CN116909255A - Fault diagnosis system and method for intelligent driving system and vehicle - Google Patents
Fault diagnosis system and method for intelligent driving system and vehicle Download PDFInfo
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Abstract
The application discloses a fault diagnosis system and a fault diagnosis method for an intelligent driving system, wherein the system comprises a fault information detection module, a main control module and a redundant control module; the fault information detection module is used for searching a fault source in the intelligent driving system, acquiring fault information from the fault source and respectively sending the fault information to the main control module and the redundant control module; the main control module is used for generating a first fault mapping signal according to the fault information, and the first fault mapping signal is used for performing man-machine interaction to reflect the fault information to a user; the redundancy control module is used for generating a second fault mapping signal according to the fault information, and the second fault mapping signal is used for performing man-machine interaction when the main control module runs abnormally so as to reflect the fault information to a user. By arranging the main control module and the redundant control module, the safety and reliability of the diagnosis scene are improved.
Description
Technical Field
The application relates to the field of automatic driving safety, in particular to a fault diagnosis system and method for an intelligent driving system and a vehicle.
Background
The statements in this section merely relate to the background of the present disclosure and may not necessarily constitute prior art.
Along with the rapid advance of the automatic driving technology, the automatic driving is a trend to replace manual driving, and the sensing and positioning information received by a sensor of a vehicle automatic driving system is particularly important to make vehicle behavior decision and control, so that the safety and stability of the vehicle are ensured in the whole process. The system architecture of the ADAS domain controller in the prior art generally includes an SOC chip with high computing power and an MCU chip with high functional security level. Algorithm modules with higher demands on CPU or AI computing power, such as sensing, planning, positioning and the like, can be deployed in the SOC chip, and control class modules can be deployed in the MCU chip. There is of course no platform middleware to support algorithm operation, communications, security aspects, which typically needs to be deployed and broken on both sides.
The fault management module and the diagnosis management module belong to the middleware of the platform level and provide specific system services, for example, the fault management module has services such as fault reporting, fault transmission, fault maintenance, fault post-processing, fault analysis and the like, and the diagnosis management module has standard diagnosis services and related functions of diagnosing fault codes. Conventional intelligent driving system architectures typically have no explicit fault management module, but only a diagnostic management module that is essential as a standard component. Under such a system architecture, the diagnostic management module performs part of the functions of the fault management module described above, such as fault reporting of diagnostic events; the function of the diagnosis management module suppresses and manages the fault post-processing function corresponding to the fault management. Due to the fact that part of functions of the fault management module are executed, functions of the diagnosis management module are limited, for example, flexible fault transmission capability is not provided, and fault signals can only be transmitted between software components inside the fault management module and the diagnosis event management unit; and the diagnosis management module has functions of generating, analyzing and detecting diagnosis fault codes, and has frozen frames and expanded frames for providing additional information for the diagnosis fault codes, but the description capability of the information is still inferior to a file-form self-defined fault format, and obviously the diagnosis management module also has no fault analysis and judgment capability.
Disclosure of Invention
In order to solve the above problems, the present application provides a fault diagnosis system and method for a driving system only, which combines a fault management module and a diagnosis module to support external diagnosis requirements and fault analysis requirements, and provides a safe and redundant software structure, and provides a flexible and safe fault diagnosis system by deploying fault management and diagnosis management on both sides of an SOC chip and an MCU chip, and by using the SOC chip as a main and an MCU chip back-up.
In a first aspect, the present application provides a fault diagnosis system for an intelligent driving system, including a fault information detection module, a main control module, and a redundant control module; the fault information detection module is used for searching a fault source in the intelligent driving system, acquiring fault information from the fault source and respectively sending the fault information to the main control module and the redundant control module; the main control module is used for generating a first fault mapping signal according to the fault information, and the first fault mapping signal is used for performing man-machine interaction to reflect the fault information to a user; the redundancy control module is used for generating a second fault mapping signal according to the fault information, and the second fault mapping signal is used for performing man-machine interaction when the main control module runs abnormally so as to reflect the fault information to a user.
Further, the main control module comprises a first fault management unit, wherein the first fault management unit is used for receiving the fault information acquired by the fault information detection module in real time and identifying and classifying the faults of the vehicle system according to the fault information; the first fault management unit is provided with a first fault management front end and a first fault management back end, and the first fault management front end is used for performing front end processing on the fault information; the first fault management back end is used for generating a first fault mapping signal for the system fault of the driving system and interacting with a human-computer interface.
Further, the redundancy control module comprises a second fault management unit, wherein the second fault management unit is used for receiving the fault information acquired by the fault information detection module in real time and identifying and classifying faults according to the fault information; the second fault management unit is provided with a second fault management front end and a second fault management rear end, and the second fault management front end is used for performing front end processing on fault information; and the second fault management back end is used for generating a second fault mapping signal for the system fault of the driving system and interacting with a human-computer interface.
Further, the system also includes an intelligent driving system communication connection layer having an ethernet-based diagnostic transmission protocol (DoIP), and the main control module is configured to receive fault information transmitted through the DoIP, and respond to the fault information transmitted through the DoIP through the first diagnostic management unit.
Further, the intelligent driving system communication connection layer also has a diagnosis transmission protocol (DoCAN) based on the CAN, and the redundancy control module is used for receiving fault information transmitted through the DoCAN and responding to the fault information transmitted by the DoCAN through the second diagnosis management unit.
Further, the first fault management unit further comprises a fault data processing subunit; the fault data processing subunit is used for carrying out real-time identification and classification record on the fault information acquired by the fault information detection module by utilizing a file system in the main control module.
In a second aspect, the present application provides a fault diagnosis method of an intelligent driving system, the method being performed by the fault diagnosis system of an intelligent driving system according to any one of the first aspects, and comprising the steps of: acquiring a fault signal through a fault information detection module, and respectively sending the fault signal to a main control module and a redundant control module; generating a first fault mapping signal for the fault information through the main control module, and generating a second fault mapping signal for the fault information through the redundant control module; when the main control module is in a normal running state, interacting with a human-computer interface by using a mapping fault signal of the main control module to reflect the fault information to a user; and when the main control module is not in a normal running state, interacting with a human-computer interface by using a mapping fault signal of the redundant control system to reflect the fault information to the user.
In one embodiment, the master control module includes a first fault management unit having a first fault management front end and a first fault management back end; before the generating, by the main control module, the first fault mapping signal for the fault information, the method further includes: performing fault information front-end processing on the fault source information through the first fault management front-end, including: the fault information is synchronously processed so that the fault information at two ends of the main control module and the redundant control module are kept consistent; the fault information is subjected to shunt processing, and the confirmed fault types flow to the first fault management back end or the first diagnosis management unit respectively according to the processing requirements; and performing fault jitter elimination processing on the fault information to filter out the fault occurring in the accident.
Further, the shunting processing of the fault information includes: dividing the fault information processing mode into original fault processing, clustering fault processing and display fault processing; the original fault processing comprises fault diagnosis code analysis and diagnosis identifier mapping of the fault; the clustering fault processing comprises fault signal mapping and fault post-processing for the faults; and displaying fault processing, including fault signal prompt on the man-machine interface.
In a third aspect, the present application provides a vehicle comprising the fault diagnosis system of the intelligent driving system according to any one of the first aspects.
Compared with the prior art, the application provides a redundancy scheme of the fault diagnosis system, and the safety and reliability of a diagnosis scene are improved in a mode that a main diagnosis module (SOC chip) is used as a main diagnosis node and a redundancy diagnosis module (MCU chip) is used as a redundancy diagnosis node. The main diagnosis module is used as a main node for interaction with the man-machine interaction interface, and the redundant diagnosis module is used as a redundant node, so that the reliability of the fault diagnosis system is improved.
Drawings
Fig. 1 is a schematic block diagram of a fault diagnosis system for an intelligent driving system according to a first embodiment of the present application;
FIG. 2 is a fault diagnosis communication link diagram of the intelligent driving system according to the first embodiment of the application;
FIG. 3 is a schematic diagram illustrating a functional implementation of a fault data processing unit according to a first embodiment of the present application;
FIG. 4 is a schematic diagram of an implementation of a redundancy scheme according to a first embodiment of the present application;
fig. 5 is a schematic flow chart of implementation of a fault diagnosis method of an intelligent driving system according to a second embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments. Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the application may have the same meaning or may have different meanings, the particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment.
The terms "first," "second," "third," and the like, are merely used for distinguishing between similar elements and not necessarily for indicating or implying a relative importance or order.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of a fault diagnosis system module for an intelligent driving system according to an embodiment of the present application, where the system includes a main control module, a redundant control module, a fault information detection module, and a central gateway, where the main control module, the redundant control module, the fault information detection module, and the central gateway are connected through an intelligent driving communication layer. The main control module comprises a first fault management unit, a second diagnosis management unit and an upgrade management unit, wherein a fault data processing subunit is further arranged in the first fault management unit; the redundant control module comprises a second fault management unit and a second diagnosis management unit, and the second fault management unit is in communication connection with the first diagnosis management unit so as to realize fault information synchronization between the main control module and the redundant control module.
Understandably, the fault information detection unit is configured to search a fault source in the intelligent driving system, acquire fault information from the fault source, and send the fault information to the main control module and the redundant control module, respectively; the main control module is used for generating a first fault mapping signal according to the fault information, and the first fault mapping signal is used for performing man-machine interaction to reflect the fault information to a user; and the redundancy control module is used for generating a second fault mapping signal according to the fault information, and when the main control module runs abnormally, the second fault mapping signal is utilized for human-computer interaction to reflect the fault information to a user.
The upgrade management unit is used for managing and implementing the software and hardware upgrade of the intelligent driving system, is also used for monitoring the performance, the function and the safety of the system, and performs system update, improvement and repair when the system is needed so as to keep the latest state and the optimal performance of the system.
Specifically, the main control module in this embodiment is an SOC chip in the intelligent driving system, the redundant control module is an MCU chip in the intelligent driving system, the fault information detection module is a plurality of external sensors, which may include an OBD-II sensor (On-Board Diagnostics), an oxygen sensor, a tire pressure sensor, a brake hydraulic sensor, and so On, and a plurality of external sensors for collecting and transmitting various safety parameters in the driving process of the automobile, and the central gateway may be one of an Electronic Control Unit (ECU), a vehicle-mounted computing platform, an automobile network architecture, or a cloud connection platform.
Understandably, the first fault management unit and the second fault management unit are configured to receive the fault information obtained by the fault information detection module in real time, and identify and classify the fault according to the fault information.
The first fault management unit and the second fault management unit are respectively provided with a first fault management front end, a first fault management rear end, a second fault management front end and a second fault management rear end; the first fault management front end and the second fault management front end are used for carrying out fault information front end processing on corresponding faults according to fault data, and the first fault management back end and the second fault management back end are used for carrying out fault signal mapping on the faults and interacting with a human-computer interface.
Further, the system also comprises an intelligent driving system communication connection layer, wherein the intelligent driving communication connection layer is provided with an Ethernet-based diagnosis transmission protocol (DoIP), the main control module is used for receiving fault information transmitted by the DoIP, and the first diagnosis management unit responds to the fault information transmitted by the DoIP; the intelligent driving system communication connection layer is also provided with a diagnosis transmission protocol (DoCAN) based on CAN, and the redundancy control module is used for receiving fault information transmitted by the DoCAN and responding to the fault information transmitted by the DoCAN through the second diagnosis management unit.
Specifically, the intelligent driving communication connection layer in the present embodiment includes a transmission protocol management layer (TPL), an ethernet-based diagnostic transmission protocol (DoIP), a CAN-based diagnostic transmission protocol (DoCAN), an ethernet interface layer (ETHIF), a CAN interface layer (CANIF), a Socket adaptation layer (SoAd), a CAN transmission layer (CANTP), and a protocol data unit routing layer (PDUR).
The central gateway can support a DoIP mode and a DoCAN mode to diagnose the intelligent driving system, and the diagnosis fault signal flow path is described as follows:
referring to fig. 2, fig. 2 is a fault diagnosis communication link diagram of the intelligent driving system according to the present embodiment. The main control module is based on the signal flow direction in the diagnosis path of the Ethernet: the data flow is from the DoIP to the TPL and from the TPL to a first diagnostic communication management unit of the first diagnostic management units; the main control module is based on the signal flow direction in the diagnosis path of the CAN: the flow from the DoCAN to the TPL and from the TPL to a first diagnostic communication management unit (DCM) in the first diagnostic management unit; the redundant control module is based on the signal flow direction in the diagnostic path of the Ethernet: the method comprises the steps of flowing from DoIP to ETHIF, flowing from ETHIF to SoAd, flowing from SoAd to PDUR, and finally flowing from PDUR to a second diagnosis communication management unit (DCM) in the second diagnosis management unit; the redundant control module is based on the signal flow direction in the diagnosis path of the CAN: the DoCAN flows to the CANIF, from the CANIF to the CANTP, from the CANTP to the PDUR, and finally from the PDUR to a second diagnostic communication management unit (DCM) in the second diagnostic management unit; the fault diagnosis signal flow directions in the main control module and the redundant control module are as follows: fault source to fault management unit, fault management unit to diagnostic event management subunit (DEM) in diagnostic management unit.
And the fault sources of all the applications, the underlying software and the subsystems in the intelligent driving system are reported through the fault management unit. As described above, the first fault management unit located at the main control module has a first fault management front end and a first fault management back end, and the second fault management unit located at the redundant control module has a second fault management front end and a second fault management back end. The first fault management front end and the second fault management front end are used for sharing and synchronizing fault information on two sides of the first fault management unit and the second fault management unit, and completing fault diversion in the main control module and the redundant control module; the fault diversion has the solution that faults flow to a diagnosis management unit or a fault management rear end according to different types of processing modes, and the fault management rear end has the functions of generating fault mapping signals according to the faults of a vehicle system, interacting the fault mapping signals with a human-computer interface, notifying the fault after processing, degrading the fault and the like. The fault source from the first management front end flows to the first management back end or the first diagnosis management unit, and the fault source from the second management front end flows to the second management back end or the second diagnosis management unit.
The first diagnosis management unit and the second diagnosis management unit comprise a diagnosis communication management subunit and a diagnosis event management subunit, wherein the diagnosis communication management subunit is used for carrying out data transmission in the intelligent driving system, establishing and managing diagnosis session, realizing standardized communication protocol and fault propagation and the like; the diagnostic event management subunit is used for detecting faults, generating diagnostic fault codes (DTCs) and managing and detecting the DTCs, and storing the DTCs in the diagnostic event memory for diagnosis and maintenance, and is also used for performing fault notification when necessary, such as lighting fault indicator lamps or displaying warning information.
As described above, the first fault management unit further comprises a fault data processing sub-unit; the fault data processing subunit is used for carrying out real-time identification and classification record on the fault information acquired by the fault information detection module by utilizing a file system in the main control module.
It should be noted that, the fault data processing subunit is a middleware disposed in the main control module for processing fault data, please refer to fig. 3, and fig. 3 is a schematic functional implementation diagram of the fault data processing subunit in the embodiment of the present application. The fault information acquired by the fault information detection module is transmitted to a first fault management unit in the main control module through the intelligent driving system communication layer, and then transmitted to a fault data processing subunit through the first fault management unit, and the fault data processing subunit stores and shares the fault data by utilizing a file system in the SOC chip. In addition, the fault data processing subunit also records version information of the vehicle, real-time fault records, operation fault statistics results, and fault records of the shielding device, and information such as faults, historical faults and the like exist at present. Besides the capability of recording fault information in real time, the fault data processing subunit can also be used for dividing modules, outputting the statistical result of faults regularly in stages and implementing a customized disc-drop strategy aiming at fault data. Through the fault data subunit, the analysis data can be directly utilized to conduct problem investigation in the development and test stage of the vehicle and the data cloud-up stage after measurement.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating an implementation of a redundancy scheme according to a first embodiment of the present application; in the application, the main control module, namely the SOC chip and the redundant control module, namely the MCU chip are positioned on two sides of the fault diagnosis system, and as the SOC chip and the MCU chip are taken as a whole, an intelligent driving system is externally embodied, and the functions of the intelligent driving system are necessarily consistent with the external expression requirements, so the application provides the fault diagnosis system taking the SOC chip as a main part and the MCU chip as a redundant part.
Referring to fig. 4, the fault source provided by the application synchronizes the fault information on two sides of the SOC chip and the MCU chip, and the fault information after synchronization is respectively subjected to fault diversion processing on two sides of the SOC chip and the MCU chip, wherein the fault diversion processing results are original fault processing, clustered fault processing and fault processing displaying. The method comprises the steps of performing original fault processing, clustering fault processing, diagnosis fault code (DTC) mapping and fault post-processing, wherein the original fault processing comprises fault analysis and fault identifier (DID) mapping, and displaying fault processing comprises prompting a fault signal on a human-machine interaction interface (HMI).
It is understood that the purpose of DID management is to supplement the fault information described by the DTCs, and when the fault information described by the DTCs is not comprehensive enough, the fault information is usually complemented by the DID information of the freeze frame and the extension frame.
The SOC is used as a main node for diagnosis, the MCU is used as a redundant diagnosis node, and diagnosis DID mapping and diagnosis DTC mapping and fault signal man-machine interaction interface prompt are synchronously carried out on the SOC side and the MUC side. The diagnosis management response of the SOC side is performed in the DoIP diagnosis, and the diagnosis management response of the MCU is performed in the DoCAN diagnosis. The upper computer only uses DoIP to diagnose under normal condition, and when the scene that the SOC side can not run appears, the alternative path DoCAN is used for diagnosing.
Example two
Based on the same concept as the first embodiment, the present application provides a fault diagnosis method for an intelligent driving system, and referring to fig. 5, fig. 5 is a schematic flow chart of implementation of the fault diagnosis method for an intelligent driving system according to the second embodiment of the present application.
The method comprises the following steps:
step S1, acquiring fault signals through a fault information detection module, and respectively sending the fault signals to a main control module and a redundant control module;
s2, generating a first fault mapping signal for the fault information through the main control module, and generating a second fault mapping signal for the fault information through the redundant control module;
s3, when the main control module is in a normal running state, interacting with a human-computer interface by using a mapping fault signal of the main control module to reflect the fault information to a user; and when the main control module is not in a normal running state, interacting with a human-computer interface by using a mapping fault signal of the redundant control system to reflect the fault information to the user.
Further, the main control module comprises a first fault management unit having a first fault management front end and a first fault management back end; before the generating, by the main control module, the first fault mapping signal for the fault information, the method further includes: performing fault information front-end processing on the fault source information through the first fault management front-end, including: the fault information is synchronously processed so that the fault information at two ends of the main control module and the redundant control module are kept consistent; the fault information is subjected to shunt processing, and the confirmed fault types flow to the first fault management back end or the first diagnosis management unit respectively according to the processing requirements; and performing fault jitter elimination processing on the fault information to filter out the fault occurring in the accident.
Further, the shunting processing of the fault information includes: dividing the fault information processing mode into original fault processing, clustering fault processing and display fault processing; the original fault processing comprises fault diagnosis code analysis and diagnosis identifier mapping of the fault; the clustering fault processing comprises fault signal mapping and fault post-processing for the faults; and displaying fault processing, including fault signal prompt on the man-machine interface.
Example III
The application also provides a vehicle, comprising the fault diagnosis system of the intelligent driving system.
Compared with the prior art, the fault diagnosis system with the SOC chip as a main diagnosis node and the MCU chip as a redundant diagnosis node solves the problem that fault degradation operation can be completed when the DTC detection condition is not met by combining the fault management front end with the fault management rear end and the diagnosis management unit, and improves the safety and reliability of a diagnosis scene. The main diagnosis module is used as a main node for interaction with the man-machine interaction interface, and the redundant diagnosis module is used as a redundant node, so that the reliability of the fault diagnosis system is improved.
The present application is not limited to the above embodiments, but is capable of modification and variation in all aspects, including the following description, but not limited to, embodiments, and various modifications and adaptations of the application as come within the true spirit and scope of the application.
Claims (10)
1. The fault diagnosis system for the intelligent driving system is characterized by comprising a fault information detection module, a main control module and a redundant control module;
the fault information detection module is used for searching a fault source in the intelligent driving system, acquiring fault information from the fault source and respectively sending the fault information to the main control module and the redundant control module;
the main control module is used for generating a first fault mapping signal according to the fault information, and the first fault mapping signal is used for performing man-machine interaction to reflect the fault information to a user;
the redundancy control module is used for generating a second fault mapping signal according to the fault information, and the second fault mapping signal is used for performing man-machine interaction when the main control module runs abnormally so as to reflect the fault information to a user.
2. The system of claim 1, wherein the master control module comprises a first fault management unit for receiving the fault information obtained by the fault information detection module in real time and identifying and classifying a vehicle system fault according to the fault information; the first fault management unit is provided with a first fault management front end and a first fault management back end, and the first fault management front end is used for performing front end processing on the fault information; the first fault management back end is used for generating a first fault mapping signal for the system fault of the driving system and interacting with a human-computer interface.
3. The system of claim 1, wherein the redundancy control module comprises a second fault management unit configured to receive the fault information obtained by the fault information detection module in real time and identify and classify a fault according to the fault information;
the second fault management unit is provided with a second fault management front end and a second fault management rear end, and the second fault management front end is used for performing front end processing on fault information; and the second fault management back end is used for generating a second fault mapping signal for the system fault of the driving system and interacting with a human-computer interface.
4. The system of claim 1, further comprising an intelligent driving system communication connection layer having an ethernet-based diagnostic transport protocol (DoIP), wherein the main control module is configured to receive fault information transmitted via the DoIP, and wherein the first diagnostic management unit is configured to respond to the fault information transmitted via the DoIP.
5. The system of claim 4, wherein the intelligent drive system communication link layer further has a CAN-based diagnostic transmission protocol (DoCAN), and wherein the redundancy control module is configured to receive fault information transmitted via the DoCAN, and to respond to the fault information transmitted via the DoCAN via the second diagnostic management unit.
6. The system of claim 1, wherein the first fault management unit further comprises a fault data processing subunit; the fault data processing subunit is used for carrying out real-time identification and classification record on the fault information acquired by the fault information detection module by utilizing a file system in the main control module.
7. A fault diagnosis method of an intelligent driving system, characterized in that the method is performed by a fault diagnosis system of an intelligent driving system according to any one of claims 1-6, and comprises the steps of:
acquiring a fault signal through a fault information detection module, and respectively sending the fault signal to a main control module and a redundant control module;
generating a first fault mapping signal for the fault information through the main control module, and generating a second fault mapping signal for the fault information through the redundant control module;
when the main control module is in a normal running state, interacting with a human-computer interface by using a mapping fault signal of the main control module to reflect the fault information to a user; and when the main control module is not in a normal running state, interacting with a human-computer interface by using a mapping fault signal of the redundant control system to reflect the fault information to the user.
8. The method of claim 7, wherein the master control module comprises a first fault management unit having a first fault management front end and a first fault management back end; before the generating, by the main control module, the first fault mapping signal for the fault information, the method further includes:
performing fault information front-end processing on the fault source information through the first fault management front-end, including:
the fault information is synchronously processed so that the fault information at two ends of the main control module and the redundant control module are kept consistent;
the fault information is subjected to shunt processing, and the confirmed fault types flow to the first fault management back end or the first diagnosis management unit respectively according to the processing requirements;
and performing fault jitter elimination processing on the fault information to filter out the fault occurring in the accident.
9. The method of claim 8, wherein the offloading the fault information comprises: dividing the fault information processing mode into original fault processing, clustering fault processing and display fault processing;
the original fault processing comprises fault diagnosis code analysis and diagnosis identifier mapping of the fault;
the clustering fault processing comprises fault signal mapping and fault post-processing for the faults;
and displaying fault processing, including fault signal prompt on the man-machine interface.
10. A vehicle characterized by comprising the fault diagnosis system of the intelligent driving system according to any one of claims 1 to 6.
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