurality of LANs", a CAN communication protocol is used.

Step S20, when EBS is failed, the parking operation is performed through EPB;

when the EBS is in failure and needs to be parked, the EBS can not brake, so the EPB can be transferred to carry out dynamic parking at the moment. It is understood that, if the parking operation can be performed by the EPB at this time, the operation state representing the EPB must be non-failure.

In step S30, when the EPB malfunctions, the parking operation is performed by the EBS.

When the EPB is in failure and needs to be parked, the EPB can not be parked, and at the moment, dynamic parking can be carried out through the EBS on the premise that the EBS normally works, namely, the EBS is used for building and pressing to safely park.

In this embodiment, although the EBS and the EPB do not have the same actual function, they may be equivalent to backup systems, and when any one of the EBS and the EPB fails, the other system that has not failed is responsible for parking operation, thereby effectively ensuring the vehicle safety when the parking system fails.

Further, when it is determined that both the EBS and the EPB are faulty, a parking command including an energy recovery calibration value may be sent to the VCU through the IDU, so that the VCU performs a braking energy recovery operation with the energy recovery calibration value. It should be noted that, when both EBS and EPB are faulty, the energy recovery operation performed at this time can make the vehicle perform a forced deceleration effect, which helps the auto-driven vehicle to reduce the safety risk caused by the fault of the vehicle parking system.

Further, in another embodiment, the method for determining the EBS failure in the step S10 may include:

judging whether self-checking fault information sent after EBS self-checking is received through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet; and when self-checking fault information sent after the EBS is subjected to self-checking is received through at least one of the CAN bus, the LIN bus and the vehicle-mounted Ethernet, determining that the EBS has a fault. Or detecting whether the message communication condition sent by the EBS is abnormal or not through at least one of the CAN bus, the LIN bus and the vehicle-mounted Ethernet; and when the communication condition of the message sent by the EBS is detected to be abnormal through at least one of the CAN bus, the LIN bus and the vehicle-mounted Ethernet, determining that the EBS has a fault.

In this embodiment, the CAN bus transmission is taken as an example for illustration, and reference may be made to the process of performing fault diagnosis by using the LIN bus or the in-vehicle ethernet. The execution process of the transmission through the CAN bus may determine whether the EBS is malfunctioning through any one of two methods. One is that the fault information sent by the EBS to the CAN bus CAN be used for judgment, and when other control systems in the autonomous vehicle, similar to the autonomous driving controller, receive the fault information sent by the EBS through the CAN bus, it CAN be determined that the EBS has a fault. In addition, because the EBS CAN send a message to the CAN bus, when the EBS has failed but has not been self-detected or a port of the EBS that sends the message cannot work, whether the EBS has failed CAN be determined by detecting a communication status of the message sent by the EBS through the CAN bus. The scheme provides two EBS fault judgment modes, ensures the accuracy of EBS fault judgment, and can effectively prevent the phenomenon that the EBS fails and does not detect the fault.

It should be further noted that, the method for determining whether the EPB fails in step S10 may include: judging whether self-checking fault information sent after EPB self-checking is received through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet; when self-checking fault information sent after EPB self-checking is received through at least one of a CAN bus, a LIN bus and a vehicle-mounted Ethernet, determining that EPB has a fault; or, whether the communication condition of the message sent by the EPB is abnormal is detected through at least one of the CAN bus, the LIN bus and the vehicle-mounted Ethernet; when the communication condition of the message sent by the EPB is detected to be abnormal through at least one of the CAN bus, the LIN bus and the vehicle-mounted Ethernet through the CAN bus, the EPB is determined to have a fault.

In this embodiment, the CAN bus is taken as an example for illustration, and whether the EPB has a fault or not may be determined by any one of two methods, one of which is to determine through fault information sent by the EPB to the CAN bus, and when other control systems in the autonomous vehicle, similar to the autonomous controller, receive the fault information sent by the EPB through the CAN bus, it may be determined that the EPB has a fault. In addition, because the EPB CAN send the message to the CAN bus, when the EPB has a fault but is not self-detected or a port of the EPB sending the message cannot work, whether the EPB has the fault or not CAN be judged by detecting the communication condition of the message sent by the EPB through the CAN bus. According to the scheme, two EPB fault judgment modes are provided, the accuracy of EPB fault detection is guaranteed, and the phenomenon that the EPB fails and does not detect the fault can be effectively prevented.

Further, referring to fig. 2, in a second embodiment of the method for handling a fault of an autonomous Vehicle according to the present invention proposed based on the first embodiment of the present invention, the autonomous Vehicle includes an IDU (Intelligent driving Unit) and a VCU (Vehicle Control Unit), and the performing of the parking operation by the EPB in step S20 includes:

step S21, a parking command is sent to the EPB by the IDU, so that the EPB performs dynamic parking braking according to the parking command.

Before the step S21, the method may further include:

and step S15, when the EBS has a fault, sending a parking command containing an acceleration calibration value to the VCU through the IDU, so that the VCU performs deceleration operation with the acceleration calibration value according to the parking command.

The IDU combines the motor and power electronics, is mainly responsible for data processing and control instruction sending, and can judge whether the EBS or the EPB has faults according to the message communication state sent by the EBS or the EPB.

The VCU is a core control component of the whole vehicle and is equivalent to the brain of the vehicle. The device collects signals of an accelerator pedal, signals of a brake pedal and other parts, and controls the action of each part controller on the lower layer after making corresponding judgment so as to drive the vehicle to normally run. As a command management center of a vehicle, the main functions of the vehicle control unit comprise: the system comprises a driving torque control device, a brake energy optimization control device, a whole vehicle energy management device, a CAN network maintenance and management device, a fault diagnosis and treatment device, a vehicle state monitoring device and the like, wherein the driving torque control device, the brake energy optimization control device, the whole vehicle energy management device, the CAN network maintenance and management device, the fault diagnosis and treatment device, the vehicle state monitoring device and the like. Meanwhile, whether the EBS or the EPB has faults or not can be judged according to the communication state of the message sent by the EBS or the EPB.

When detecting that the EBS has a fault, the IDU sends commands of "validity of acceleration request is valid" and "validity of acceleration request is calibrated" to the VCU, and simultaneously the IDU also sends commands of "validity of parking request is valid" to the EPB; and after receiving the command of 'the validity of the acceleration request is valid' and 'the acceleration request is a calibrated value', the VCU performs deceleration operation by using the acceleration calibrated value, the calibrated value is given by the IDU according to the current vehicle running condition, and the EPB performs dynamic parking braking after receiving the command of 'the validity of the parking request is valid'. It is understood that, after the VCU and the EPB receive the failure information sent by the EBS, the VCU actively starts the deceleration operation, and the EPB actively performs the dynamic parking brake. According to the scheme, when the EBS breaks down, the IDU sends the parking command to the VCU and the EPB, the EPB replaces the EBS to perform dynamic parking, and the safe parking is completed under the combined action of the IDU, the VCU and the EPB, so that timely fault processing is performed, and the safety is guaranteed.

It should be further noted that after step S21, the method may further include the steps of: and when the vehicle speed is less than or equal to a preset threshold value, controlling the EPB to adjust the working state to a clamping state according to the parking command so as to finish the parking operation.

When detecting that the EBS is out of order, the IDU also sends a command "clamp request" to the EPB, and when the vehicle speed is less than or equal to a preset threshold, the EPB performs a clamping action to complete the parking operation. Preferably, the preset threshold value is less than 1km/h, and in the case that the vehicle speed is too high, the clamping action of the EPB may cause the vehicle to be out of control, so that the EPB needs to perform the clamping operation after the vehicle speed is reduced to the preset threshold value. According to the scheme, the preset threshold value is set, when the vehicle speed is less than or equal to the preset threshold value, the EPB performs clamping action to complete parking operation, stable parking is guaranteed, and the parking safety of the vehicle is guaranteed.

Further, referring to fig. 3, in a third embodiment of the fault handling method of an automatically driven vehicle of the present invention proposed based on the first or second embodiment of the present invention, the performing of the parking operation by the EBS in step S30 includes:

and step S31, sending a parking command containing a brake pressure calibration value to the EBS through the IDU, so that the EBS performs pressure building braking with the brake pressure calibration value according to the parking command.

Before executing the step S31, the method may further include:

step S16, when the EPB is faulty, a parking command including an acceleration calibration value is sent to the VCU through the IDU, so that the VCU performs a deceleration operation with the acceleration calibration value according to the parking command.

In this embodiment, the autonomous vehicle also includes an IDU and a VCU. When detecting that the EPB has a fault, the IDU sends commands of 'acceleration request validity is valid' and 'acceleration request is calibrated' to the VCU, and simultaneously the IDU also sends commands of 'brake pressure target value validity is valid' and 'brake pressure target value is calibrated' to the EBS; the VCU performs deceleration operation with an acceleration calibration value after receiving commands of 'acceleration request validity is valid' and 'acceleration request is calibrated', the calibration value is given by the IDU according to the current vehicle running condition, and the EBS performs dynamic parking brake through pressure build after receiving the commands of 'brake pressure target value validity is valid' and 'brake pressure target value is calibrated'. It can be understood that, after the VCU and the EBS receive the fault information sent by the EPB, the VCU actively starts the deceleration operation, and the EBS actively performs the pressure build-up braking. According to the scheme, when the EPB is in fault, the IDU issues the parking command to the VCU and the EBS, the VCU starts to decelerate, the EBS starts to perform decompression braking, and the safe parking is completed under the combined action of the IDU, the VCU and the EPB, so that timely fault processing is performed, and the safety is guaranteed.

Further, while performing step S16, the following steps are also performed: and sending a parking command containing an energy recovery calibration value to the VCU through the IDU so that the VCU performs braking energy recovery operation with the energy recovery calibration value. The braking energy recovery means that the redundant energy released by the vehicle in braking or coasting is recovered, converted into electric energy through a generator, and then stored in a storage battery for later acceleration running. The vehicle braking energy recovery method has the advantages that the dependence on the engine, the fuel consumption and the carbon dioxide emission are reduced by recovering the braking energy during parking, the energy utilization rate is improved, and the vehicle deceleration is accelerated.

Further, in other embodiments, the autonomous vehicle further includes a UCU (User connection Unit), and after the step S20 or the step S30, the autonomous vehicle further includes the steps of: the vehicle is switched from an automatic driving mode to a manual mode, for example, the EBS, the EPB, the IDU and the VCU can be switched to the manual mode; and then outputs the notification information to a display terminal through the UCU.

After the parking operation is finished, in order to prevent other problems caused by vehicle faults, the system which is originally in the automatic control mode is switched into the manual mode, and a user waits for checking the vehicle. The detected vehicle fault information and the operation condition can be output to the display terminal through the UCU, so that a user can know the basic condition of the vehicle, and the vehicle can be checked in a targeted manner.

In addition, it should be noted that the autonomous vehicle may further include a BCM (Body Control Module), and the BCM may light the dual flashing lights when it is determined that the EBS or EPB is malfunctioning. Wherein, the function of automobile body control module includes: electric door and window control, central control door lock control, remote control anti-theft, light system control, electric rearview mirror heating control, instrument backlight adjustment, power distribution and the like. When the vehicle breaks down, the double-flashing light is lightened, and a warning signal is sent to the outside of the vehicle to remind a user and personnel outside the vehicle.

The present invention also provides a vehicle which may include components such as a communication module 10, a memory 20, and a processor 30, as well as BCM, EBS, EPB, IDU, and VCU, in a hardware structure, referring to fig. 4. In the vehicle, the processor 30 is connected to the memory 20 and the communication module 10, respectively, the memory 20 having stored thereon a computer program that is executed by the processor 30 at the same time, the computer program implementing the steps of the above-described method embodiment when executed.

The communication module 10 may be connected to an external communication device through a network. The communication module 10 may receive a request from an external communication device, and may also send a request, an instruction, and information to the external communication device, where the external communication device may be another vehicle, a server, or an internet of things device, such as a television.

The memory 20 may be used to store software programs as well as various data. The memory 20 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (e.g., determining whether the EBS or EPB fails), and the like; the storage data area may include a database, and the storage data area may store data or information created according to use of the system, or the like. Further, the memory 20 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The processor 30, which is a control center of the vehicle, connects various parts of the entire vehicle using various interfaces and lines, and performs various functions of the vehicle and processes data by operating or executing software programs and/or modules stored in the memory 20 and calling data stored in the memory 20, thereby integrally monitoring the vehicle. Processor 30 may include one or more processing units; alternatively, the processor 30 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 30.

Although not shown in fig. 4, the vehicle may further include a circuit control module connected to a power source to ensure the normal operation of other components. Those skilled in the art will appreciate that the vehicle configuration shown in FIG. 4 does not constitute a limitation of the vehicle and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 20 in the vehicle in fig. 4, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes instructions for causing a terminal device (which may be an automobile, a mobile phone, a computer, a server, a terminal, or a network device) having a processor to execute the method according to the embodiments of the present invention.

In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A fault handling method of an autonomous vehicle comprising a brake-by-wire system EBS and an electronic parking system EPB, the method comprising the steps of:

judging whether the EBS or the EPB has a fault;

when the EBS is in failure, performing parking operation through the EPB;

when the EPB malfunctions, the parking operation is performed by the EBS.

2. The fault handling method of an autonomous vehicle according to claim 1, wherein the step of determining whether the EBS or EPB is faulty comprises:

alternatively, the first and second electrodes may be,

3. The fault handling method of an autonomous vehicle according to claim 1, wherein the step of determining whether the EBS or EPB is faulty comprises:

alternatively, the first and second electrodes may be,

4. The fault handling method of an autonomous vehicle according to claim 1, wherein the autonomous vehicle further includes an intelligent driving controller IDU and a vehicle control unit VCU, and the step of performing the parking operation by the EPB includes:

5. The malfunction processing method of an autonomous vehicle according to claim 4, wherein after the step of sending a parking command to the EPB by the IDU so that the EPB performs dynamic parking braking according to the parking command, further comprising:

6. The fault handling method of an autonomous vehicle according to claim 1, wherein the autonomous vehicle further includes an intelligent driving controller IDU and a vehicle control unit VCU, and the parking operation by EBS includes:

7. The malfunction processing method of an autonomous vehicle according to claim 4 or 6, characterized in that, while the step of transmitting a parking command including an acceleration calibration value to the VCU by the IDU is performed so that the VCU performs a deceleration operation with the acceleration calibration value according to the parking command, the following steps are further performed:

8. The malfunction processing method of an autonomous vehicle according to any of claims 1-6, characterized in that the autonomous vehicle further comprises a user connection unit UCU, further comprising, after the step of performing a parking operation by EPB or a parking operation by EBS:

switching the vehicle from an automatic driving mode to a manual mode;

and outputting the fault information to a display terminal through the UCU.

9. A vehicle, characterized in that the vehicle comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the fault handling method of an autonomous vehicle as claimed in any of claims 1 to 8.

10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method of fault handling of an autonomous vehicle as claimed in any of claims 1 to 8.