Vehicle control method, apparatus, device, and medium
By acquiring vehicle fault information and using a preset mapping table to determine the data association type, the problem of false triggering caused by the use of historical data in ADAS systems during faults is solved, and the accuracy of using the correct data for vehicle control during fault recovery is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NEUSOFT REACH AUTOMOTIVE TECH SHANGHAI CO LTD
- Filing Date
- 2023-06-30
- Publication Date
- 2026-07-24
AI Technical Summary
Existing ADAS systems directly use historical information for vehicle control after a fault occurs, leading to calculation errors and subsequent false triggering of functions, thus affecting the accuracy of vehicle control.
By acquiring vehicle fault information, the data association type of the functional modules is determined using a preset mapping table. If it is a historical data association type, the real-time data acquired at the current time point is deleted until the fault is recovered, and the processed data is used for control when the fault is recovered.
It improves the accuracy of vehicle control, avoids false triggering of ADAS functions, and ensures that the correct data is used for vehicle control during fault recovery.
Smart Images
Figure CN116767248B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, equipment and medium. Background Technology
[0002] ADAS (Advanced Driving Assistance System) systems are designed to address safety issues arising from electronic and electrical malfunctions during vehicle operation. These malfunctions can lead to false triggering of ADAS functions, resulting in unexpected or excessive braking, steering, or acceleration. Therefore, existing ADAS systems incorporate fault monitoring and handling mechanisms to promptly detect and degrade functions upon occurrence of a fault.
[0003] However, current ADAS systems, after a fault occurs, not only degrade the function of the control module, but also directly use the historical information generated at the time of the fault to control the vehicle, which leads to errors in the calculated vehicle information and consequently causes the ADAS function to be triggered falsely. Summary of the Invention
[0004] This application provides a vehicle control method, device, equipment, and medium to improve the accuracy of vehicle control and avoid false triggering of ADAS functions.
[0005] In a first aspect, a vehicle control method is provided, comprising: acquiring vehicle fault information, the vehicle fault information including vehicle fault codes; acquiring a functional module and data association type corresponding to the vehicle fault codes from a preset mapping table, the preset mapping table storing functional modules and data association types corresponding to multiple vehicle fault codes respectively; if the data association type is a historical data association type, transmitting a data deletion instruction to the functional module, causing the functional module to delete real-time data acquired at the current time point until the fault is recovered, and using the processed data to control the vehicle when the fault is recovered.
[0006] Preferably, the method further includes: receiving vehicle fault recovery information, the vehicle fault recovery information including a vehicle fault recovery code; obtaining the functional module and data association type corresponding to the vehicle fault recovery code from a preset mapping table; if the data association type is a historical data association type, transmitting the vehicle fault recovery information to the functional module corresponding to the vehicle fault recovery code, so that the corresponding functional module stops deleting the acquired real-time data.
[0007] Preferably, the functional modules include: a sensing module, a fusion module, a planning module, and a control module.
[0008] Preferably, acquiring vehicle fault information includes: receiving vehicle fault information input by the sensing module, the fusion module, the planning module, the sensing input module and / or the vehicle body signal input module; or receiving vehicle data input by the sensing module, the fusion module, the planning module, the sensing input module and / or the vehicle body signal input module, and determining vehicle fault information based on the vehicle data.
[0009] Preferably, if the data association type is a historical data association type, then transmitting a data deletion instruction to the functional module, causing the functional module to delete the real-time data acquired at the current time point until the fault is recovered, and using the processed data to control the vehicle when the fault is recovered, includes: if the data association type is a historical data association type, then transmitting a data deletion instruction to the perception module, the fusion module, the planning module and / or the control module, causing the perception module, the fusion module, the planning module and / or the control module to delete the real-time data acquired at the current time point until the fault is recovered, and using the processed data to control the vehicle when the fault is recovered.
[0010] Preferably, after acquiring vehicle fault information, the method further includes: determining a function degradation level based on the vehicle fault information, and transmitting the function degradation level to the sensing module, the fusion module, the planning module, and / or the control module, so that the sensing module, the fusion module, the planning module, and / or the control module degrade the corresponding functions according to the function degradation level.
[0011] Preferably, the method further includes: when receiving vehicle fault recovery information, transmitting the vehicle fault recovery information to the sensing module, the fusion module, the planning module and / or the control module, so that the sensing module, the fusion module, the planning module and / or the control module restore the corresponding functions according to the vehicle fault recovery information.
[0012] Secondly, a vehicle control device is provided, comprising: an acquisition module for acquiring vehicle fault information, the vehicle fault information including vehicle fault codes; the acquisition module is further configured to acquire, from a preset mapping table, a functional module and a data association type corresponding to the vehicle fault codes, the preset mapping table storing functional modules and data association types corresponding to multiple vehicle fault codes respectively; and a transmission control module for transmitting a data deletion instruction to the functional module if the data association type is a historical data association type, so that the functional module deletes real-time data acquired at the current time until the fault is recovered, and uses the processed data to control the vehicle when the fault is recovered.
[0013] Thirdly, an electronic device is provided, comprising: a processor and a memory for storing a computer program, the processor for calling and running the computer program stored in the memory, and performing the methods as described in the first aspect or its various implementations.
[0014] Fourthly, a computer-readable storage medium is provided for storing a computer program that causes a computer to perform the methods described in the first aspect or its various implementations.
[0015] Fifthly, a computer program product is provided, including computer program instructions that cause a computer to perform the methods as described in the first aspect or its various implementations.
[0016] Sixthly, a computer program is provided that causes a computer to perform the methods described in the first aspect or its various implementations.
[0017] The technical solution provided in this application first obtains vehicle fault information, including vehicle fault codes. Then, it retrieves the functional module and data association type corresponding to the vehicle fault codes from a preset mapping table. This preset mapping table stores the functional modules and data association types corresponding to multiple vehicle fault codes. If the data association type is historical data association, a data deletion instruction is transmitted to the functional module, causing the functional module to delete the real-time data acquired at the current time until the fault is recovered. Upon fault recovery, the processed data is used to control the vehicle. In the above process, when the data association type is historical data association, this application controls the functional module to delete the real-time data acquired at the current time until the fault is recovered. This avoids the functional module using incorrect historical data to control the vehicle upon fault recovery, thereby improving the accuracy of vehicle control and preventing false triggering of ADAS functions. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application;
[0020] Figure 2 A structural diagram of a vehicle control system provided in an embodiment of the present invention;
[0021] Figure 3A structural diagram of another vehicle control system provided in this application embodiment;
[0022] Figure 4 This is a structural diagram of another vehicle control system provided in an embodiment of this application;
[0023] Figure 5 A schematic diagram of a vehicle control device provided in an embodiment of this application;
[0024] Figure 6 This is a schematic block diagram of the electronic device provided in the embodiments of this application. Detailed Implementation
[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.
[0027] Figure 1 A flowchart of a vehicle control method provided in this application embodiment, the method may include the following steps:
[0028] S110: Obtain vehicle fault information.
[0029] The vehicle fault information includes fault description, fault location, fault recovery time, and vehicle fault code, which is used to uniquely identify the corresponding vehicle fault.
[0030] S120: Retrieve the functional module and data association type corresponding to the vehicle fault code from the preset mapping table.
[0031] In this embodiment, a preset mapping table stores multiple vehicle fault codes, the corresponding functional modules for each fault code, and data association types. These data association types include historical data association types and non-historical data association types. The contents of this preset mapping table are determined by technicians based on the actual functional modules involved in each vehicle fault code when a fault occurs, and whether the involved functional modules require calculation using historical data.
[0032] Among them, the historical data association class indicates that the corresponding functional module needs to use the corresponding historical data when performing data calculation or execution; the non-historical data association class indicates that the corresponding functional module does not need to use the corresponding historical data when performing data calculation or execution.
[0033] For example, if the vehicle fault code obtained is P0107 (intake pressure sensor input voltage too low), by consulting the preset mapping table, it can be determined that the data associated with this vehicle fault code includes two categories: functional module 1 and historical data association, and functional module 2 and non-historical data association. In other words, by consulting the preset mapping table, it can be seen that the functional modules associated with vehicle fault code P0107 are functional module 1 and functional module 2. The calculation or execution of functional module 1 requires the use of corresponding historical data; the calculation or execution of functional module 2 does not require the use of corresponding historical data.
[0034] It should be noted that in this embodiment, the preset mapping table can be stored in the fault arbitration module, in the vehicle's local memory, or in a server associated with the vehicle. This embodiment does not make any specific limitations on this.
[0035] S130: If the data association type is historical data association type, then transmit the data deletion instruction to the functional module, so that the functional module deletes the real-time data obtained at the current time point until the fault is recovered, and uses the processed data to control the vehicle when the fault is recovered.
[0036] In this embodiment, the same vehicle fault code can correspond to one or more functional modules. The data association type of the functional module corresponding to each vehicle fault code is either historical data association or non-historical data association. If the data association type corresponding to the functional module is historical data association, it means that the calculation work of this functional module requires the use of the corresponding historical data. Therefore, when a fault occurs, a data deletion instruction needs to be transmitted to the functional module so that the functional module deletes the real-time data obtained at the current time until the fault is recovered. This avoids the functional module using incorrect historical data (to control the vehicle) when the fault is recovered. The data after deleting the real-time data obtained at the current time is the processed data.
[0037] It should be noted that if the data association type is non-historical data association, it means that the calculation or execution work corresponding to the functional module does not need to use historical data. Therefore, when the functional module fails, there is no need to send a data deletion instruction to the functional module. That is, the functional module does not need to delete the data acquired during the failure. When the failure is recovered, the functional module performs calculations or execution work based on the data acquired in real time.
[0038] For example, the functional modules and data association types corresponding to vehicle fault codes are obtained from the preset mapping table as shown in Table 1 below. From the contents of Table 1, it can be seen that the data association types of functional modules 1 corresponding to vehicle fault code P0101, functional modules 3 and 4 corresponding to vehicle fault code P0102 are all historical data association types. That is to say, when functional modules 1, 3 and 4 malfunction, a data deletion command needs to be transmitted to them so that functional modules 1, 3 and 4 delete the real-time data obtained at the current time until the fault is recovered. This avoids functional modules 1, 3 and 4 using erroneous data during the fault period to control the vehicle when the fault is recovered.
[0039] Table 1
[0040] P0101 Functional Module 1 Historical data association class P0101 Functional Module 2 Non-historical data association class P0102 Functional Module 3 Historical data association class P0102 Functional Module 4 Historical data association class
[0041] To ensure that the corresponding functional modules can continue to control the vehicle using the newly acquired data after a vehicle malfunction is resolved, an optional embodiment of this invention provides the following: After receiving vehicle malfunction recovery information, the vehicle malfunction recovery code is obtained from the vehicle malfunction recovery information. Then, the functional module corresponding to the vehicle malfunction recovery code and its data association type are retrieved from a preset mapping table. If the data association type is a historical data association type, the vehicle malfunction recovery information is transmitted to the functional module corresponding to the vehicle malfunction recovery code, causing the corresponding functional module to stop deleting the acquired real-time data, thereby ensuring that the functional module controls the vehicle based on the acquired data.
[0042] This application provides a vehicle control method that first acquires vehicle fault information, including vehicle fault codes. Then, it retrieves the functional module and data association type corresponding to each vehicle fault code from a preset mapping table. This preset mapping table stores multiple functional modules and data association types corresponding to different vehicle fault codes. If the data association type is historical data association, a data deletion instruction is transmitted to the functional module, causing the module to delete real-time data acquired at the current time until the fault is resolved. Upon fault recovery, the processed data is used to control the vehicle. In this process, when the data association type is historical data association, this application controls the functional module to delete real-time data acquired at the current time until the fault is resolved. This prevents the functional module from using incorrect historical data to control the vehicle upon fault recovery, thereby improving the accuracy of vehicle control and preventing false triggering of ADAS functions.
[0043] Figure 2 A structural diagram of a vehicle control system provided in an embodiment of the present invention is shown below. Figure 2 As shown, the vehicle control system may include: an input module, a function module, and a fault arbitration module, which are interconnected.
[0044] The input module is used to input various vehicle data into the function module and vehicle fault information into the fault arbitration module; the function module determines the vehicle fault information based on the data input by the input module and inputs the vehicle fault information into the function module.
[0045] The fault arbitration module is used to execute the above-mentioned vehicle control method. Specifically, based on the vehicle fault information input by the functional modules and / or input modules, the fault arbitration module retrieves the functional module corresponding to the vehicle fault code and the data association type from a preset mapping table. If the data association type is historical data association, the fault arbitration module transmits a data deletion instruction to the functional module, causing the functional module to delete the real-time data acquired at the current time until the fault is recovered. Upon fault recovery, the processed data is used to control the vehicle. That is, upon fault recovery, the functional module uses historical data that does not include the fault time period to calculate the vehicle control signal and controls the vehicle through the calculated vehicle control signal.
[0046] This embodiment provides a vehicle control system in which a fault arbitration module retrieves the corresponding functional module and data association type from a preset mapping table based on vehicle fault information input by functional modules and / or input modules. If the data association type is historical data association, a data deletion command is transmitted to the functional module, causing the functional module to delete real-time data acquired at the current time until the fault is recovered. Upon fault recovery, the processed data is used to control the vehicle. This application, when the data association type is historical data association, controls the functional module to delete real-time data acquired at the current time until the fault is recovered, preventing the functional module from using incorrect historical data to control the vehicle upon fault recovery. Therefore, this application can improve the accuracy of vehicle control and thus avoid false triggering of ADAS functions.
[0047] Figure 3 A structural diagram of another vehicle control system provided in an embodiment of the present invention is shown below. Figure 3 As shown, the vehicle control system may include: an input module, a function module, a fault arbitration module, and an execution module, which are interconnected.
[0048] The system comprises several functional modules: a vehicle signal input module and a perception input module; and a perception module, a fusion module, a planning module, and a control module. The specific functions of each module are as follows:
[0049] The body signal input module is used to input signals to the perception module, fusion module, planning module, and control module in the ADAS system, including but not limited to the input signals of actuators such as IPB (Integrated Power Brake), EPS (Electronic-Power-Steering), VCU (Vehicle Control Unit), IMU (Inertial Measurement Unit), and BCM (Body Control Module).
[0050] The perception input module is the input to the perception module in the ADAS system. The input data includes, but is not limited to, sensor data from cameras, millimeter-wave radar, ultrasonic radar, lidar, high-precision positioning, high-precision maps, and other sensors.
[0051] The perception module is used to process targets such as vehicles, pedestrians, cyclists, lane lines, and road edges, including but not limited to processing of camera perception, millimeter-wave radar perception, ultrasonic radar perception, lidar perception, high-precision positioning, and high-precision map perception.
[0052] The fusion module is used to integrate different perception processing modules to obtain more reliable target information such as vehicles, pedestrians, cyclists, lane lines, and road edges.
[0053] The planning module is used to process the target information and vehicle information output by fusion to derive the planning path required by the function.
[0054] The control module is used to control the path output by the planning module in both the horizontal and vertical directions, ensuring that the vehicle performs the corresponding control actions according to the planned path.
[0055] The fault arbitration module is used to determine the functional module and data association type corresponding to the vehicle fault code by combining a preset mapping table. This data association type includes historical data association and non-historical data association types. When no vehicle fault occurs, the fault arbitration module does not need to operate, and the control module normally receives input from the planning module and other modules to perform normal functional control. When a vehicle fault occurs, the fault arbitration module needs to transmit a data deletion command to the functional module corresponding to the historical data association type. This causes the functional module to delete the real-time data acquired at the current time until the fault is resolved, and then uses the processed data to control the vehicle upon fault recovery.
[0056] In this embodiment, the fault arbitration module collects faults related to historical data and those not related to historical data, but not limited to faults defined in the design phase. It includes, but is not limited to, faults of software and hardware modules, faults related to expected functional safety, etc. This embodiment does not make specific limitations on these.
[0057] The execution module is used to perform related executor actions on the output request instructions of the planning module.
[0058] Combination Figure 3 The diagram illustrates the structure of a vehicle control system. In this embodiment, the fault arbitration module first receives vehicle fault information from the sensing module, fusion module, planning module, sensing input module, and / or body signal input module; or receives vehicle data from the sensing module, fusion module, planning module, sensing input module, and / or body signal input module, and determines the vehicle fault information based on the vehicle data. Then, it determines the corresponding data association type based on the vehicle fault code in the vehicle fault information. If the data association type corresponding to the vehicle fault code is determined to be historical data association, the fault arbitration module transmits a data deletion command to the sensing module, fusion module, planning module, and / or control module, causing the sensing module, fusion module, planning module, and / or control module to delete the real-time data acquired at the current time until the fault is recovered. Upon fault recovery, the processed data is used to control the vehicle.
[0059] For example, if the fault arbitration module determines that the functional module corresponding to the vehicle fault code is the sensing module and the data association type is historical data association, then the fault arbitration module transmits a data deletion instruction to the sensing module, causing the sensing module to delete the data acquired at the current time (the data input to it by the sensing input module or the vehicle signal input module) until the sensing module receives the corresponding fault recovery instruction and stops deleting the acquired data. This allows the sensing module to control the vehicle by combining the acquired historical data (excluding historical data acquired at the time of the fault).
[0060] In an optional embodiment of the present invention, in order to improve the operational safety of the vehicle, after the fault arbitration module obtains the vehicle fault information, the fault arbitration module needs to determine the function degradation level based on the vehicle fault information, and then transmit the function degradation level to the perception module, the fusion module, the planning module and / or the control module, so that the perception module, the fusion module, the planning module and / or the control module degrade the corresponding functions according to the function degradation level.
[0061] Specifically, when a non-historical data-related fault occurs, the fault arbitration module will send a function degradation request to the control module; when a historical data-related fault occurs, the fault arbitration module will identify the impact on each software module and selectively send a function degradation request to the control module, a perception degradation request to the perception module, a fusion degradation request to the fusion module, and a planning degradation request to the planning module.
[0062] It should be noted that the fault handling for non-historical data association types only involves the functional degradation of the control module, but it is not limited to the degradation of the corresponding control module under this architecture. It applies to any module that only requires functional degradation during fault recovery.
[0063] In an optional embodiment of the present invention, in order to reduce the workload of the fault arbitration module, this embodiment provides the following: Figure 3 The diagram shows a structure of a vehicle control system. In this control system, a fault monitoring module is added before the fault arbitration module. The fault monitoring module monitors whether a vehicle fault occurs and transmits the monitored vehicle fault to the fault arbitration module.
[0064] In this embodiment, the fault monitoring module receives vehicle fault information input from the sensing module, the fusion module, the planning module, the sensing input module, and / or the vehicle body signal input module, and transmits the vehicle fault information to the fault trimming module; or the fault monitoring module receives vehicle data input from the sensing module, the fusion module, the planning module, the sensing input module, and / or the vehicle body signal input module, determines vehicle fault information based on the vehicle data, and then transmits the vehicle fault information to the fault trimming module.
[0065] Combination Figure 4 This embodiment provides an application example: if the vehicle signal input module sends wheel speed signals to the planning module and the fault monitoring module, the vehicle trajectory prediction submodule in the planning module will predict the vehicle trajectory based on the wheel speed signals. This submodule will use historical data from 1 second ago. When the wheel speed signal fails, the historical data will affect the predicted vehicle trajectory, thus impacting driving-related functions.
[0066] Therefore, when the fault monitoring module detects a wheel speed signal fault, it will report a wheel speed signal fault. The fault arbitration module will receive the wheel speed signal fault report, identify it as a historical data association fault of the planning module, and send this fault status to the planning module. The vehicle trajectory prediction submodule in the planning module will perform a reset process, that is, delete the erroneous historical information generated by the wheel speed signal fault. This ensures that when the fault is recovered, no erroneous historical data is used, thereby ensuring that driving-related functions are not affected.
[0067] Figure 5 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. Figure 5 As shown, the device includes:
[0068] The acquisition module 501 is used to acquire vehicle fault information, which includes vehicle fault codes.
[0069] The acquisition module 501 is further configured to acquire the functional module and data association type corresponding to the vehicle fault code from a preset mapping table. The preset mapping table stores the functional modules and data association types corresponding to multiple vehicle fault codes respectively.
[0070] The transmission control module 502 is used to transmit a data deletion instruction to the functional module if the data association type is historical data association type, so that the functional module deletes the real-time data acquired at the current time point until the fault is recovered, and uses the processed data to control the vehicle when the fault is recovered.
[0071] In some implementations, the acquisition module 501 is further configured to receive vehicle fault recovery information, which includes a vehicle fault recovery code; and to acquire the functional module and data association type corresponding to the vehicle fault recovery code from a preset mapping table.
[0072] The transmission control module 502 is further configured to transmit vehicle fault recovery information to the functional module corresponding to the vehicle fault recovery code if the data association type is a historical data association type, so that the corresponding functional module stops deleting the acquired real-time data.
[0073] In some implementations, the functional modules include: a sensing module, a fusion module, a planning module, and a control module.
[0074] In some possible implementations, the acquisition module 501 is specifically used to: receive vehicle fault information input by the sensing module, the fusion module, the planning module, the sensing input module, and / or the vehicle signal input module; or
[0075] The system receives vehicle data from the sensing module, the fusion module, the planning module, the sensing input module, and / or the vehicle body signal input module, and determines vehicle fault information based on the vehicle data.
[0076] In some implementations, the transmission control module 502 is specifically used to: if the data association type is a historical data association type, transmit a data deletion instruction to the sensing module, the fusion module, the planning module and / or the control module, so that the sensing module, the fusion module, the planning module and / or the control module delete the real-time data acquired at the current time point until the fault is recovered, and use the processed data to control the vehicle when the fault is recovered.
[0077] In some implementations, the device also includes a function degradation module 503:
[0078] The function degradation module 503 is used to: determine the function degradation level based on the vehicle fault information, and transmit the function degradation level to the sensing module, the fusion module, the planning module and / or the control module, so that the sensing module, the fusion module, the planning module and / or the control module degrade the corresponding functions according to the function degradation level.
[0079] In some implementations, the device also includes a function recovery module 504:
[0080] The function recovery module 504 is used to: when receiving vehicle fault recovery information, transmit the vehicle fault recovery information to the sensing module, the fusion module, the planning module and / or the control module, so that the sensing module, the fusion module, the planning module and / or the control module restore the corresponding functions according to the vehicle fault recovery information.
[0081] It should be understood that the device embodiments and the vehicle control method embodiments can correspond to each other, and similar descriptions can be found in the vehicle control method embodiments. To avoid repetition, further details are omitted here. Specifically, Figure 5 The apparatus shown can execute the above-described vehicle control method embodiments, and the aforementioned and other operations and / or functions of each module in the apparatus are respectively for implementing the corresponding processes in the above-described vehicle control method. For the sake of brevity, they will not be described in detail here.
[0082] The apparatus of this application embodiment has been described above from the perspective of functional modules in conjunction with the accompanying drawings. It should be understood that this functional module can be implemented in hardware, in software instructions, or in a combination of hardware and software modules. Specifically, each step of the vehicle control method embodiment in this application can be completed by the integrated logic circuitry of the processor's hardware and / or by software instructions. The steps of the vehicle control method disclosed in this application embodiment can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. Optionally, the software module can be located in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above-described vehicle control method embodiment.
[0083] Figure 6 This is a schematic block diagram of the electronic device 600 provided in an embodiment of this application. Figure 6 As shown, the electronic device 600 may include a processor 601 and a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input / output (I / O) interface 604, and a communication component 605.
[0084] The processor 601 controls the overall operation of the electronic device 600 to complete all or part of the steps in the vehicle control method described above. The memory 602 stores various types of data to support the operation of the electronic device 600. This data may include, for example, instructions for any application or method operating on the electronic device 600, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 603 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 602 or transmitted via communication component 605. The audio component also includes at least one speaker for outputting audio signals. I / O interface 604 provides an interface between processor 601 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 905 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.
[0085] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle control method described above.
[0086] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the computer-readable storage medium may be the memory 602 including program instructions, which may be executed by the processor 601 of the electronic device 600 to complete the vehicle control method described above.
[0087] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above.
[0088] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle control method described above when executed by the programmable device.
[0089] In another exemplary embodiment, a computer program is also provided, which causes a computer to perform the vehicle control method as described above.
[0090] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0091] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.
[0092] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. For example, the functional modules in the various embodiments of this application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.
[0093] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A vehicle control method, characterized in that, include: Obtain vehicle fault information, which includes vehicle fault codes; The functional modules and data association types corresponding to the vehicle fault codes are obtained from the preset mapping table, which stores the functional modules and data association types corresponding to multiple vehicle fault codes respectively. If the data association type is historical data association, a data deletion instruction is transmitted to the functional module, causing the functional module to delete the real-time data acquired at the current time until the fault is recovered, and to use the processed data to control the vehicle when the fault is recovered.
2. The method according to claim 1, characterized in that, The method further includes: Receive vehicle fault recovery information, wherein the vehicle fault recovery information includes a vehicle fault recovery code; Retrieve the functional module and data association type corresponding to the vehicle fault recovery code from the preset mapping table; If the data association type is historical data association type, then vehicle fault recovery information is transmitted to the functional module corresponding to the vehicle fault recovery code, so that the corresponding functional module stops deleting the acquired real-time data.
3. The method according to claim 1 or 2, characterized in that, The functional modules include: a perception module, a fusion module, a planning module, and a control module.
4. The method according to claim 3, characterized in that, The acquisition of vehicle fault information includes: Receive vehicle fault information input from the sensing module, the fusion module, the planning module, the sensing input module, and / or the vehicle signal input module; or The system receives vehicle data from the sensing module, the fusion module, the planning module, the sensing input module, and / or the vehicle body signal input module, and determines vehicle fault information based on the vehicle data.
5. The method according to claim 3, characterized in that, If the data association type is historical data association, a data deletion instruction is transmitted to the functional module, causing the functional module to delete the real-time data acquired at the current time until the fault is recovered, and to use the processed data to control the vehicle when the fault is recovered, including: If the data association type is historical data association, a data deletion instruction is transmitted to the perception module, the fusion module, the planning module, and / or the control module, so that the perception module, the fusion module, the planning module, and / or the control module delete the real-time data acquired at the current time point until the fault is recovered, and use the processed data to control the vehicle when the fault is recovered.
6. The method according to claim 3, characterized in that, After obtaining vehicle fault information, the method further includes: The function degradation level is determined based on the vehicle fault information, and the function degradation level is transmitted to the perception module, the fusion module, the planning module and / or the control module, so that the perception module, the fusion module, the planning module and / or the control module degrade the corresponding functions according to the function degradation level.
7. The method according to claim 3, characterized in that, The method further includes: When vehicle fault recovery information is received, the vehicle fault recovery information is transmitted to the perception module, the fusion module, the planning module and / or the control module, so that the perception module, the fusion module, the planning module and / or the control module can restore the corresponding functions according to the vehicle fault recovery information.
8. A vehicle control device, characterized in that, include: The acquisition module is used to acquire vehicle fault information, which includes vehicle fault codes. The acquisition module is further configured to acquire the functional module and data association type corresponding to the vehicle fault code from a preset mapping table. The preset mapping table stores the functional modules and data association types corresponding to multiple vehicle fault codes respectively. The transmission control module is used to transmit a data deletion instruction to the functional module if the data association type is historical data association type, so that the functional module deletes the real-time data acquired at the current time point until the fault is recovered, and uses the processed data to control the vehicle when the fault is recovered.
9. An electronic device, characterized in that, include: A processor and a memory, the memory being used to store a computer program, the processor being used to invoke and run the computer program stored in the memory to perform the method of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, Used to store a computer program that causes a computer to perform the method as described in any one of claims 1-7.