WO2023005638A1 - 辅助驾驶方法、装置、设备及存储介质 - Google Patents

辅助驾驶方法、装置、设备及存储介质 Download PDF

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Publication number
WO2023005638A1
WO2023005638A1 PCT/CN2022/104500 CN2022104500W WO2023005638A1 WO 2023005638 A1 WO2023005638 A1 WO 2023005638A1 CN 2022104500 W CN2022104500 W CN 2022104500W WO 2023005638 A1 WO2023005638 A1 WO 2023005638A1
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Prior art keywords
function
failure
target
diagnostic information
driving
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PCT/CN2022/104500
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English (en)
French (fr)
Inventor
王子涵
叶凌峡
刘洋
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驭势（上海）汽车科技有限公司
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Publication of WO2023005638A1 publication Critical patent/WO2023005638A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/022—Actuator failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems

Definitions

  • the embodiments of the present application relate to the technical field of automobile driving, for example, to a driving assistance method, device, device, and storage medium.
  • each functional module has an independent diagnostic function.
  • the assisted driving function will immediately exit to reduce the responsibility of the vehicle manufacturer, which leads to the problem of low stability of the assisted driving system.
  • Embodiments of the present application provide a driving assistance method, device, device, and storage medium, so as to improve the stability and fault tolerance of the driving assistance system.
  • An embodiment of the present application provides a method for assisting driving, including: obtaining in real time the diagnostic information of multiple sensors and multiple actuators of the target vehicle, as well as the diagnostic information of multiple module software functions; The diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of module software functions, determine the failure of the driving assistance function of the target vehicle; according to the failure of the driving assistance function of the target vehicle situation, determine the assisted driving strategy of the target vehicle, and continue to assisted driving of the target vehicle according to the assisted driving strategy.
  • the embodiment of the present application also provides a driving assistance device, which includes: a diagnostic information acquisition module, configured to acquire the diagnostic information of multiple sensors and multiple actuators of the target vehicle in real time, and multiple module software functions
  • the diagnostic information of the auxiliary driving function failure analysis module is configured to determine the target vehicle according to the diagnostic information of the plurality of sensors and the diagnostic information of the plurality of actuators, as well as the diagnostic information of the software functions of the plurality of modules
  • the failure of the assisted driving function; the assisted driving control module is configured to determine the assisted driving strategy of the target vehicle according to the failure of the assisted driving function of the target vehicle, and continue to assisted driving according to the assisted driving strategy. target vehicle.
  • the embodiment of the present application also provides a vehicle-mounted device, the vehicle-mounted device includes: at least one processor; a memory configured to store at least one program, and when the at least one program is executed by the at least one processor, the At least one processor implements the method described in any embodiment of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in any embodiment of the present application is implemented.
  • FIG. 1 is a flowchart of a driving assistance method in Embodiment 1 of the present application
  • FIG. 2 is a flow chart of a driving assistance method in Embodiment 2 of the present application.
  • Fig. 3 is a schematic diagram of device installation of a vehicle in Embodiment 2 of the present application.
  • Fig. 4 is a schematic diagram of failure analysis of a driving assistance function in Embodiment 2 of the present application.
  • Fig. 5 is a flow chart of a driving assistance method in Embodiment 3 of the present application.
  • FIG. 6 is a schematic diagram of a module architecture applicable to a driving assistance method in Embodiment 4 of the present application.
  • FIG. 7 is a schematic diagram of a module architecture applicable to another driving assistance method in Embodiment 4 of the present application.
  • FIG. 8 is a schematic diagram of a signal flow applicable to a driving assistance method in Embodiment 4 of the present application.
  • FIG. 9 is an example diagram of a driving assistance downgrade strategy mapping table in Embodiment 4 of the present application.
  • Fig. 10 is a schematic structural diagram of a driving assistance device in Embodiment 5 of the present application.
  • FIG. 11 is a schematic structural diagram of a vehicle-mounted device in Embodiment 6 of the present application.
  • FIG. 1 is a flow chart of a driving assistance method provided in Embodiment 1 of the present application.
  • This embodiment is applicable to the situation where a vehicle equipped with an advanced driving assistance system performs a driving assistance function, for example, it may be a situation where a vehicle equipped with an L3 level assistance driving system performs a driving assistance function, and the method may be performed by a driving assistance device, the device It can be realized by means of hardware and/or software, and generally can be integrated in the vehicle equipment.
  • the driving assistance method provided in this embodiment includes the following steps.
  • the target vehicle refers to any vehicle equipped with an assisted driving system, for example, any vehicle equipped with an advanced assisted driving system, and may be any vehicle equipped with an L3 level assisted driving system.
  • the senor refers to the sensor device involved in the assisted driving system, such as a camera, radar (including short-range radar, electronic scanning radar, etc.), global positioning system (Global Positioning System, GPS), ultrasonic sensor etc.; actuators refer to the executive devices involved in the assisted driving system, such as brakes, engines, inertial measurement units, angle sensors, electric power steering control units, body controllers, human-machine interfaces, etc.; module software functions refer to It is a functional module at the software level involved in the assisted driving system, such as adaptive cruise module software function, lane keeping module software function, front collision emergency braking function, longitudinal control module software function, lateral control module software function, automatic lane change Module software functions, planning and positioning module software functions (including map positioning module software functions, non-hardware planning functions, etc.), etc.
  • actuators refer to the executive devices involved in the assisted driving system, such as brakes, engines, inertial measurement units, angle sensors, electric power steering control units, body controllers, human-machine interfaces, etc.
  • module software functions
  • each actuator For each sensor, each actuator, and each module software function, independent diagnosis can be performed, and then the diagnostic information of multiple sensors and actuators can be obtained in real time, as well as the software function of multiple modules. diagnostic information.
  • a fusion module can be set in the assisted driving system, which can be set to diagnose multiple sensors according to the sensing signals of multiple sensors, and generate diagnostic information of multiple sensors; diagnostic information of multiple actuators can be based on The self-test signals of multiple actuators are determined; the diagnostic information of multiple module software functions can be determined based on the self-test functions in the multiple module software functions.
  • diagnosis information of the plurality of sensors determine the failure of the driving assistance function of the target vehicle.
  • the diagnostic information of multiple sensors, the diagnostic information of multiple actuators, and the diagnostic information of multiple module software functions are integrated to analyze the failure of the driving assistance function of the target vehicle.
  • the assisted driving function of the target vehicle refers to any assisted driving function involved in the assisted driving system, such as adaptive cruise function, lane keeping function, longitudinal control function, lateral control function, automatic lane change function, etc.
  • the failure status of the auxiliary function of the target vehicle may include which driving assistance functions are valid, which driving assistance functions are invalid, and whether all effective driving assistance functions are valid or partially valid.
  • the assisted driving function of the target vehicle is determined according to the diagnostic information of the multiple sensors, the diagnostic information of the multiple actuators, and the diagnostic information of multiple module software functions
  • the failure situation may include: if the diagnostic information of at least one module software function indicates abnormality, determining that the driving assistance function corresponding to the at least one module software function is invalid.
  • the driving assistance function corresponding to the module software function will be invalid. For example, if the diagnostic information of the software function of the lateral control module indicates an abnormality, the corresponding lateral control function becomes invalid.
  • S130 Determine an assisted driving strategy of the target vehicle according to failure of the assisted driving function of the target vehicle, and continue to assist driving of the target vehicle according to the assisted driving strategy.
  • a matching assisted driving strategy can be selected based on the current failure of the assisted driving function, and the corresponding assisted driving strategy can continue to assist the target vehicle instead of exiting the assisted driving system .
  • the assisted driving strategy that matches the failure of the current assisted driving function is the assisted driving strategy after some of the assisted driving functions have failed on the basis of the original assisted driving function of the assisted driving system. That is to say, the assisted driving strategy matching the failure of the current assisted driving function is determined on the basis of the original assisted driving strategy of the assisted driving system.
  • an assisted driving strategy mapping table may be pre-established based on various failure situations of the assisted driving function. After determining the failure of the driving assistance function of the target vehicle, query the driving assistance strategy mapping table according to the failure of the driving assistance function of the target vehicle, determine the driving assistance strategy matching the failure of the driving assistance function of the target vehicle, and then The assisted driving of the target vehicle can be continued according to the assisted driving strategy determined by the query.
  • the determining the assisted driving strategy of the target vehicle according to the failure of the assisted driving function of the target vehicle may be: querying according to the failure of the assisted driving function of the target vehicle A preset assisted driving downgrading strategy mapping table to determine the assisted driving downgrading level matching the failure of the assisted driving function; query the assisted driving downgrading strategy mapping table according to the assisted driving downgrading level, and determine the Assisted driving strategy for downgrade level matching.
  • an assisted driving downgrading strategy mapping table is established in advance, and the assisted driving downgrading strategy mapping table includes the one-to-one mapping relationship between the failure of the assisted driving function and the assisted driving downgrading level, and also includes the assisted driving downgrading level One-to-one mapping relationship with assisted driving strategies.
  • the failure of the assisted driving function can be identified by whether multiple sensors and actuators of the vehicle are faulty; the assisted driving strategy can be identified by whether the multiple assisted driving functions are operating normally or degraded (including degraded operation level) .
  • the assisted driving degraded strategy mapping table may be queried according to the assisted driving degraded level, and the assisted driving strategy matching the assisted driving degraded level is determined to continue the assisted driving.
  • a system diagnosis module and a planning module can be set in the assisted driving system.
  • the system diagnosis module is configured to, after determining the failure of the driving assistance function of the target vehicle, query the driving assistance degradation policy mapping table according to the failure of the driving assistance function of the target vehicle, and determine the failure situation of the driving assistance function of the target vehicle Match the assisted driving downgrade level, and send the assisted driving downgrade level to the planning module.
  • the planning module is configured to, after receiving the assisted driving degraded level, query the assisted driving degraded policy mapping table according to the assisted driving degraded level, determine the assisted driving strategy matching the assisted driving degraded level, and combine it with the assisted driving
  • the control instruction corresponding to the strategy is sent to the executor to execute the assisted driving strategy.
  • the assisted driving After continuing the assisted driving according to the assisted driving strategy, it may also be determined whether the driver needs to take over the driving operation based on the failure of the assisted driving function of the target vehicle. If the failure of the driving assistance function of the target vehicle satisfies a preset condition, for example, the driving assistance system may fail or be close to failure, etc., the driver may be prompted to take over the operation. It should be pointed out that the assisted driving system of the target vehicle can only be exited after the driver successfully takes over the driving operation.
  • the assisted driving function when there is a faulty sensor or actuator or module software function in the assisted driving system, the assisted driving function is no longer directly exited, but is based on the diagnosis information of multiple sensors and the diagnosis of multiple actuators.
  • Information, as well as the diagnostic information of multiple module software functions determine the failure of the assisted driving function of the target vehicle, determine the assisted driving strategy according to the failure of the vehicle assisted driving function, and continue to perform assisted driving according to the assisted driving strategy, thereby improving the Stability and fault tolerance of assisted driving systems.
  • FIG. 2 is a flow chart of a driving assistance method provided in Embodiment 2 of the present application. This embodiment is described on the basis of the foregoing embodiments, wherein the target vehicle is determined according to the diagnostic information of the multiple sensors, the diagnostic information of the multiple actuators, and the diagnostic information of multiple module software functions
  • the failure of the driving assistance function may be: if the diagnostic information of at least one sensor and/or the diagnostic information of at least one actuator indicates abnormality, and the diagnostic information of multiple module software functions indicates normal, then according to the at least one sensor and/or the role information of the at least one actuator in the target function link to determine the failure of the driving assistance function corresponding to the target function link.
  • the driving assistance method provided in this embodiment includes the following steps.
  • the diagnostic information of at least one sensor and/or the diagnostic information of at least one actuator indicates abnormality, and the diagnostic information of multiple module software functions indicates normal, then according to the at least one sensor and/or the at least one actuator
  • the role information of the controller in the target function link is used to determine the failure status of the driving assistance function corresponding to the target function link.
  • the target function link refers to a hardware link including multiple sensors and/or multiple actuators corresponding to any driving assistance function.
  • the target function link may include at least one of the following: a lateral control function link, a longitudinal control function link, and a lane change control function link.
  • the side control function link includes: main camera device, auxiliary camera device, display device and steering device;
  • the longitudinal control function link includes: main camera device, auxiliary camera device, front Radar device, display device, power device and braking device;
  • the lane change control function link includes: left front corner radar device, left rear corner radar device, right front corner radar device and right rear corner radar device.
  • the failure of the assisted driving function can be determined based on the diagnostic information of the sensor and/or the diagnostic information of the actuator, and the abnormal sensor and/or execution can be indicated according to the diagnostic information.
  • the role information of the device in the target function link is analyzed to analyze the failure of the assisted driving function corresponding to the target function link.
  • the role information of the sensor in the target function link indicates the functional importance or irreplaceability of the sensor in the target function link
  • the role information of the actuator in the target function link indicates the role of the actuator in the target function link.
  • Functional importance or functional irreplaceability, or the role information of sensors and actuators in the target functional link respectively indicate the functional importance or functional irreplaceability of sensors and actuators in the target functional link.
  • the left rear corner radar device, the right rear corner radar device, the left front corner radar device and the right front corner radar device are respectively set to measure the distance of the four corners of the vehicle.
  • the role information of the left rear corner radar device, the right rear corner radar device, the left front corner radar device and the right front corner radar device is the same.
  • the assisted driving corresponding to the target function link can be determined Function failure; if the function of the sensor and/or actuator in the target function link is replaceable, even if the diagnostic information of the sensor and/or the diagnostic information of the actuator indicates an abnormality, it can be determined that the link with the target function
  • the corresponding driving assistance function is valid or partially valid.
  • the determination of the driving assistance function corresponding to the target function link according to the role information of the at least one sensor and/or the at least one actuator in the target function link The failure condition may be: if the at least one sensor includes a unique number of sensors serially connected to the target function link, it is determined that the driving assistance function corresponding to the target function link is invalid; if the at least one If the executors include a unique number of executors serially connected to the target function link, it is determined that the assisted driving function corresponding to the target function link fails; the at least one sensor and the at least one executor respectively Including a unique number of sensors and actuators serially connected to the target function link, it is determined that the driving assistance function corresponding to the target function link is invalid.
  • the auxiliary sensor corresponding to the target functional link can be determined.
  • the driving function fails; if there are only actuators serially connected to the target function link among these actuators, it can be determined that the auxiliary driving function corresponding to the target function link is invalid; if these sensors and these actuators are respectively If there are a unique number of sensors serially connected to the target function link and a unique number of actuators serially connected to the target function link, it can be determined that the driving assistance function corresponding to the target function link fails.
  • the implication of the serial connection is that the functions are irreplaceable.
  • the left rear corner radar device, the right rear corner radar device, the left front corner radar device and the right front corner radar device are all serially connected to the target function link, and the number is one, then the left If the diagnostic information indication of any one of the rear corner radar device, right rear corner radar device, left front corner radar device, and right front corner radar device is abnormal, it can be determined that the auxiliary driving function corresponding to the target function link is invalid, that is, the automatic variable speed The channel function fails.
  • the determination of the driving assistance function corresponding to the target function link according to the role information of the at least one sensor and/or the at least one actuator in the target function link The failure situation may be: if the at least one sensor is connected in parallel to the target function link, it is determined that the auxiliary driving function corresponding to the target function link is valid, and according to the at least one sensor in the target function link
  • the weight information above determines the fault level of the effective driving assistance function corresponding to the target function link; if the at least one actuator is connected in parallel to the target function link, then it is determined that the target function link corresponds to The auxiliary driving function is valid, and the failure level of the effective auxiliary driving function corresponding to the target function link is determined according to the weight information of the at least one actuator on the target function link; if the at least one If both the sensor and the at least one actuator are connected in parallel to the target function link, then it is determined that the assisted driving function corresponding to the target function link is valid, according to the at least one sensor and/or the at least one
  • Analyzing multiple sensors and/or multiple actuators whose diagnostic information indicates abnormality if any one of these sensors is connected in parallel to the target function link, it can be determined that the driving assistance function corresponding to the target function link is valid; if any one of these actuators is connected in parallel to the target function link, it can be determined that the assisted driving function corresponding to the target function link is valid; if any of these sensors and these actuators If the sensor and any one of the actuators are connected in parallel to the target function link, it can be determined that the driving assistance function corresponding to the target function link is valid.
  • Parallel connection means that functions can be replaced. It should be pointed out that when the diagnostic information of all sensors and all actuators connected in parallel on the target function link indicate abnormality, the driving assistance function corresponding to the target function link is invalid.
  • the assisted driving function corresponding to the target function link After determining that the assisted driving function corresponding to the target function link is valid, it can also determine the target function link according to the weight information of multiple sensors and/or multiple actuators on the target function link that are abnormal according to the diagnostic information.
  • the fault level of the corresponding and effective driving assistance function The greater the weight of the sensor and/or actuator on the target function link, the higher the failure level of the driving assistance function corresponding to the target function link.
  • the display device, power device, and braking device are connected in series to the target functional link, and the main camera device, auxiliary camera device, and front radar device are connected in parallel to the target functional link.
  • the main camera device, auxiliary camera device, and front radar device are connected in parallel to the target functional link.
  • the left rear corner radar, the left front corner radar, the right rear corner radar, and the right front corner radar are all serially connected to the lane change control function link and the number is unique , then when any of the left rear corner radar, left front corner radar, right rear corner radar, and right front corner radar is abnormal, it can be determined that the lane change control function corresponding to the lane change control function link is invalid.
  • the display device, power device and brake device are all serially connected to the longitudinal control function link and the number is unique, and the main camera, auxiliary camera and front radar are all connected to the longitudinal control function link in parallel, then the display device, power device and brake
  • any device in the software it can be determined that the longitudinal control function corresponding to the longitudinal control function link is invalid; the display device, power device and brake device are normal, but any one or two devices in the main camera, auxiliary camera and front radar
  • an abnormality it can be determined that the longitudinal control function corresponding to the longitudinal control function link is valid, but the failure level of the longitudinal control function still needs to be determined according to the weight of the abnormal device on the longitudinal control function link.
  • the display device and the steering device are serially connected to the lateral control function link and the number is unique, and the main camera and the auxiliary camera are connected to the longitudinal control function link in parallel, so when the display device or the steering device is abnormal, it can be determined
  • the lateral control function corresponding to the lateral control function link fails; when the display device and steering device are normal but the main camera or auxiliary camera is abnormal, it can be determined that the lateral control function corresponding to the longitudinal control function link is valid, but still
  • the fault level of the lateral control function needs to be determined according to the weight of the abnormal camera on the lateral control function link.
  • the driving assistance function corresponding to the module software function becomes invalid. For example, if the diagnostic information of the software function of the lateral control module indicates an abnormality, the corresponding lateral control function becomes invalid.
  • S230 Determine an assisted driving strategy of the target vehicle according to the failure of the assisted driving function of the target vehicle, and continue to assisted driving of the target vehicle according to the assisted driving strategy.
  • the diagnostic information of at least one sensor and/or the diagnostic information of at least one actuator indicates abnormality, and the diagnostic information of multiple module software functions indicates normal, then it can be based on at least one sensor and/or at least one actuator
  • the role information of the sensor in the target function link determine the failure of the assisted driving function corresponding to the target function link, so as to accurately analyze the failure of the assisted driving function, so that in the event of sensor failure or actuator failure or module software function failure
  • the real-time diagnosis has a certain fault-tolerant ability, which improves the stability of the assisted driving system.
  • FIG. 5 is a flow chart of a driving assistance method provided in Embodiment 3 of the present application.
  • This embodiment is described on the basis of the foregoing embodiments, wherein, when acquiring the diagnostic information of multiple sensors and multiple actuators of the target vehicle in real time, as well as the diagnostic information of multiple module software functions, further It may include: receiving in real time the diagnosis information of the main line system sent by the auxiliary line system; wherein, the main line system and the auxiliary line system are distributed in different chips or different cores; correspondingly, according to the diagnostic information of the multiple sensors and the multiple execution
  • the diagnostic information of the device, and the diagnostic information of multiple module software functions, determining the failure of the driving assistance function of the target vehicle may include: if the main line system diagnostic information indicates normal or part of the diagnostic information indicates abnormality, then according to the The diagnostic information of multiple sensors, the diagnostic information of the multiple actuators, and the diagnostic information of the multiple module software functions determine the failure of the driving assistance function of the target vehicle.
  • the driving assistance method provided in this embodiment includes the following steps.
  • the assisted driving system adopts the primary and secondary redundant architecture, that is, the redundancy of the isomorphic main line system and the auxiliary line system realizes the vehicle assisted driving function.
  • the main line system and the auxiliary line system are distributed in different chips, or in different cores of the same chip, so as to realize the main and auxiliary redundant architecture.
  • the main line system and the auxiliary line system can perform abnormal diagnosis on each other.
  • the main line system sends the main line system signal to the auxiliary line system, so that the auxiliary line system can diagnose the fault of the main line system according to the main line system signal, and send the diagnosis information of the main line system to the main line system, and the main line system can use the received diagnosis information of the main line system Judgment itself is normal.
  • the main line system will also receive the auxiliary line system signal in real time, perform fault diagnosis on the auxiliary line system according to the auxiliary line system signal, and send the auxiliary line system diagnostic information to the auxiliary line system, so that the auxiliary line system can The diagnostic information of the auxiliary line system judges whether it is normal.
  • diagnosis information of the mainline system indicates normal or part of the diagnosis information indicates abnormality, then according to the diagnosis information of the plurality of sensors and the diagnosis information of the plurality of actuators, and the diagnosis of the software functions of the plurality of modules information to determine the failure of the driving assistance function of the target vehicle.
  • the main line system can confirm that it can maintain normal basic functions, and according to
  • the diagnostic information of the plurality of sensors and the diagnostic information of the plurality of actuators and the diagnostic information of the plurality of module software functions determine the operation of the failure condition of the driving assistance function of the target vehicle.
  • the mainline system may, according to the at least one sensor and/or the at least one The role information of the actuator in the target function link determines the failure of the driving assistance function corresponding to the target function link.
  • the main line system performs fault diagnosis on the auxiliary line system in real time, and sends the auxiliary line system’s diagnostic information to the auxiliary line system.
  • the auxiliary line system’s diagnostic information indicates abnormality
  • the main line system can determine the assisted driving of the target vehicle
  • the backup function of the target vehicle fails, and the backup failure of the driving assistance function of the target vehicle is regarded as the failure of the driving assistance function of the target vehicle.
  • the auxiliary line system will replace the main line system to work, thereby ensuring the minimum safety function, that is, the auxiliary line system according to Diagnostic information of multiple sensors, diagnostic information of multiple actuators, and diagnostic information of multiple module software functions, determine the failure of the driving assistance function of the target vehicle, and determine the failure of the driving assistance function of the target vehicle according to the failure of the driving assistance function of the target vehicle , determine the assisted driving strategy of the target vehicle, and continue to assist the driving of the target vehicle according to the assisted driving strategy.
  • the auxiliary line system can also obtain the diagnostic information of multiple sensors and multiple actuators of the target vehicle in real time, as well as the diagnostic information of multiple module software functions. If the diagnostic information of at least one sensor and/or the diagnostic information of at least one actuator indicates abnormality, and the diagnostic information of multiple module software functions indicates normal, the auxiliary line system may, according to the at least one sensor and/or the at least The role information of an actuator in the target function link determines the failure of the driving assistance function corresponding to the target function link.
  • S330 Determine an assisted driving strategy of the target vehicle according to failure of the assisted driving function of the target vehicle, and continue to assisted driving of the target vehicle according to the assisted driving strategy.
  • the above-mentioned technical solution adopts a dual-chip primary and secondary redundant architecture, that is, the redundancy of the main line system and the auxiliary line system is used to realize the auxiliary driving function, and the sensor failure, actuator failure, module software function failure, main line chip failure and auxiliary line chip failure are uniformly considered. , so as to determine the assisted driving strategy that meets the current fault situation of the vehicle, and continue to assist the vehicle in accordance with the corresponding assisted driving strategy, which improves the stability and fault tolerance of the assisted driving system.
  • This embodiment provides an implementation for the driving assistance method on the basis of the foregoing embodiments.
  • each functional module needs to have an independent diagnostic function.
  • a centralized diagnostic degradation module and a planning module are set, wherein the centralized diagnostic degradation module determines the auxiliary function according to different fault conditions.
  • the driving grading is downgraded, and the planning module performs assisted driving planning according to the assisted driving grading and degraded level, so as to continue to assist driving by adopting an assisted driving strategy that matches the assisted driving grading and degraded level.
  • the vehicle platform is equipped with 5 millimeter-wave radars, which are respectively installed in the center of the front bumper and the left front corner, right front corner, left rear corner, and right rear corner of the vehicle.
  • millimeter-wave radar In addition to the millimeter-wave radar, other Equipped with 2 cameras (main camera and auxiliary camera), both are forward-facing cameras, which are set to perceive forward targets and lane lines to achieve a certain degree of redundancy.
  • the assisted driving method provided in this embodiment is applicable to the module architecture shown in FIG. 6.
  • the centralized diagnosis and degradation module 601 acquires multiple sensors 602, multiple actuators 603, and module software functions 604 of the vehicle in real time. (may include the human-computer interaction system 6041) and the diagnostic information of the control unit 605, and when at least one of the diagnostic information indicates an abnormality, query the preset assisted driving downgrading strategy mapping table to obtain the assisted driving downgrading level corresponding to the current fault, and Send the driving assistance downgrading level to the planning module 607 .
  • the planning module 607 queries the assisted driving degraded strategy mapping table according to the received assisted driving degraded level, obtains the assisted driving strategy corresponding to the assisted driving degraded level, and generates corresponding control instructions according to the assisted driving strategy and sends them to the corresponding execution device 603, so that the corresponding actuators execute the degraded assisted driving strategy, and at the same time, corresponding control prompts can be sent to the human-computer interaction system 6041, so as to prompt the driver for faults and degraded assisted driving.
  • this embodiment adopts a dual-chip primary and secondary redundant architecture, and uses the redundancy of the main line system and the auxiliary line system to realize the auxiliary driving function and realize the system redundancy function.
  • the main line system and the auxiliary line system are distributed between different chips or different cores.
  • FIG. 7 shows a modular architecture for the driving assistance method provided in this embodiment, which is applicable to L3-level driving assistance systems, and can also be downwardly compatible with L2-level driving assistance systems.
  • the system architecture includes a sensor module 701 , an actuator module 702 , a centralized diagnosis and degradation module 703 , a map positioning module 704 , a fusion system module 705 , a planning control module 706 and an auxiliary line system 707 .
  • the sensor module 701 includes a camera, a millimeter-wave radar, etc.; the actuator module 702 includes a braking system, a steering system, a power system, a body system, etc.; the map positioning module 704 includes a map module 7041, a positioning module 7042, and a diagnosis module 7043;
  • the fusion system module 705 includes a fusion diagnosis module 7051; the planning module 7061 and the function module 7062 in the planning control module 706, the planning module 7061 includes a planning diagnosis module 70611, and the function module 7062 includes a vertical function module 70621 and a lateral function module 70622.
  • the functional module 70621 includes a longitudinal function diagnosis module 706211, and the lateral function module 70622 includes a lateral function diagnosis module 706221;
  • the auxiliary line system 707 includes an auxiliary line perception system 7071, an auxiliary line control system 7072, and an auxiliary line diagnosis system 7073.
  • the centralized diagnosis and degradation module 703 implements system-level monitoring according to the diagnostic signals of sensors, actuators and multiple functional modules. At the same time, the centralized diagnosis degrading module 703 sends a diagnosis signal to the auxiliary line diagnosis system 7073, so that the auxiliary line diagnosis system 7073 performs fault diagnosis on the main line system according to the diagnosis signal, and feeds back the diagnosis information of the main line system to the centralized diagnosis and degrading module 703, so that The centralized diagnosis and degradation module 703 determines whether the mainline system is normal according to the diagnosis information of the mainline system.
  • the centralized diagnosis degrading module 703 also receives the diagnosis signal sent by the auxiliary line diagnosis system 7073 in real time, and diagnoses the auxiliary line system according to the diagnosis signal, generates the diagnosis information of the auxiliary line system, and sends the diagnosis information to the auxiliary line diagnosis system 7073, so that the auxiliary line diagnosis system 7073 determines whether the auxiliary line system is normal according to the diagnostic information of the auxiliary line system.
  • the centralized diagnosis degrading module 703 determines that the main line system is normal or partially abnormal (the main line system is available), it generates a fault code according to the diagnostic signal of the sensor, the diagnostic signal of the actuator and the diagnostic signal of multiple functional modules, and determines the assisted driving based on the fault code. Downgrade the level, and send the assisted driving downgraded level to the planning module 7061.
  • the planning module 7061 plans the assisted driving strategy according to the assisted driving downgraded level, and generates a control command according to the assisted driving strategy and sends it to the function module 7062.
  • the function module 7062 in addition to receiving the signals from the sensor module 701 and the actuator module 702, also receives the control instructions from the planning module 7061, so as to realize the degraded driving assistance function.
  • the main line system fails and is unavailable, such as when the fusion system module 705, the vertical function module 70621 and the lateral function module 70622 fail, the main line system cannot maintain normal basic functions, and the auxiliary line system 707 will replace the main line system to work, so as to ensure the minimum security function.
  • the applicable signal flow of the module architecture shown in Figure 7 is: the fusion system module 705 receives the input from the sensor module 701 to generate diagnostic information, and sends the diagnostic information to the centralized diagnostic degradation module 703 and the planning module 7061 At the same time, the fusion system module 705 will input the sensing state as a functional input signal into the function module 7062 to realize functional self-checking.
  • the function module 7062 In addition to receiving the diagnostic signal from the fusion system module 705, the function module 7062 also needs to receive the perception signal from the sensor module 701 and the The vehicle signal of the actuator module 702 realizes the function, and sends the self-test result of whether the function is faulty to the centralized diagnosis and degradation module 703, so as to realize the diagnosis of all modules by the centralized diagnosis and degradation module 703, and the function module 7062 will also control the whole The signal of the car is sent to the actuator module 702 to realize the control of the actuator module 702 .
  • the auxiliary line system 707 sends the working status of the auxiliary line module to the centralized diagnostic degrading module 703.
  • the centralized diagnostic degrading module 703 When a diagnostic fault exists and does not cause the main line system to be completely unavailable, the centralized diagnostic degrading module 703 generates a degraded code and sends the degraded code to The planning module 7061, the planning module 7061 sends instructions to the function module 7062 according to the downgrading code and the assisted driving downgrading policy mapping table to realize downgrading; if the main line system is completely unavailable, the auxiliary line system 707 takes over the functions of the main line system, The actuator module 702 sends control instructions to realize the assisted driving function.
  • the auxiliary line perception system 7071, the auxiliary line control system 7072 and the auxiliary line diagnosis system 7073 included in the auxiliary line system 707 can be used to assist driving to realize the minimum safety function.
  • the centralized diagnosis degrading module 703 realizes system-level monitoring according to the diagnostic signals of sensors, actuators and multiple functional modules. When determining the failure of the vehicle auxiliary driving function, it can be based on the functional modules covered by the auxiliary driving system. From the perspective of execution, the functions include three types: lateral function, vertical function, and lane change function with planning part. Each type of function roughly includes three parts from perception, planning to execution. Among them, fault analysis needs to be considered Whether each part has multiple hardware or software completed at the same time. For a serial and unique module, once it fails, it is considered that the entire functional link and function of it are invalid. For modules that exist in parallel, unless all modules fail, the rest The entire functional link where it is located is valid. At this time, it is necessary to perform different degrees of functional degradation according to the performance of the failed module and the weight set for the contribution to the entire system.
  • the centralized diagnosis degrading module 703 determines the failure of the driving assistance function corresponding to the target function link.
  • the centralized diagnosis degradation module 703 determines that the assisted driving function corresponding to the target function link is invalid; If the actuator includes a unique number of actuators serially connected to the target function link, the centralized diagnosis and degradation module 703 determines that the assisted driving function corresponding to the target function link is invalid; if the at least one sensor and the at least An actuator includes a unique number of sensors and actuators that are serially connected to the target function link, then the centralized diagnosis and degradation module 703 determines that the driving assistance function corresponding to the target function link is invalid; if the at least one The sensors and/or the at least one actuator are all connected in parallel to the target function link, then the centralized diagnosis and degradation module 703 determines that the assisted driving function corresponding to the target function link is valid, and can /or the weight information of at least one actuator on the target function link determines the failure level of the effective driving assistance function corresponding to the target function link.
  • the centralized diagnosis degrading module 703 implements system-level monitoring based on the diagnostic signals of the sensor, the diagnostic signal of the actuator, and the diagnostic signals of multiple functional modules, and determines the failure of the vehicle auxiliary driving function, as shown in FIG. 4 Schematic diagram of the failure analysis of the assisted driving function.
  • the reasons for the failure of the assisted driving system can include four parts, namely, the failure of the lane change control function, the failure of the longitudinal control function, the failure of the lateral control function and the failure of the auxiliary line system, but the failure of a single function does not cause the failure of all functions , it is necessary to design an assisted driving degradation strategy mapping table based on the fault tree analysis results, functional minimum sensor configuration and failure severity.
  • any failure of the left rear corner radar, left front corner radar, right front corner radar, and right rear corner radar will cause the lane change control function to fail; when the planning positioning module fails (software module failure), it can include the positioning map module failure, and The failure of the internal software module of the non-external hardware planning module, etc., will also cause the lane change control function to fail.
  • the reasons for the failure of the longitudinal control function can be divided into two categories.
  • One reason is the failure of the actuator, that is, the failure of the display, the failure of the braking system and the failure of the power system.
  • the occurrence of any of these three types of failure will cause the failure of the longitudinal control function; and
  • Another reason is that there is no perception ability at all.
  • the failure of the main camera, the auxiliary camera and the front radar need to occur at the same time, which will cause the complete failure of the longitudinal function.
  • the longitudinal control function will not be exited immediately, but Working in the degradation mode of the longitudinal control function needs to be designed in the assisted driving degradation strategy mapping table.
  • the internal software module fails, because the internal software module is serially enabled, it will directly lead to the failure of the vertical control function.
  • the software module failure may include the failure of the vertical function module and the failure of the fusion module.
  • the failure of the lateral control function is also divided into two categories. One reason is the failure of the actuator, that is, the display failure and the steering system failure. If any of these two types of failure occurs, the lateral control function will completely fail; the other reason is the lateral control data source. The ability is completely lost. For example, when the main camera fails and the auxiliary camera fails at the same time, the lateral control function fails. When a single failure occurs, the lateral control function will not be exited immediately, but will work in the degraded mode of the lateral control function.
  • the downgrade policy mapping table is designed. In addition, it also includes the failure of the internal software module. Since the internal software module is serially enabled, it will directly lead to the failure of the lateral control function module.
  • the software module failure may include the failure of the lateral function module and the failure of the fusion module.
  • Fig. 9 shows an example of an assisted driving degradation strategy mapping table, with single-point failure as the main consideration factor, and double-point failure for forward key areas, and different sensor and actuator function failures are divided into different The downgrading level of the assisted driving is assigned, and different assisted driving downgrading levels will correspond to different downgrading strategies.
  • “OK” in Fig. 9 means normal or valid, "Failed”, “Error” and “Unavaliable” mean abnormal or invalid, and "Degrd” means degraded.
  • the fault source is GPS, that is, only when the GPS diagnostic information indicates abnormality, the assisted driving downgrading level is 1.1, and the corresponding assisted driving downgrading strategy is that L3 level assisted driving is not available.
  • the positioning function is invalid, and other auxiliary driving functions are valid.
  • assisted driving downgrading strategy mapping table some assisted driving functions can also be effectively designed for downgrading, such as degrading one (Degrd(1)), degrading two (Degrd(2)), degrading three (Degrd (3)), downgrade four (Degrd(4)), etc., for the same driving assistance function, different downgrade levels correspond to different implementation methods, which are not limited in this embodiment.
  • the above technical solution can realize the diagnosis and certain fault tolerance when the sensor failure and functional module failure occur, improve the stability of the auxiliary system, and realize cross-module cooperation through the top-level diagnosis center and the downgrading planning module when there is a failure. Degradation of driving function.
  • the design of the main and auxiliary redundant systems enables the main and auxiliary systems to achieve mutual verification, which meets the requirements of L3-level assisted driving systems for redundant design.
  • FIG. 10 is a schematic structural diagram of a driving assistance device provided in Embodiment 5 of the present application.
  • This embodiment is applicable to the situation where a vehicle equipped with an advanced driving assistance system performs a driving assistance function, for example, it may be a situation where a vehicle equipped with an L3 level assistance driving system performs a driving assistance function, and the device can be implemented in the form of software and/or hardware , and generally can be integrated in vehicle equipment.
  • the driving assistance device includes: a diagnostic information acquisition module 510 , a driving assistance function failure analysis module 520 and a driving assistance control module 530 .
  • the diagnostic information acquisition module 510 is configured to obtain in real time the diagnostic information of multiple sensors of the target vehicle and the diagnostic information of multiple actuators, as well as the diagnostic information of multiple module software functions;
  • the assisted driving function failure analysis module 520 is configured to The diagnostic information of the plurality of sensors and the diagnostic information of the plurality of actuators, as well as the diagnostic information of the software functions of the plurality of modules, determine the failure of the assisted driving function of the target vehicle;
  • the assisted driving control module 530 sets In order to determine the assisted driving strategy of the target vehicle according to the failure of the assisted driving function of the target vehicle, and continue to assist the driving of the target vehicle according to the assisted driving strategy.
  • the assisted driving function when there is a faulty sensor or actuator or module software function in the assisted driving system, the assisted driving function is no longer directly exited, but is based on the diagnosis information of multiple sensors and the diagnosis of multiple actuators.
  • System stability and fault tolerance when there is a faulty sensor or actuator or module software function in the assisted driving system, the assisted driving function is no longer directly exited, but is based on the diagnosis information of multiple sensors and the diagnosis of multiple actuators.
  • the driving assistance function failure analysis module 520 is set to if the diagnostic information of at least one sensor and/or the diagnostic information of at least one actuator indicates abnormality, and the diagnostic information of multiple module software functions indicates normal, then according to The role information of the at least one sensor and/or the at least one actuator in the target function link determines the failure of the driving assistance function corresponding to the target function link.
  • the auxiliary driving function failure analysis module 520 is configured to determine the auxiliary driving function corresponding to the target function link if the at least one sensor includes a unique number of sensors serially connected to the target function link.
  • the driving function fails; if the at least one actuator includes a unique number of actuators serially connected to the target function link, it is determined that the auxiliary driving function corresponding to the target function link is invalid; if the at least one If the sensor and the at least one actuator respectively include a unique number of sensors and actuators serially connected to the target function link, then it is determined that the driving assistance function corresponding to the target function link is invalid.
  • the driving assistance function failure analysis module 520 is configured to determine that the driving assistance function corresponding to the target function link is valid if the at least one sensor is connected in parallel to the target function link.
  • the weight information of a sensor on the target function link determines the failure level of the effective driving assistance function corresponding to the target function link; if the at least one actuator is connected in parallel to the target function link, then determining that the driving assistance function corresponding to the target function link is valid, and determining the effective driving assistance function corresponding to the target function link according to the weight information of the at least one actuator on the target function link Fault level; if the at least one sensor and the at least one actuator are connected in parallel to the target function link, it is determined that the assisted driving function corresponding to the target function link is valid; according to the The weight information of at least one sensor and the at least one actuator on the target function link determines the fault level of the effective driving assistance function corresponding to the target function link.
  • the target function link includes at least one of the following: a lateral control function link, a longitudinal control function link, and a lane change control function link.
  • the side control function link includes: a main camera device, an auxiliary camera device, a display device and a steering device;
  • the longitudinal control function link includes: a main camera device, an auxiliary camera device, and a front radar device , a display device, a power device and a brake device;
  • the lane change control function link includes: a left front corner radar device, a left rear corner radar device, a right front corner radar device and a right rear corner radar device.
  • the driving assistance function failure analysis module 520 is configured to determine that the driving assistance function corresponding to the at least one module software function is invalid if the diagnostic information of at least one module software function indicates an abnormality.
  • the above-mentioned device further includes: a mainline system diagnostic information receiving module, configured to acquire the diagnostic information of multiple sensors and multiple actuators of the target vehicle in real time, and the diagnostic information of multiple module software functions , receive the diagnostic information of the main line system sent by the auxiliary line system in real time; where the main line system and the auxiliary line system are distributed in different chips or different cores;
  • a mainline system diagnostic information receiving module configured to acquire the diagnostic information of multiple sensors and multiple actuators of the target vehicle in real time, and the diagnostic information of multiple module software functions , receive the diagnostic information of the main line system sent by the auxiliary line system in real time; where the main line system and the auxiliary line system are distributed in different chips or different cores;
  • the assisted driving function failure analysis module 520 is set to: if the diagnostic information of the mainline system indicates normal or part of the diagnostic information indicates abnormality, then according to the diagnostic information of the multiple sensors and the diagnostic information of the multiple actuators Information, as well as diagnostic information of a plurality of module software functions, determine the failure of the driving assistance function of the target vehicle.
  • the above device also includes: an auxiliary line system fault diagnosis module, configured to perform fault diagnosis on the auxiliary line system in real time, and send auxiliary line diagnostic information to the auxiliary line system; when the auxiliary line diagnostic information indicates abnormality, determine The backup of the driving assistance function of the target vehicle fails.
  • an auxiliary line system fault diagnosis module configured to perform fault diagnosis on the auxiliary line system in real time, and send auxiliary line diagnostic information to the auxiliary line system; when the auxiliary line diagnostic information indicates abnormality, determine The backup of the driving assistance function of the target vehicle fails.
  • the assisted driving control module 530 is configured to query the preset assisted driving downgrade strategy mapping table according to the failure of the assisted driving function of the target vehicle, and determine the assisted driving function that matches the failure of the assisted driving function.
  • Degradation level Query the assisted driving degraded policy mapping table according to the assisted driving degraded level, and determine the assisted driving strategy matching the assisted driving degraded level.
  • the driving assistance device provided in the embodiment of the present application can execute the driving assistance method provided in any embodiment of the present application, and has corresponding functional modules for executing the method.
  • FIG. 11 is a schematic structural diagram of a vehicle-mounted device provided in Embodiment 6 of the present application.
  • the vehicle-mounted device includes a processor 610, a memory 620, an input device 630, and an output device 640; the number of processors 610 in the vehicle-mounted device can be one or more, and one processor 610 is taken as an example in Figure 11 ;
  • the processor 610, the memory 620, the input device 630 and the output device 640 in the on-vehicle device can be connected through a bus or in other ways. In FIG. 11, the connection through a bus is taken as an example.
  • the memory 620 can be set to store software programs, computer-executable programs and modules, such as program instructions/modules corresponding to the assisted driving method in the embodiment of the present application (for example, the diagnosis in the assisted driving device) information acquisition module 510, assisted driving function failure analysis module 520 and assisted driving control module 530).
  • the processor 610 runs the software programs, instructions and modules stored in the memory 620 to execute various functional applications and data processing of the on-vehicle device, that is, to realize the above-mentioned assisted driving method.
  • the memory 620 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 620 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the memory 620 may also include a memory that is remotely located relative to the processor 610, and these remote memories may be connected to the on-vehicle device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 630 may be configured to receive input numbers or character information, and generate key signal input related to user settings and function control of the vehicle equipment.
  • the output device 640 may include a display device such as a display screen.
  • Embodiment 7 of the present application also provides a storage medium containing computer-executable instructions.
  • the computer-executable instructions When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to implement a method for assisting driving.
  • the diagnostic information of a sensor and the diagnostic information of a plurality of actuators, and the diagnostic information of a plurality of module software functions; according to the diagnostic information of the plurality of sensors and the diagnostic information of a plurality of actuators, and the diagnosis of a plurality of module software functions Information determine the failure of the driving assistance function of the target vehicle; determine the driving assistance strategy of the target vehicle according to the failure of the driving assistance function of the target vehicle, and continue to assist driving according to the driving assistance strategy target vehicle.
  • the computer-executable instructions are not limited to the method operations described above, and may also perform the steps in the assisted driving method provided in any embodiment of the present application. related operations.
  • the present application can be implemented by means of software and general hardware, and of course can also be implemented by means of hardware.
  • the technical solution based on the present application can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as computer floppy disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc., including multiple instructions to make a vehicle-mounted device (which can be a personal computer, server, or network device, etc.) execute the various embodiments described in the present application. described method.
  • the multiple units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; in addition, The names of multiple functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application.

Abstract

一种辅助驾驶方法、装置、设备及存储介质。方法包括：实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息；根据多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定目标车辆的辅助驾驶功能的失效情况；根据目标车辆的辅助驾驶功能的失效情况，确定目标车辆的辅助驾驶策略，并按照辅助驾驶策略继续辅助驾驶目标车辆。

Description

辅助驾驶方法、装置、设备及存储介质
本申请要求在2021年07月30日提交中国专利局、申请号为202110872851.5的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及汽车驾驶技术领域，例如涉及一种辅助驾驶方法、装置、设备及存储介质。
背景技术
随着科技的进步，汽车辅助驾驶系统的装配量增长迅速。对于一个多传感器多功能的辅助驾驶系统，每个功能模块均具备独立的诊断功能。当辅助驾驶系统内任一传感器失效时辅助驾驶功能均会随即退出，以减少整车厂的责任，由此导致了辅助驾驶系统稳定性较低的问题。
发明内容
本申请实施例提供一种辅助驾驶方法、装置、设备及存储介质，以提高辅助驾驶系统的稳定性和容错性。
本申请实施例提供了一种辅助驾驶方法，包括：实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息；根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况；根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
本申请实施例还提供了一种辅助驾驶装置，该装置包括：诊断信息获取模块，设置为实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息；辅助驾驶功能失效分析模块，设置为根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况；辅助驾驶控制模块，设置为根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
本申请实施例还提供了一种车载设备，所述车载设备包括：至少一个处理 器；存储器，设置为存储至少一个程序，当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如本申请任一实施例所述的方法。
本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请任一实施例所述的方法。
附图说明
图1是本申请实施例一中的一种辅助驾驶方法的流程图；
图2是本申请实施例二中的一种辅助驾驶方法的流程图；
图3是本申请实施例二中的一种车辆的器件安装示意图；
图4是本申请实施例二中的一种辅助驾驶功能失效分析示意图；
图5是本申请实施例三中的一种辅助驾驶方法的流程图；
图6是本申请实施例四中的一种辅助驾驶方法所适用的模块架构示意图；
图7是本申请实施例四中的另一种辅助驾驶方法所适用的模块架构示意图；
图8是本申请实施例四中的一种辅助驾驶方法所适用的信号流示意图；
图9是本申请实施例四中的一种辅助驾驶降级策略映射表的示例图；
图10是本申请实施例五中的一种辅助驾驶装置的结构示意图；
图11是本申请实施例六中的一种车载设备的结构示意图。
具体实施方式
下面结合附图和实施例对本申请进行说明。可以理解的是，此处所描述的实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关部分的结构。
实施例一
图1为本申请实施例一提供的一种辅助驾驶方法的流程图。本实施例可适用于具备高级辅助驾驶系统的车辆执行辅助驾驶功能的情况，例如可以是具备L3级别辅助驾驶系统的车辆执行辅助驾驶功能的情况，该方法可以由辅助驾驶装置来执行，该装置可采用硬件和/或软件的方式实现，并一般可以集成在车载设备中。
如图1所示，本实施例提供的辅助驾驶方法，包括如下步骤。
S110、实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息。
目标车辆，指的是装配有辅助驾驶系统的任意车辆，例如是装配有高级辅助驾驶系统的任意车辆，可以是装配有L3级别的辅助驾驶系统的任意车辆。
在本实施例中，传感器指的是辅助驾驶系统内涉及的传感器件，例如可以为摄像头、雷达(包括短距离雷达、电子扫描雷达等)、全球定位系统(Global Positioning System，GPS)、超声波传感器等；执行器指的是辅助驾驶系统内涉及的执行器件，例如可以为制动器、引擎、惯性测量单元、转角传感器、电动助力转向控制单元、车身控制器、人机界面等；模块软件功能指的是辅助驾驶系统涉及的软件层面的功能模块，例如可以是自适应巡航模块软件功能、车道保持模块软件功能、前碰撞紧急刹车功能、纵向控制模块软件功能、侧向控制模块软件功能、自动变道模块软件功能、规划定位模块软件功能(包括地图定位模块软件功能、非硬件规划功能等)等。
针对每个传感器、每个执行器，以及每个模块软件功能，均可以进行独立的诊断，进而可以实时获取多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息。
可选的，在辅助驾驶系统中可以设置融合模块，设置为根据多个传感器的感知信号分别对多个传感器进行诊断，生成多个传感器的诊断信息；多个执行器的诊断信息，可以分别基于多个执行器的自检信号确定；多个模块软件功能的诊断信息，可以分别基于多个模块软件功能中的自检功能确定。
S120、根据所述多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况。
综合多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，对目标车辆的辅助驾驶功能的失效情况进行分析。
目标车辆的辅助驾驶功能，指的是辅助驾驶系统中涉及的任意一种辅助驾驶功能，例如可以是自适应巡航功能、车道保持功能、纵向控制功能、侧向控制功能、自动变道功能等。
可选的，目标车辆的辅助功能的失效情况，可以包括有效的辅助驾驶功能有哪些，失效的辅助驾驶功能有哪些，还可以包括有效的辅助驾驶功能是全部有效，还是部分有效等。
作为一种可选的实施方式，所述根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况，可以包括：如果至少一个模块软件功能的诊断信息指示异常，则确定所述至少一个模块软件功能所对应的辅助驾驶功能失效。
在获取到多个模块软件功能的诊断信息之后，如果存在诊断信息指示异常 的模块软件功能，则与该模块软件功能对应的辅助驾驶功能失效。例如，如果侧向控制模块软件功能的诊断信息指示异常，则相应的侧向控制功能失效。
S130、根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
在确定目标车辆的辅助驾驶功能的失效情况之后，可以基于当前的辅助驾驶功能的失效情况选取匹配的辅助驾驶策略，并按照相应的辅助驾驶策略继续辅助驾驶目标车辆，而非是退出辅助驾驶系统。
与当前的辅助驾驶功能的失效情况匹配的辅助驾驶策略，是在辅助驾驶系统原有辅助驾驶功能的基础上失效部分辅助驾驶功能后的辅助驾驶策略。也即，与当前的辅助驾驶功能的失效情况匹配的辅助驾驶策略，是在辅助驾驶系统原有辅助驾驶策略基础上降级确定的。
可选的，可以基于辅助驾驶功能的多种失效情况预先建立一个辅助驾驶策略映射表。在确定目标车辆的辅助驾驶功能的失效情况之后，根据目标车辆的辅助驾驶功能的失效情况查询所述辅助驾驶策略映射表，确定与目标车辆的辅助驾驶功能的失效情况匹配的辅助驾驶策略，进而可以根据查询确定的辅助驾驶策略继续进行辅助驾驶目标车辆。
作为一种可选的实施方式，所述根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，可以为：根据所述目标车辆的辅助驾驶功能的失效情况查询预设的辅助驾驶降级策略映射表，确定与所述辅助驾驶功能的失效情况匹配的辅助驾驶降级等级；根据所述辅助驾驶降级等级查询所述辅助驾驶降级策略映射表，确定与所述辅助驾驶降级等级匹配的辅助驾驶策略。
在本实施方式中，预先建立一个辅助驾驶降级策略映射表，该辅助驾驶降级策略映射表中包括辅助驾驶功能的失效情况与辅助驾驶降级等级之间的一一映射关系，也包括辅助驾驶降级等级与辅助驾驶策略的一一映射关系。辅助驾驶功能的失效情况，可以由车辆的多个传感器以及多个执行器是否故障来标识；辅助驾驶策略，可以由多个辅助驾驶功能是否正常运行或者是否降级运行(包括降级运行等级)来标识。
在确定目标车辆的辅助驾驶功能的失效情况之后，根据目标车辆的辅助驾驶功能的失效情况查询所述辅助驾驶降级策略映射表，确定与目标车辆的辅助驾驶功能的失效情况匹配的辅助驾驶降级等级，可以根据辅助驾驶降级等级查询所述辅助驾驶降级策略映射表，确定与辅助驾驶降级等级匹配的辅助驾驶策略继续进行辅助驾驶。
可选的，在辅助驾驶系统中可以设置系统诊断模块和规划模块。系统诊断模块，设置为在确定目标车辆的辅助驾驶功能的失效情况之后，根据目标车辆的辅助驾驶功能的失效情况查询所述辅助驾驶降级策略映射表，确定与目标车辆的辅助驾驶功能的失效情况匹配的辅助驾驶降级等级，并将辅助驾驶降级等级发送给规划模块。规划模块，设置为在接收到辅助驾驶降级等级之后，根据所述辅助驾驶降级等级查询所述辅助驾驶降级策略映射表，确定与所述辅助驾驶降级等级匹配的辅助驾驶策略，并将与辅助驾驶策略对应的控制指令发送给执行器，以执行所述辅助驾驶策略。
在按照所述辅助驾驶策略继续辅助驾驶之后，还可以基于目标车辆的辅助驾驶功能的失效情况，判断是否需要驾驶员接管驾驶操作。如果目标车辆的辅助驾驶功能的失效情况满足预设条件，例如可以是辅助驾驶系统失效或者接近失效等，则可以提示驾驶员接管操作。需要指出的是，只有在驾驶员成功接管驾驶操作之后，目标车辆的辅助驾驶系统才可退出。
本申请实施例的技术方案，当辅助驾驶系统中存在故障的传感器或执行器或模块软件功能时，不再直接退出辅助驾驶功能，而是根据多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定目标车辆的辅助驾驶功能的失效情况，根据车辆辅助驾驶功能的失效情况确定辅助驾驶策略，并按照辅助驾驶策略继续进行辅助驾驶，以此提高了辅助驾驶系统的稳定性和容错性。
实施例二
图2为本申请实施例二提供的一种辅助驾驶方法的流程图。本实施例在前述实施例的基础上进行说明，其中，所述根据所述多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定所述目标车辆辅助驾驶功能的失效情况，可以为：如果至少一个传感器的诊断信息和/或至少一个执行器的诊断信息指示异常，且多个模块软件功能的诊断信息均指示正常，则根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况。
如图2所示，本实施例提供的辅助驾驶方法，包括如下步骤。
S210、实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息。
S220、如果至少一个传感器的诊断信息和/或至少一个执行器的诊断信息指示异常，且多个模块软件功能的诊断信息均指示正常，则根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标 功能链路对应的辅助驾驶功能的失效情况。
目标功能链路，指的是与任意一种辅助驾驶功能对应的包括多个传感器和/或多个执行器的硬件链路。
可选的，目标功能链路可以包括下述至少之一：侧向控制功能链路、纵向控制功能链路、变道控制功能链路。
作为一种实施方式，所述侧向控制功能链路上包括：主摄像器件、辅摄像器件、显示器件和转向器件；所述纵向控制功能链路上包括：主摄像器件、辅摄像器件、前雷达器件、显示器件、动力器件和制动器件；所述变道控制功能链路上包括：左前角雷达器件、左后角雷达器件、右前角雷达器件和右后角雷达器件。
左前角雷达器件、左后角雷达器件、右前角雷达器件、右后角雷达器件、主摄像器件、辅摄像器件和前雷达器件的安装示意图可以参见图3。
在多个模块软件功能的诊断信息均指示正常的情况下，可以基于传感器的诊断信息和/或执行器的诊断信息确定辅助驾驶功能的失效情况，可以根据诊断信息指示异常的传感器和/或执行器在目标功能链路中的角色信息，分析与目标功能链路对应的辅助驾驶功能的失效情况。
传感器在目标功能链路中的角色信息指示传感器在目标功能链路中的功能重要程度或功能不可替代程度，或执行器在目标功能链路中的角色信息指示执行器在目标功能链路中的功能重要程度或功能不可替代程度，或传感器和执行器在目标功能链路中的角色信息，分别指示传感器和执行器在目标功能链路中的功能重要程度或功能不可替代程度。以变道控制功能链路为例，左后角雷达器件、右后角雷达器件、左前角雷达器件以及右前角雷达器件，分别设置为对车辆四个角进行测距，在变道控制功能链路中左后角雷达器件、右后角雷达器件、左前角雷达器件以及右前角雷达器件的角色信息是相同的。
如果传感器和/或执行器在目标功能链路中的功能是不可替代的，则一旦传感器的诊断信息和/或执行器的诊断信息指示异常，可以确定与所述目标功能链路对应的辅助驾驶功能失效；如果传感器和/或执行器在目标功能链路中的功能是可替代的，则即使传感器的诊断信息和/或执行器的诊断信息指示异常，也可以确定与所述目标功能链路对应的辅助驾驶功能有效或部分有效。
作为一种可选的实施方式，所述根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，可以为：如果所述至少一个传感器中包括串行连接在目标功能链路上且数量唯一的传感器，则确定与所述目标功能链路对应的辅助驾 驶功能失效；如果所述至少一个执行器中包括串行连接在目标功能链路上且数量唯一的执行器，则确定与所述目标功能链路对应的辅助驾驶功能失效；所述至少一个传感器和所述至少一个执行器中分别包括串行连接在目标功能链路上且数量唯一的传感器和执行器，则确定与所述目标功能链路对应的辅助驾驶功能失效。
对诊断信息指示异常的多个传感器和/或多个执行器进行分析，如果这些传感器中存在串行连接在目标功能链路上且数量唯一的传感器，则可以确定与目标功能链路对应的辅助驾驶功能失效；如果这些执行器中存在串行连接在目标功能链路上且数量唯一的执行器，则可以确定与目标功能链路对应的辅助驾驶功能失效；如果这些传感器和这些执行器中分别存在串行连接在目标功能链路上且数量唯一的传感器和串行连接在目标功能链路上且数量唯一的执行器，则可以确定与目标功能链路对应的辅助驾驶功能失效。串行连接的含义为功能不可替代。
以变道控制功能链路为例，左后角雷达器件、右后角雷达器件、左前角雷达器件以及右前角雷达器件均串行连接在目标功能链路上，而且数量均为一个，则左后角雷达器件、右后角雷达器件、左前角雷达器件以及右前角雷达器件中任意一个雷达器件的诊断信息指示异常，都可以确定与目标功能链路对应的辅助驾驶功能失效，也即自动变道功能失效。
作为一种可选的实施方式，所述根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，可以为：如果所述至少一个传感器并行连接在目标功能链路上，则确定与所述目标功能链路对应的辅助驾驶功能有效，根据所述至少一个传感器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级；如果所述至少一个执行器并行连接在目标功能链路上，则确定与所述目标功能链路对应的辅助驾驶功能有效，根据所述至少一个执行器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级；如果如果所述至少一个传感器和所述至少一个执行器均并行连接在目标功能链路上，则确定与所述目标功能链路对应的辅助驾驶功能有效，根据所述至少一个传感器和/或所述至少一个执行器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级。
对诊断信息指示异常的多个传感器和/或多个执行器进行分析，如果这些传感器中的任意一个传感器并行连接在目标功能链路上，则可以确定与目标功能链路对应的辅助驾驶功能是有效的；如果这些执行器中的任意一个执行器并行 连接在目标功能链路上，则可以确定与目标功能链路对应的辅助驾驶功能是有效的；如果这些传感器和这些执行器中的任意一个传感器和任意一个执行器均并行连接在目标功能链路上，则可以确定与目标功能链路对应的辅助驾驶功能是有效的。并行连接的含义为功能可被替代。需要指出的是，并行连接在目标功能链路上所有传感器诊断信息和所有执行器的诊断信息均指示异常时，与所述目标功能链路对应的辅助驾驶功能无效。
在确定与目标功能链路对应的辅助驾驶功能是有效的之后，还可以根据诊断信息指示异常的多个传感器和/或多个执行器在目标功能链路上的权重信息确定与目标功能链路对应的、有效的辅助驾驶功能的故障等级。传感器和/或执行器在目标功能链路上的权重越大，与目标功能链路对应的辅助驾驶功能的故障等级越高。
也即，在根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况时，如果确定与目标功能链路对应的辅助驾驶功能有效，还需确定该有效的辅助驾驶功能的故障等级。
以纵向控制功能对应的功能链路为例，显示器件、动力器件以及制动器件串行连接在目标功能链路上，主摄像器件、辅摄像器件以及前雷达器件并行连接在目标功能链路上。假设，主摄像器件、辅摄像器件以及前雷达器件在目标功能链路上的权重依次递减，若主摄像器件、辅摄像器件以及前雷达器件中的任意一个或两个器件的诊断信息指示异常，都可以确定与目标功能链路对应的辅助驾驶功能有效，也即纵向控制功能有效。与辅摄像器件的诊断信息指示异常时相比，前雷达器件的诊断信息指示异常时纵向控制功能的故障等级更低。
在一个示例中，参照图4所示的辅助驾驶功能失效分析示意图：左后角雷达、左前角雷达、右后角雷达、右前角雷达均串行连接在变道控制功能链路上且数量唯一，则左后角雷达、左前角雷达、右后角雷达、右前角雷达中任一雷达出现异常时，都可以确定与变道控制功能链路对应的变道控制功能失效。显示器件、动力器件和制动器件均串行连接在纵向控制功能链路上且数量唯一，主摄像头、辅摄像头以及前雷达均并行连接在纵向控制功能链路上，则显示器件、动力器件和制动器件中任一器件出现异常时，都可以确定与纵向控制功能链路对应的纵向控制功能失效；显示器件、动力器件和制动器件正常但主摄像头、辅摄像头以及前雷达中任一或两个器件出现异常时，都可以确定与纵向控制功能链路对应的纵向控制功能有效，但仍需根据出现异常的器件在纵向控制功能链路上的权重确定纵向控制功能的故障等级。
显示器件和转向器件均串行连接在侧向控制功能链路上且数量唯一，主摄 像头和辅摄像头均并行连接在纵向控制功能链路上，则显示器件或转向器件出现异常时，都可以确定与侧向控制功能链路对应的侧向控制功能失效；显示器件和转向器件正常但主摄像头或辅摄像头出现异常时，都可以确定与纵向控制功能链路对应的侧向控制功能有效，但仍需根据出现异常的摄像头在侧向控制功能链路上的权重确定侧向控制功能的故障等级。
在获取到多个模块软件功能的诊断信息之后，如果存在诊断信息指示异常的模块软件功能，则与该模块软件功能对应的辅助驾驶功能失效。例如，如果侧向控制模块软件功能的诊断信息指示异常，则相应的侧向控制功能失效。
S230、根据所述目标车辆辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
本实施例未解释之处请参见前述实施例，在此不再赘述。
上述技术方案中，如果至少一个传感器的诊断信息和/或至少一个执行器的诊断信息指示异常，且多个模块软件功能的诊断信息均指示正常，则可以根据至少一个传感器和/或至少一个执行器在目标功能链路中的角色信息，确定与目标功能链路对应的辅助驾驶功能的失效情况，以此准确分析辅助驾驶功能的失效情况，使在传感器故障或执行器故障或模块软件功能故障时的诊断具有一定的容错能力，提高辅助驾驶系统的稳定性。
实施例三
图5为本申请实施例三提供的一种辅助驾驶方法的流程图。本实施例在前述实施例的基础上进行说明，其中，在所述实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息时，还可以包括：实时接收辅线系统发送的主线系统诊断信息；其中，主线系统和辅线系统分布于不同芯片或不同核中；相应的，根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定所述目标车辆辅助驾驶功能的失效情况，可以包括：如果所述主线系统诊断信息指示正常或者部分诊断信息指示异常，则根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆辅助驾驶功能的失效情况。
如图5所示，本实施例提供的辅助驾驶方法，包括如下步骤。
S310、实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，多个模块软件功能的诊断信息，以及辅线系统发送的主线系统诊断信息。
在本实施例中，辅助驾驶系统采用主辅冗余架构，也即是同构主线系统和辅线系统冗余实现车辆辅助驾驶功能。主线系统和辅线系统分布于不同芯片中， 或者同一芯片的不同核中，以此实现主辅冗余架构。
主线系统和辅线系统可以互相进行异常诊断。主线系统向辅线系统发送主线系统信号，以使辅线系统根据主线系统信号对主线系统进行故障诊断，并向主线系统发送主线系统的诊断信息，主线系统可以根据接收到的主线系统的诊断信息判断本身是否正常。同时，主线系统还会实时接收辅线系统信号，根据辅线系统信号对辅线系统进行故障诊断，并向所述辅线系统发送辅线系统的诊断信息，以使辅线系统根据接收到的辅线系统的诊断信息判断本身是否正常。
S320、如果所述主线系统的诊断信息指示正常或者部分诊断信息指示异常，则根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆辅助驾驶功能的失效情况。
如果辅线系统发送的主线系统的诊断信息指示正常或部分诊断信息指示异常，也即指示主线系统存在故障其不会导致主线系统完全不可用时，主线系统可以确认本身可以保持正常基本功能，并根据多个传感器的诊断信息和多个执行器的诊断信息以及多个模块软件功能的诊断信息确定所述目标车辆的辅助驾驶功能失效情况的操作。
如果至少一个传感器的诊断信息和/或至少一个执行器的诊断信息指示异常，且多个模块软件功能的诊断信息均指示正常，则主线系统可以根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况。
主线系统实时对辅线系统进行故障诊断，并向所述辅线系统发送辅线系统的诊断信息，当所述辅线系统的诊断信息指示异常时，主线系统可以确定所述目标车辆的辅助驾驶功能的备份失效，并将目标车辆的辅助驾驶功能的备份失效作为目标车辆的辅助驾驶功能的失效情况。
如果辅线系统发送的主线系统的诊断信息指示异常，也即主线系统发生故障无法保持正常基本功能，则辅线系统将代替主线系统进行工作，从而保证最小安全功能，也即，辅线系统根据多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况，根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
辅线系统也可以实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息。如果至少一个传感器的诊断信息和/或至少一个执行器的诊断信息指示异常，且多个模块软件功能的诊断信息均指示正常，则辅线系统可以根据所述至少一个传感器和/或所述至少一个执 行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况。
S330、根据所述目标车辆辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
本实施例未解释之处请参见前述实施例，在此不再赘述。
上述技术方案采用双芯片主辅冗余架构，也即利用主线系统和辅线系统冗余实现辅助驾驶功能，统一考虑传感器故障、执行器故障、模块软件功能故障、主线芯片故障以及辅线芯片故障，以此确定符合车辆当前故障情况的辅助驾驶策略，并按照相应的辅助驾驶策略继续辅助驾驶车辆，提高了辅助驾驶系统的稳定性和容错性。
实施例四
本实施例在前述实施例的基础上针对辅助驾驶方法提供了一种实施方式。对于一个多传感器多功能的辅助驾驶系统，每个功能模块均需具备独立的诊断功能，在本实施例中，设置集中诊断降级模块和规划模块，其中，集中诊断降级模块根据不同故障情况确定辅助驾驶分级降级等级，规划模块根据辅助驾驶分级降级等级进行辅助驾驶规划以实现采用与辅助驾驶分级降级等级匹配的辅助驾驶策略继续辅助驾驶。
参照图3所示的汽车器件安装示意图，车辆平台配置5颗毫米波雷达，分别安装在前保险杠中心以及车辆左前角、右前角、左后角及右后角，除毫米波雷达外，另外配置2颗摄像头(主摄像头和辅摄像头)，均为前向摄像头，设置为感知前向目标和车道线，实现一定程度的冗余。
本实施例提供的辅助驾驶方法适用于如图6所示的模块架构中，如图6所示，集中诊断降级模块601实时获取车辆的多个传感器602、多个执行器603、模块软件功能604(可以包括人机交互系统6041)以及控制单元605的诊断信息，并在至少一个诊断信息指示异常时，查询预设的辅助驾驶降级策略映射表，获取与当前故障对应的辅助驾驶降级等级，并将该辅助驾驶降级等级发送给规划模块607。规划模块607根据接收到的辅助驾驶降级等级查询所述辅助驾驶降级策略映射表，获取与该辅助驾驶降级等级对应的辅助驾驶策略，并根据该辅助驾驶策略生成相应的控制指令发送至相应的执行器603，以使相应的执行器执行降级后的辅助驾驶策略，同时还可以将相应的控制提示发送至人机交互系统6041，以向驾驶员进行故障以及降级辅助驾驶提示。
此外，本实施例采用双芯片主辅冗余架构，利用主线系统和辅线系统冗余实现辅助驾驶功能实现系统冗余功能，主线系统和辅线系统分布于不同芯片或 者不同核之间。
图7针对本实施例提供的辅助驾驶方法示出了一种模块架构，适用于L3级别的辅助驾驶系统，也能够向下兼容L2级别的辅助驾驶系统。如图7所示，该系统架构包括传感器模块701、执行器模块702、集中诊断降级模块703、地图定位模块704、融合系统模块705、规划控制模块706和辅线系统707。
传感器模块701中包括摄像头、毫米波雷达等；执行器模块702中包括制动系统、转向系统、动力系统、车身系统等；地图定位模块704中包括地图模块7041，定位模块7042及诊断模块7043；融合系统模块705中包括融合诊断模块7051；规划控制模块706中规划模块7061和功能模块7062，规划模块7061中包括规划诊断模块70611，功能模块7062包括纵向功能模块70621和侧向功能模块70622，纵向功能模块70621中包括纵向功能诊断模块706211，侧向功能模块70622中包括侧向功能诊断模块706221；辅线系统707包括辅线感知系统7071、辅线控制系统7072和辅线诊断系统7073。
集中诊断降级模块703根据传感器的诊断信号、执行器的诊断信号以及多个功能模块的诊断信号，实现系统层面的监控。同时，集中诊断降级模块703向辅线诊断系统7073发送诊断信号，以使辅线诊断系统7073根据诊断信号对主线系统进行故障诊断，并向集中诊断降级模块703反馈主线系统的诊断信息，以使集中诊断降级模块703根据主线系统的诊断信息确定主线系统是否正常。另外，集中诊断降级模块703还实时接收辅线诊断系统7073发送的诊断信号，并根据该诊断信号对辅线系统进行诊断，生成辅线系统的诊断信息，并将诊断信息发送至辅线诊断系统7073，以使辅线诊断系统7073根据辅线系统的诊断信息确定辅线系统是否正常。
集中诊断降级模块703在确定主线系统正常或部分异常(主线系统可用)时，根据传感器的诊断信号、执行器的诊断信号以及多个功能模块的诊断信号产生故障代码，并基于故障代码确定辅助驾驶降级等级，并将辅助驾驶降级等级发送至规划模块7061中，规划模块7061根据辅助驾驶降级等级规划辅助驾驶策略，并根据辅助驾驶策略生成控制指令发送至功能模块7062。功能模块7062，除了接收传感器模块701和执行器模块702的信号外，还接收规划模块7061的控制指令，以实现降级的辅助驾驶功能。
当主线系统发生故障不可用时，如融合系统模块705、纵向功能模块70621和侧向功能模块70622故障时，主线系统无法保持正常基本功能，则由辅线系统707代替主线系统进行工作，从而保证最小安全功能。
如图8所示，图7所示的模块架构所适用的信号流为：融合系统模块705接收来自传感器模块701的输入生成诊断信息，并将诊断信息发送给集中诊断 降级模块703和规划模块7061，融合系统模块705同时会将感知状态作为功能输入信号输入功能模块7062实现功能自检，功能模块7062除接收来自融合系统模块705的诊断信号外，还需接收来自传感器模块701的感知信号和来自执行器模块702的车辆信号实现功能，并将功能是否存在故障的自检结果发送给集中诊断降级模块703，以实现集中诊断降级模块703对所有模块的诊断，同时功能模块7062还会将控制整车的信号发送至执行器模块702，实现对执行器模块702的控制。另外，辅线系统707将辅线模块的工作状态发送给集中诊断降级模块703，当诊断故障存在时且不会导致主线系统完全不可用时，集中诊断降级模块703生成降级代码并将降级代码发送给规划模块7061，规划模块7061根据降级代码和辅助驾驶降级策略映射表，发送指令给功能模块7062，实现降级；若出现主线系统完全不可用状态，则辅线系统707接管主线系统的功能，通过向执行器模块702发送控制指令实现辅助驾驶功能，可以通过辅线系统707中包括的辅线感知系统7071、辅线控制系统7072和辅线诊断系统7073进行辅助驾驶，以实现最小安全功能。
集中诊断降级模块703根据传感器的诊断信号、执行器的诊断信号以及多个功能模块的诊断信号实现系统层面的监控，确定车辆辅助驾驶功能的失效情况时，可以依据辅助驾驶系统涵盖的功能模块为基础进行分析，从执行层面分析，功能包括侧向功能、纵向功能及带有规划部分的变道功能三类，每类功能从感知、规划到执行又大致包含三部分，其中，故障分析需考虑每部分是否存在多个硬件或软件同时完成情况，对于串行且唯一的模块，一旦失效则认为其所在整条功能链路失效及功能失效，对于并行存在的模块，除非所有模块失效，其余情况下其所在整条功能链路是有效的，此时需要根据失效模块的性能及对整个系统的贡献设置的权重进行不同程度的功能降级。
如果至少一个传感器的诊断信息和/或至少一个执行器的诊断信息指示异常，且多个模块软件功能的诊断信息均指示正常，则集中诊断降级模块703根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况。如果所述至少一个传感器中包括串行连接在目标功能链路上且数量唯一的传感器，则集中诊断降级模块703确定与所述目标功能链路对应的辅助驾驶功能失效；如果所述至少一个执行器中包括串行连接在目标功能链路上且数量唯一的执行器，则集中诊断降级模块703确定与所述目标功能链路对应的辅助驾驶功能失效；如果所述至少一个传感器和所述至少一个执行器中分别包括串行连接在目标功能链路上且数量唯一的传感器和执行器，则集中诊断降级模块703确定与所述目标功能链路对应的辅助驾驶功能失效；如果所述至少一个传感器和/或所述至少一个执行器均并行连接在目标功能链路上，则集中诊断降级模块703确定与所述 目标功能链路对应的辅助驾驶功能有效，并可以根据所述少一个传感器和/或所在至少一个执行器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级。
示例性的，集中诊断降级模块703根据传感器的诊断信号、执行器的诊断信号以及多个功能模块的诊断信号实现系统层面的监控，确定车辆辅助驾驶功能的失效情况，可以参照如图4所示的辅助驾驶功能失效分析示意图。
在本示例中，造成辅助驾驶系统失效的原因可以包括4部分，即变道控制功能失效、纵向控制功能失效、侧向控制功能失效和辅线系统故障，但并非单一功能失效即造成所有功能失效，需要基于故障树分析结果、功能最小传感器配置和失效严重程度，设计辅助驾驶降级策略映射表。
左后角雷达、左前角雷达、右前角雷达、右后角雷达中任一故障时，都会造成变道控制功能失效；规划定位模块故障(软件模块故障)时，可以包含定位地图模块故障，以及非外部硬件的规划模块内部软件模块故障等，也会都会造成变道控制功能失效。
造成纵向控制功能失效的原因可以分为两类，一个原因为执行器端故障，即显示故障，制动系统故障和动力系统故障，此三类故障任一出现则会造成纵向控制功能失效；而另一个原因是完全不具备感知能力，此时需要主摄像头故障、辅摄像头故障和前雷达故障同时出现，则会造成纵向功能完全失效，当单一失效时，不会立刻退出纵向控制功能，而是工作在纵向控制功能的降级模式，需要在辅助驾驶降级策略映射表进行设计。但当内部软件模块出现故障时，由于内部软件模块为串行允许，则会直接导致纵向控制功能失效，其中，软件模块故障可以包括纵向功能模块故障及融合模块故障。
造成侧向控制功能失效同样分为两类，一个原因为执行器端故障，即显示故障和转向系统故障，此两类任一故障出现则横向控制功能完全失效；另一个原因为横向控制数据源能力完全丧失，如当主摄像头故障和辅摄像头同时故障时，横向控制功能失效，当单一失效时，不会立刻退出侧向控制功能，而是工作在侧向控制功能的降级模式，需要在辅助驾驶降级策略映射表进行设计。此外，同样包含内部软件模块出现故障情况，由于内部软件模块为串行允许，则会直接导致横向控制功能模块故障，其中，软件模块故障可以包括侧向功能模块故障及融合模块故障。
示例性的，图9示出了一种辅助驾驶降级策略映射表的示例，以单点失效为主要考虑因素，对于前向重点区域考虑双点失效，将不同传感器、执行器功能失效划分为不同的降级等级，并赋予辅助驾驶降级等级，不同辅助驾驶降级等级会对应不同降级策略。其中，图9中“OK”表示正常或有效，“Failed”、 “Error”、“Unavaliable”表示异常或无效，“Degrd”表示降级。
以图9中辅助驾驶降级等级为1.1为例，故障源为GPS，也即只有GPS的诊断信息指示异常时，辅助驾驶降级等级为1.1，相应的辅助驾驶降级策略为L3级别辅助驾驶不可用，定位功能失效，其余辅助驾驶功能有效。
另外，在辅助驾驶降级策略映射表中，还可以针对一些辅助驾驶功能进行降级有效设计，如图9中的降级一(Degrd(1))、降级二(Degrd(2))、降级三(Degrd(3))、降级四(Degrd(4))等，针对同一种辅助驾驶功能，不同降级等级对应的实现方式不同，本实施例对此不作限定。
本实施例未解释之处请参见前述实施例，在此不再赘述。
上述技术方案，可以实现传感器故障及功能模块故障时的诊断及一定的容错能力，提高了辅助系统的稳定性，并在存在故障时通过顶层诊断中心和降级规划模块实现跨模块协作，协同实现辅助驾驶功能的降级。同时，主辅冗余系统的设计，使主辅系统能够实现互相校验，满足L3级别辅助驾驶系统对冗余设计的要求。
实施例五
图10为本申请实施例五提供的一种辅助驾驶装置的结构示意图。本实施例可适用于具备高级辅助驾驶系统的车辆执行辅助驾驶功能的情况，例如可以是具备L3级别辅助驾驶系统的车辆执行辅助驾驶功能的情况，该装置可采用软件和/或硬件的方式实现，并一般可以集成在车载设备中。如图10所示，该辅助驾驶装置包括：诊断信息获取模块510、辅助驾驶功能失效分析模块520和辅助驾驶控制模块530。
诊断信息获取模块510，设置为实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息；辅助驾驶功能失效分析模块520，设置为根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况；辅助驾驶控制模块530，设置为根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
本申请实施例的技术方案，当辅助驾驶系统中存在故障的传感器或执行器或模块软件功能时，不再直接退出辅助驾驶功能，而是根据多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定车辆辅助驾驶功能的失效情况，根据车辆辅助驾驶功能的失效情况确定辅助驾驶策略，并按照辅助驾驶策略继续进行辅助驾驶，以此提高了辅助驾驶系统的稳定 性和容错性。
可选的，辅助驾驶功能失效分析模块520，是设置为如果至少一个传感器的诊断信息和/或至少一个执行器的诊断信息指示异常，且多个模块软件功能的诊断信息均指示正常，则根据所述至少一个传感器和/或所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况。
可选的，辅助驾驶功能失效分析模块520，是设置为如果所述至少一个传感器中包括串行连接在目标功能链路上且数量唯一的传感器，则确定与所述目标功能链路对应的辅助驾驶功能失效；如果所述至少一个执行器中包括串行连接在目标功能链路上且数量唯一的执行器，则确定与所述目标功能链路对应的辅助驾驶功能失效；如果所述至少一个传感器和所述至少一个执行器中分别包括串行连接在目标功能链路上且数量唯一的传感器和执行器，则确定与所述目标功能链路对应的辅助驾驶功能失效。
可选的，辅助驾驶功能失效分析模块520，是设置为如果所述至少一个传感器并行连接在目标功能链路上，则确定与所述目标功能链路对应的辅助驾驶功能有效，根据所述至少一个传感器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级；如果所述至少一个执行器并行连接在目标功能链路上，则确定与所述目标功能链路对应的辅助驾驶功能有效，根据所述至少一个执行器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级；如果所述至少一个传感器和所述至少一个执行器均并行连接在所述目标功能链路上的情况下，则确定与所述目标功能链路对应的辅助驾驶功能有效；根据所述至少一个传感器和所述至少一个执行器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级。
可选的，所述目标功能链路包括下述至少之一：侧向控制功能链路、纵向控制功能链路、变道控制功能链路。
可选的，所述侧向控制功能链路上包括：主摄像器件、辅摄像器件、显示器件和转向器件；所述纵向控制功能链路上包括：主摄像器件、辅摄像器件、前雷达器件、显示器件、动力器件和制动器件；所述变道控制功能链路上包括：左前角雷达器件、左后角雷达器件、右前角雷达器件和右后角雷达器件。
可选的，辅助驾驶功能失效分析模块520，是设置为如果至少一个模块软件功能的诊断信息指示异常，则确定所述至少一个模块软件功能所对应的辅助驾驶功能失效。
可选的，上述装置还包括：主线系统诊断信息接收模块，设置为在所述实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息时，实时接收辅线系统发送的主线系统的诊断信息；其中，主线系统和辅线系统分布于不同芯片或不同核中；
相应的，辅助驾驶功能失效分析模块520，是设置为如果所述主线系统的诊断信息指示正常或者部分诊断信息指示异常，则根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定所述目标车辆辅助驾驶功能的失效情况。
上述装置还包括：辅线系统故障诊断模块，设置为实时对所述辅线系统进行故障诊断，并向所述辅线系统发送辅线诊断信息；在所述辅线诊断信息指示异常时，确定所述目标车辆辅助驾驶功能的备份失效。
可选的，辅助驾驶控制模块530，是设置为根据所述目标车辆的辅助驾驶功能的失效情况查询预设的辅助驾驶降级策略映射表，确定与所述辅助驾驶功能的失效情况匹配的辅助驾驶降级等级；根据所述辅助驾驶降级等级查询所述辅助驾驶降级策略映射表，确定与所述辅助驾驶降级等级匹配的辅助驾驶策略。
本申请实施例所提供的辅助驾驶装置可执行本申请任意实施例所提供的辅助驾驶方法，具备执行方法相应的功能模块。
实施例六
图11为本申请实施例六提供的一种车载设备的结构示意图。如图11所示，该车载设备包括处理器610、存储器620、输入装置630和输出装置640；车载设备中处理器610的数量可以是一个或多个，图11中以一个处理器610为例；车载设备中的处理器610、存储器620、输入装置630和输出装置640可以通过总线或其他方式连接，图11中以通过总线连接为例。
存储器620作为一种计算机可读存储介质，可设置为存储软件程序、计算机可执行程序以及模块，如本申请实施例中的辅助驾驶方法对应的程序指令/模块(例如，辅助驾驶装置中的诊断信息获取模块510、辅助驾驶功能失效分析模块520和辅助驾驶控制模块530)。处理器610通过运行存储在存储器620中的软件程序、指令以及模块，从而执行车载设备的多种功能应用以及数据处理，即实现上述的辅助驾驶方法。
存储器620可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器620可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失 性固态存储器件。在一些实例中，存储器620还可包括相对于处理器610远程设置的存储器，这些远程存储器可以通过网络连接至车载设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置630可设置为接收输入的数字或字符信息，以及产生与车载设备的用户设置以及功能控制有关的键信号输入。输出装置640可包括显示屏等显示设备。
实施例七
本申请实施例七还提供一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行一种辅助驾驶方法，该方法包括：实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息；根据所述多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况；根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
当然，本申请实施例所提供的一种包含计算机可执行指令的存储介质,其计算机可执行指令不限于如上所述的方法操作，还可以执行本申请任意实施例所提供的辅助驾驶方法中的相关操作。
通过以上关于实施方式的描述，所属领域的技术人员可以了解到，本申请可借助软件及通用硬件来实现，当然也可以通过硬件实现。基于本申请的技术方案可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、闪存(FLASH)、硬盘或光盘等，包括多个指令用以使得一台车载设备(可以是个人计算机，服务器，或者网络设备等)执行本申请多个实施例所述的方法。
值得注意的是，上述辅助驾驶装置的实施例中，所包括的多个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，多个功能单元的名称也只是为了便于相互区分，并不用于限制本申请的保护范围。

Claims (13)

  1. 一种辅助驾驶方法，包括：
    实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息；
    根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况；
    根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
  2. 根据权利要求1所述的方法，其中，所述根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况，包括以下之一：
    在至少一个传感器的诊断信息指示异常，且所述多个模块软件功能的诊断信息均指示正常的情况下，根据所述至少一个传感器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况；
    至少一个执行器的诊断信息指示异常，且所述多个模块软件功能的诊断信息均指示正常的情况下，根据所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况；或
    至少一个传感器的诊断信息和至少一个执行器的诊断信息均指示异常，且所述多个模块软件功能的诊断信息均指示正常的情况下，根据所述至少一个传感器和所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况。
  3. 根据权利要求2所述的方法，其中，
    所述根据所述至少一个传感器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，包括：
    在所述至少一个传感器中包括串行连接在目标功能链路上且数量唯一的传感器的情况下，确定与所述目标功能链路对应的辅助驾驶功能失效；
    所述根据所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，包括：
    在所述至少一个执行器中包括串行连接在目标功能链路上且数量唯一的执行器的情况下，确定与所述目标功能链路对应的辅助驾驶功能失效；
    所述根据所述至少一个传感器和所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，包括：
    在所述至少一个传感器中包括串行连接在目标功能链路上且数量唯一的传感器和所述至少一个执行器中包括串行连接在目标功能链路上且数量唯一的执行器的情况下，确定与所述目标功能链路对应的辅助驾驶功能失效。
  4. 根据权利要求2所述的方法，其中，
    所述根据所述至少一个传感器和在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，包括：
    在所述至少一个传感器并行连接在所述目标功能链路上的情况下，确定与所述目标功能链路对应的辅助驾驶功能有效；
    根据所述至少一个传感器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级；
    所述根据所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，包括：
    在所述至少一个执行器并行连接在所述目标功能链路上的情况下，确定与所述目标功能链路对应的辅助驾驶功能有效；
    根据所述至少一个执行器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级；
    所述根据所述至少一个传感器和所述至少一个执行器在目标功能链路中的角色信息，确定与所述目标功能链路对应的辅助驾驶功能的失效情况，包括：在所述至少一个传感器和所述至少一个执行器均并行连接在所述目标功能链路上的情况下，确定与所述目标功能链路对应的辅助驾驶功能有效；
    根据所述至少一个传感器和所述至少一个执行器在所述目标功能链路上的权重信息确定与所述目标功能链路对应的、有效的辅助驾驶功能的故障等级。
  5. 根据权利要求3或4所述的方法，其中，所述目标功能链路包括下述至少之一：
    侧向控制功能链路、纵向控制功能链路、变道控制功能链路。
  6. 根据权利要求5所述的方法，其中，所述侧向控制功能链路上包括：主摄像器件、辅摄像器件、显示器件和转向器件；
    所述纵向控制功能链路上包括：主摄像器件、辅摄像器件、前雷达器件、显示器件、动力器件和制动器件；
    所述变道控制功能链路上包括：左前角雷达器件、左后角雷达器件、右前角雷达器件和右后角雷达器件。
  7. 根据权利要求1或2所述的方法，其中，所述根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况，包括：
    在至少一个模块软件功能的诊断信息指示异常的情况下，确定所述至少一个模块软件功能所对应的辅助驾驶功能失效。
  8. 根据权利要求1所述的方法，在所述实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息的情况下，还包括：
    实时接收辅线系统发送的主线系统的诊断信息；其中所述主线系统和所述辅线系统分布于不同芯片或不同核中；
    所述根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况，包括：
    在所述主线系统的诊断信息指示正常或者部分诊断信息指示异常的情况下，根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况。
  9. 根据权利要求8所述的方法，还包括：
    实时对所述辅线系统进行故障诊断，并向所述辅线系统发送辅线诊断信息；
    在所述辅线诊断信息指示异常的情况下，确定所述目标车辆的辅助驾驶功能的备份失效。
  10. 根据权利要求1所述的方法，其中，所述根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，包括：
    根据所述目标车辆的辅助驾驶功能的失效情况查询预设的辅助驾驶降级策略映射表，确定与所述辅助驾驶功能的失效情况匹配的辅助驾驶降级等级；
    根据所述辅助驾驶降级等级查询所述辅助驾驶降级策略映射表，确定与所述辅助驾驶降级等级匹配的辅助驾驶策略。
  11. 一种辅助驾驶装置，包括：
    诊断信息获取模块，设置为实时获取目标车辆的多个传感器的诊断信息和多个执行器的诊断信息，以及多个模块软件功能的诊断信息；
    辅助驾驶功能失效分析模块，设置为根据所述多个传感器的诊断信息和所述多个执行器的诊断信息，以及所述多个模块软件功能的诊断信息，确定所述目标车辆的辅助驾驶功能的失效情况；
    辅助驾驶控制模块，设置为根据所述目标车辆的辅助驾驶功能的失效情况，确定所述目标车辆的辅助驾驶策略，并按照所述辅助驾驶策略继续辅助驾驶所述目标车辆。
  12. 一种车载设备，包括：
    至少一个处理器；
    存储器，设置为存储至少一个程序，
    当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-10中任一项所述的辅助驾驶方法。
  13. 一种计算机可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行时实现如权利要求1-10中任一项所述的辅助驾驶方法。
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