Driver assistance method and apparatus, device and storage medium

1 . A driver-assistance method, comprising:

acquiring, in real time, diagnosis information of a plurality of sensors of a target vehicle, diagnosis information of a plurality of actuators of the target vehicle, and diagnosis information of a plurality of modular software functions;

determining a failure condition of a driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions; and

determining a driver-assistance strategy of the target vehicle according to the failure condition of the driver-assistance function of the target vehicle, and continuing to assist in driving the target vehicle according to the driver-assistance strategy;

wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises one of:

in a case where diagnosis information of at least one sensor among the plurality of sensors indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor in the target function link;

in a case where diagnosis information of at least one actuator among the plurality of actuators indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one actuator in the target function link; or

in a case where diagnosis information of at least one sensor among the plurality of sensors and diagnosis information of at least one actuator among the plurality of actuators indicate an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor and the at least one actuator in the target function link; and

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor in the target function link comprises:

in a case where the at least one sensor comprises one sensor which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one actuator in the target function link comprises:

in a case where the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor and the at least one actuator in the target function link comprises:

in a case where the at least one sensor comprises one sensor which is connected to the target function link in series and the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails.

2 . The method of claim 1 , wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor in the target function link comprises:

in a case where the at least one sensor is connected to the target function link in parallel, determining that the driver-assistance function corresponding to the target function link is valid; and

determining a fault level of a valid driver-assistance function corresponding to the target function link according to weight information of the at least one sensor in the target function link;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one actuator in the target function link comprises:

in a case where the at least one actuator is connected to the target function link in parallel, determining that the driver-assistance function corresponding to the target function link is valid; and

determining a fault level of a valid driver-assistance function corresponding to the target function link according to weight information of the at least one actuator in the target function link;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor and the at least one actuator in the target function link comprises:

in a case where the at least one sensor and the at least one actuator is connected to the target function link in parallel, determining that the driver-assistance function corresponding to the target function link is valid; and

determining a fault level of a valid driver-assistance function corresponding to the target function link according to weight information of the at least one sensor and the at least one actuator in the target function link.

3 . The method of claim 1 , wherein the target function link comprises at least one of: a lateral control function link, a longitudinal control function link, or a lane change control function link.

4 . The method of claim 3 , wherein the lateral control function link comprises a primary camera device, a secondary camera device, a display device, and a steering device;

the longitudinal control function link comprises a primary camera device, a secondary camera device, a front radar device, a display device, a power device and a brake device; and

the lane change control function link comprises 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.

5 . The method of claim 1 , wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises:

in a case where diagnosis information of at least one module software function among the plurality of modular software functions indicates an abnormality, determining that a driver-assistance function corresponding to the at least one module software function fails.

6 . The method of claim 1 , in a case where the diagnosis information of the plurality of sensors of the target vehicle, the diagnosis information of the plurality of actuators of the target vehicle, and the diagnosis information of the plurality of modular software functions are acquired in real time, the method further comprises:

receiving diagnosis information of a main line system sent by an auxiliary line system in real time, wherein the main line system and the auxiliary line system are distributed in different chips or different cores;

wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises:

in a case where the diagnosis information of the main line system indicates a normality or part of the diagnosis information indicates an abnormality, determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions.

7 . The method of claim 6 , further comprising:

performing a fault diagnosis on the auxiliary line system in real time, and sending auxiliary line diagnosis information to the auxiliary line system; and

in a case where the auxiliary line diagnosis information indicates an abnormality, determining that backup of the driver-assistance function of the target vehicle fails.

8 . The method of claim 1 , wherein determining the driver-assistance strategy of the target vehicle according to the failure condition of the driver-assistance function of the target vehicle comprises:

querying a preset driver-assistance degradation strategy mapping table according to the failure condition of the driver-assistance function of the target vehicle to determine a driver-assistance degradation level matched with the failure condition of the driver-assistance function; and

querying the driver-assistance degradation strategy mapping table according to the driver-assistance degradation level to determine a driver-assistance strategy matched with the driver-assistance degradation level.

9 . A vehicular device, comprising:

at least one processor; and

a memory, which is configured to store at least one program,

wherein the at least one program, when executed by the at least one processor, causes the at least one processor to implement a driver-assistance method, wherein the driver-assistance method comprises:

acquiring, in real time, diagnosis information of a plurality of sensors of a target vehicle, diagnosis information of a plurality of actuators of the target vehicle, and diagnosis information of a plurality of modular software functions;

determining a failure condition of a driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions; and

determining a driver-assistance strategy of the target vehicle according to the failure condition of the driver-assistance function of the target vehicle, and continuing to assist in driving the target vehicle according to the driver-assistance strategy;

wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises one of:

in a case where diagnosis information of at least one sensor among the plurality of sensors indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor in the target function link;

in a case where diagnosis information of at least one actuator among the plurality of actuators indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one actuator in the target function link; or

in a case where diagnosis information of at least one sensor among the plurality of sensors and diagnosis information of at least one actuator among the plurality of actuators indicate an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor and the at least one actuator in the target function link; and

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor in the target function link comprises:

in a case where the at least one sensor comprises one sensor which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one actuator in the target function link comprises:

in a case where the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor and the at least one actuator in the target function link comprises:

in a case where the at least one sensor comprises one sensor which is connected to the target function link in series and the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails.

10 . A non-transitory computer-readable storage medium, storing a computer program, wherein the program, when executed by a processor, implements a driver-assistance method, wherein the driver-assistance method comprises:

acquiring, in real time, diagnosis information of a plurality of sensors of a target vehicle, diagnosis information of a plurality of actuators of the target vehicle, and diagnosis information of a plurality of modular software functions;

determining a failure condition of a driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions; and

determining a driver-assistance strategy of the target vehicle according to the failure condition of the driver-assistance function of the target vehicle, and continuing to assist in driving the target vehicle according to the driver-assistance strategy;

wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises one of:

in a case where diagnosis information of at least one sensor among the plurality of sensors indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor in the target function link;

in a case where diagnosis information of at least one actuator among the plurality of actuators indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one actuator in the target function link; or

in a case where diagnosis information of at least one sensor among the plurality of sensors and diagnosis information of at least one actuator among the plurality of actuators indicate an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor and the at least one actuator in the target function link; and

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor in the target function link comprises:

in a case where the at least one sensor comprises one sensor which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one actuator in the target function link comprises:

in a case where the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor and the at least one actuator in the target function link comprises:

in a case where the at least one sensor comprises one sensor which is connected to the target function link in series and the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails.

11 . The method of claim 2 , wherein the target function link comprises at least one of: a lateral control function link, a longitudinal control function link, or a lane change control function link.

12 . The method of claim 1 , wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises:

in a case where diagnosis information of at least one module software function among the plurality of modular software functions indicates an abnormality, determining that a driver-assistance function corresponding to the at least one module software function fails.

13 . The vehicular device of claim 9 , wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor in the target function link comprises:

in a case where the at least one sensor is connected to the target function link in parallel, determining that the driver-assistance function corresponding to the target function link is valid; and

determining a fault level of a valid driver-assistance function corresponding to the target function link according to weight information of the at least one sensor in the target function link;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one actuator in the target function link comprises:

in a case where the at least one actuator is connected to the target function link in parallel, determining that the driver-assistance function corresponding to the target function link is valid; and

determining a fault level of a valid driver-assistance function corresponding to the target function link according to weight information of the at least one actuator in the target function link;

wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor and the at least one actuator in the target function link comprises:

in a case where the at least one sensor and the at least one actuator is connected to the target function link in parallel, determining that the driver-assistance function corresponding to the target function link is valid; and

determining a fault level of a valid driver-assistance function corresponding to the target function link according to weight information of the at least one sensor and the at least one actuator in the target function link.

14 . The vehicular device of claim 9 , wherein the target function link comprises at least one of: a lateral control function link, a longitudinal control function link, or a lane change control function link.

15 . The vehicular device of claim 14 , wherein the lateral control function link comprises a primary camera device, a secondary camera device, a display device, and a steering device;

the longitudinal control function link comprises a primary camera device, a secondary camera device, a front radar device, a display device, a power device and a brake device; and

the lane change control function link comprises 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.

16 . The vehicular device of claim 9 , wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises:

in a case where diagnosis information of at least one module software function among the plurality of modular software functions indicates an abnormality, determining that a driver-assistance function corresponding to the at least one module software function fails.