Adas redundancy control method and device of vehicle, electronic equipment and medium

Abstract

This application relates to the field of advanced driver assistance systems (ADAS), and particularly to a method, device, electronic device, and medium for ADAS redundancy control of a vehicle. The method includes: acquiring the heartbeat data and operating status of the ADAS domain control system; receiving video data of the vehicle sent by a video splitter when the vehicle meets preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system; and performing path planning and generating vehicle control signals based on the video data and the vehicle's own status, enabling the vehicle to execute corresponding actions based on the vehicle control signals. This solves the problem that if the domain control fails during power redundancy backup within the same domain control, the power backup function cannot be enabled. By adding an independently powered video splitter and cockpit domain control, power can be switched to another backup domain control when the ADAS domain control fails, thus achieving a safe redundancy backup function for the ADAS domain control.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a method, device, electronic device and medium for redundant control of ADAS (Advanced Driving Assistance System) for vehicles. Background Technology

[0002] With the increasing intelligence of automobiles, emerging technologies such as artificial intelligence, big data, cloud computing, and 5G communication are widely used in the automotive industry. As a result, the safety of vehicle power supply has become particularly important to ensure the safe operation of vehicles.

[0003] In related technologies, during vehicle operation, a State of Charge (SOC) is usually added to the ADAS domain controller as a perception redundancy backup. In the event of failure of the main SOC, the backup SOC can be used for forward perception to achieve lane keeping, while giving the user 8-10 seconds of takeover time.

[0004] However, when the backup SOC and the primary SOC are set in the same domain controller, if the domain controller fails, the backup function will not be enabled, which will affect the vehicle's performance. At the same time, the backup SOC needs to be used in conjunction with other devices, which increases the cost of use and urgently needs to be improved. Summary of the Invention

[0005] This application provides a method, device, electronic device, and medium for ADAS redundancy control of vehicles to solve the problem that if the domain controller fails during power redundancy backup within the same domain controller, the power backup function will not be enabled.

[0006] The first aspect of this application provides an ADAS redundancy control method for a vehicle, wherein the vehicle is equipped with an independently powered video splitter, comprising the following steps:

[0007] Obtain the heartbeat data and operating status of the ADAS domain control system;

[0008] When the vehicle meets the preset redundancy control conditions based on the heartbeat data of the ADAS domain control system and the operating status, the system receives the vehicle's video data sent by the video splitter; and

[0009] Path planning is performed based on the video data and the vehicle's own status, and vehicle control signals are generated based on the path planning results, so that the vehicle can perform corresponding actions based on the vehicle control signals.

[0010] According to one embodiment of this application, after obtaining the heartbeat data and operating status of the ADAS domain control system, the method further includes:

[0011] Determine whether the heartbeat data is empty or whether the running status is a fault state;

[0012] If the heartbeat data is empty, or the operating status is the fault status, then the vehicle is determined to meet the preset redundancy control conditions.

[0013] According to one embodiment of this application, when the ADAS domain control system is in the fault state, the control priority of the ADAS domain control system is lower than the control priority of the current cockpit system.

[0014] According to one embodiment of this application, when determining that the vehicle meets preset redundancy control conditions based on the heartbeat data of the ADAS domain control system and the operating status, the method further includes:

[0015] Generate fault signals for the ADAS domain control system;

[0016] The vehicle is controlled to perform acoustic and / or optical alarms based on the fault signal.

[0017] According to one embodiment of this application, the step of performing path planning based on the video data and the vehicle's own state, and generating a vehicle control signal based on the path planning result, so that the vehicle performs corresponding actions based on the vehicle control signal, includes:

[0018] Target perception data received from the video data;

[0019] The target perception data is processed using a preset planning and control algorithm, and the processed target perception data and the vehicle's own state are used to plan a path. Based on the path planning result, a vehicle control signal is generated for the vehicle, so that the vehicle can perform corresponding actions based on the vehicle control signal.

[0020] According to the vehicle ADAS redundancy control method of this application embodiment, the heartbeat data and operating status of the Advanced Driver Assistance System (ADAS) domain control system are acquired; when the vehicle meets the preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system, video data of the vehicle sent by the video splitter is received; path planning is performed based on the video data and the vehicle's own status, and vehicle control signals are generated, enabling the vehicle to perform corresponding actions based on the vehicle control signals. This solves the problem that if the domain control fails during power redundancy backup within the same domain control, the power backup function cannot be enabled. By adding an independently powered video splitter and cockpit domain control, power can be switched to another backup domain control when the ADAS domain control fails, thereby realizing the safe redundancy backup function of the ADAS domain control.

[0021] A second aspect of this application provides an ADAS redundancy control device for a vehicle, wherein the vehicle is equipped with an independently powered video splitter, comprising:

[0022] The acquisition module is used to acquire the heartbeat data and operating status of the ADAS domain controller system;

[0023] The receiving module is configured to receive video data of the vehicle sent by the video splitter when the vehicle meets preset redundancy control conditions based on the heartbeat data of the ADAS domain control system and the operating status; and

[0024] The generation module is used to perform path planning based on video data and the vehicle's own status, and generate vehicle control signals based on the path planning results, so that the vehicle can perform corresponding actions based on the vehicle control signals.

[0025] According to one embodiment of this application, after acquiring the heartbeat data and operating status of the ADAS domain control system, the acquisition module is further configured to:

[0026] Determine whether the heartbeat data is empty or whether the running status is a fault state;

[0027] If the heartbeat data is empty, or the operating status is the fault status, then the vehicle is determined to meet the preset redundancy control conditions.

[0028] According to one embodiment of this application, when the ADAS domain control system is in the fault state, the control priority of the ADAS domain control system is lower than the control priority of the current cockpit system.

[0029] According to one embodiment of this application, the receiving module is specifically used for:

[0030] Generate fault signals for the ADAS domain control system;

[0031] The vehicle is controlled to perform acoustic and / or optical alarms based on the fault signal.

[0032] According to one embodiment of this application, the generation module is specifically used for:

[0033] Target perception data received from the video data;

[0034] The target perception data is processed using a preset planning and control algorithm, and the processed target perception data and the vehicle's own state are used to plan a path. Based on the path planning result, a vehicle control signal is generated for the vehicle, so that the vehicle can perform corresponding actions based on the vehicle control signal.

[0035] The ADAS redundancy control device for vehicles according to embodiments of this application acquires the heartbeat data and operating status of the Advanced Driver Assistance System (ADAS) domain control system. When the vehicle meets preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system, it receives video data of the vehicle sent by a video splitter. Based on the video data and the vehicle's own status, it performs path planning and generates vehicle control signals, enabling the vehicle to execute corresponding actions based on the vehicle control signals. This solves the problem that if the domain control fails during power redundancy backup within the same domain control, the power backup function cannot be enabled. By adding an independently powered video splitter and cockpit domain control, power can be switched to another backup domain control when the ADAS domain control fails, thus achieving a safe redundancy backup function for the ADAS domain control.

[0036] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ADAS redundancy control method for a vehicle as described in the above embodiments.

[0037] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to execute the ADAS redundancy control method for a vehicle as described in the above embodiments.

[0038] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0039] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0040] Figure 1 This is a flowchart of an ADAS redundancy control method for a vehicle according to an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the ADAS domain controller primary path and redundant path according to an embodiment of this application;

[0042] Figure 3 This is a flowchart of an ADAS system according to an embodiment of this application;

[0043] Figure 4 This is a block diagram illustrating an ADAS redundancy control device for a vehicle according to an embodiment of this application.

[0044] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0045] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0046] The ADAS redundancy control method, apparatus, electronic device, and storage medium for vehicles according to embodiments of this application are described below with reference to the accompanying drawings. Addressing the problem mentioned in the background art where power backup fails during power redundancy backup within the same domain controller, resulting in the inability to enable the power backup function, this application provides a vehicle ADAS redundancy control method. In this method, the heartbeat data and operating status of the ADAS domain controller are acquired; when the vehicle meets preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain controller, video data of the vehicle sent by a video splitter is received; path planning is performed based on the video data and the vehicle's own status, and vehicle control signals are generated, enabling the vehicle to execute corresponding actions based on the vehicle control signals. This solves the problem that power backup cannot be enabled when the domain controller fails during power redundancy backup within the same domain controller. By adding an independently powered video splitter and cockpit domain controller, power can be switched to another backup domain controller when the ADAS domain controller fails, thereby achieving a safe redundancy backup function for the ADAS domain controller.

[0047] Specifically, Figure 1 This is a flowchart illustrating a vehicle ADAS redundancy control method provided in an embodiment of this application.

[0048] like Figure 1 As shown, the vehicle is equipped with an independently powered video splitter. The ADAS redundancy control method for this vehicle includes the following steps:

[0049] In step S101, the heartbeat data and operating status of the ADAS domain control system are obtained.

[0050] Specifically, to avoid the situation where the backup function cannot be enabled due to a power failure when adding power redundancy backup to the same ADAS domain controller, this application embodiment uses two domain controller systems for redundancy backup, namely the ADAS domain controller system and the cockpit domain controller system (or other domain controller systems). This application embodiment takes the cockpit domain controller system as an example. Among them, the ADAS domain controller system is a high-level ADAS function (L2+ function), such as high-speed NOA (Navigate on Autopilot), to reduce costs. The cockpit domain controller system serves as a backup domain controller system for the ADAS domain controller system. Therefore, the SOC of the cockpit domain controller system needs to have a certain AI (Artificial Intelligence) computing power, and the AI ​​computing power is greater than or equal to 4 TOPS.

[0051] Specifically, such as Figure 2 and Figure 3 As shown, in this embodiment, the video data collected by the vehicle's forward-facing camera is first transmitted to the ADAS domain control system and the cockpit domain control system via a video transmission line, such as LVDS (Low Voltage Differential Signaling). Secondly, the ADAS domain control system's SOC senses the received video data and controls it via the MCU (Micro Controller Unit). Simultaneously, the system acquires the ADAS domain control system's heartbeat data and operating status, and detects these data to determine the current operating status of the ADAS domain control system. The ADAS domain control system's operating status can include normal operating status, fault status, and failure status.

[0052] The heartbeat data and operating status of the ADAS domain control system are reported by separate modules, which report to the cockpit domain control system through different buses, without interfering with each other, in order to prevent failure due to common causes.

[0053] According to one embodiment of this application, after obtaining the heartbeat data and operating status of the ADAS domain control system, the method further includes: determining whether the heartbeat data is empty or whether the operating status is a fault state; if the heartbeat data is empty or the operating status is a fault state, then the vehicle is determined to meet the preset redundancy control conditions.

[0054] The preset redundancy control conditions can be set by those skilled in the art according to actual usage needs, and are not specifically limited here.

[0055] Specifically, in the process of detecting the heartbeat data and operating status of the ADAS domain control system, this application embodiment determines whether the heartbeat data of the ADAS domain control system is empty or whether the operating status is faulty. If the heartbeat data of the ADAS domain control system is empty, that is, the operating status of the ADAS domain control system is in a failed state, or if the heartbeat data of the ADAS domain control system is not empty and the operating status is faulty, it is determined that the vehicle meets the preset redundancy control conditions.

[0056] It should be noted that, in the embodiments of this application, when the ADAS domain control system is in a fault state, the control priority of the ADAS domain control system is lower than the control priority of the current cockpit system.

[0057] In step S102, when the vehicle meets the preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system, the video data of the vehicle sent by the video splitter is received.

[0058] According to one embodiment of this application, when determining that the vehicle meets the preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system, the method further includes: generating a fault signal of the ADAS domain control system; and controlling the vehicle to perform acoustic and / or optical alarms based on the fault signal.

[0059] Specifically, in this embodiment of the application, when the vehicle meets the preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system, it indicates that the ADAS domain control system is in a failure or fault state. Since this embodiment of the application uses an independently powered video splitter, the video splitter can still work normally when the ADAS domain control system is in a failure or fault state. At this time, the video splitter sends the vehicle's video data to the cockpit domain control system through the video transmission line. The SOC in the cockpit domain control system senses the vehicle's video data and controls it through the MCU.

[0060] Furthermore, when the ADAS domain control system in this embodiment of the application is in a fault state, a fault signal of the ADAS domain control system is generated simultaneously, and the vehicle is controlled to perform acoustic alarms and / or optical alarms based on the fault signal.

[0061] Among them, acoustic alarms can be buzzers, vehicle horns or other acoustic devices with acoustic alarm functions, and optical alarms can be LED (Light-Emitting Diode) lights, vehicle displays or other optical devices with optical alarm functions, without specific limitations.

[0062] For example, if the ADAS domain control system in this application embodiment is in a fault state, an alarm message can be sent to the cockpit domain control system through the vehicle horn in the manner of "beep beep beep, the current ADAS domain control system is in a fault state", or an alarm message can be sent to the cockpit domain control system through the vehicle display screen displaying "the current ADAS domain control system is in a fault state". No specific limitation is made here.

[0063] In step S103, path planning is performed based on video data and the vehicle's own state, and vehicle control signals are generated based on the path planning results, so that the vehicle can perform corresponding actions based on the vehicle control signals.

[0064] According to one embodiment of this application, path planning is performed based on video data and the vehicle's own state, and a vehicle control signal is generated based on the path planning result, so that the vehicle performs corresponding actions based on the vehicle control signal. The method includes: receiving target perception data from video data; performing path planning processing on the target perception data using a preset planning algorithm, performing path planning on the processed target perception data and the vehicle's own state, and generating a vehicle control signal based on the path planning result, so that the vehicle performs corresponding actions based on the vehicle control signal.

[0065] Specifically, as an feasible approach, when the ADAS domain control system is in a malfunctioning state, it stops sending heartbeat data to the cockpit domain control system. At this time, the video splitter sends the vehicle's video data to the cockpit domain control system via the video transmission line, which then takes over. When the cockpit domain control system receives the video data, the backup perception model within the system is activated and performs backup perception on the received video data, generating target perception data. Simultaneously, the target perception data is sent to the MCU for backup planning and control processing. The processed target perception data and the vehicle's own state are then used for path planning. The path planning result is sent to the powertrain chassis via CAN (Controller Area Network), thereby generating the vehicle control signal for the cockpit domain control system. This vehicle control signal is then sent to the MCU, enabling the vehicle to perform corresponding actions based on the vehicle control signal from the cockpit domain control system.

[0066] As another feasible approach, when the ADAS domain control system is in a faulty state, it continues to send heartbeat data to the cockpit domain control system while simultaneously sending a fault signal. At this time, the video splitter sends the vehicle's video data to the cockpit domain control system via the video transmission line, which then takes over. Upon receiving the video data, the backup perception model within the cockpit domain control system is activated, performs backup perception on the received video data, generates target perception data, and sends the target perception data to the MCU for backup planning and control processing. The processed target perception data and the vehicle's own status are then used for path planning, and the path planning results are sent to the powertrain chassis via CAN, thereby generating the vehicle control signal for the cockpit domain control system. This vehicle control signal is then sent to the MCU, enabling the vehicle to perform corresponding actions based on the vehicle control signal from the cockpit domain control system.

[0067] It should be noted that after the cockpit domain control system takes over, if the ADAS domain control system still sends vehicle control signals to the power chassis, the vehicle control signals under the cockpit domain control will be selected first to control the vehicle to perform corresponding actions according to the vehicle control signals.

[0068] As another possible approach, if the ADAS domain control system's heartbeat data is not empty (i.e., it sends heartbeat data to the cockpit domain control system at periodic time intervals), and the ADAS domain control system is in normal operating condition, then the ADAS domain control system is in normal operating condition. Based on the received vehicle video data, the ADAS domain control system performs primary perception on the video data, generates target perception data, and sends the target perception data to the MCU for primary control processing. It then performs path planning based on the processed target perception data and the vehicle's own state, and sends the path planning result to the powertrain chassis via CAN bus. This generates the vehicle control signal for the ADAS domain control system, which is then sent to the MCU, enabling the vehicle to perform corresponding actions based on the vehicle control signal from the ADAS domain control system.

[0069] In summary, the embodiments of this application can make full use of existing resources in the vehicle by adding an independently powered video splitter, and achieve safe redundancy backup of advanced ADAS functions such as high-speed NOA. It has a wide range of applications. At the same time, the specific implementation schemes involved in the embodiments of this application are only exemplary and can also be applied to other technical scenarios, and are not specifically limited here.

[0070] According to the vehicle ADAS redundancy control method of this application embodiment, the heartbeat data and operating status of the Advanced Driver Assistance System (ADAS) domain control system are acquired; when the vehicle meets the preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system, video data of the vehicle sent by the video splitter is received; path planning is performed based on the video data and the vehicle's own status, and vehicle control signals are generated, enabling the vehicle to perform corresponding actions based on the vehicle control signals. This solves the problem that if the domain control fails during power redundancy backup within the same domain control, the power backup function cannot be enabled. By adding an independently powered video splitter and cockpit domain control, power can be switched to another backup domain control when the ADAS domain control fails, thereby realizing the safe redundancy backup function of the ADAS domain control.

[0071] Next, referring to the accompanying drawings, an ADAS redundancy control device for a vehicle according to an embodiment of this application is described.

[0072] Figure 4 This is a block diagram of an ADAS redundancy control device for a vehicle according to an embodiment of this application.

[0073] like Figure 4 As shown, the vehicle is equipped with an independently powered video splitter. The vehicle's ADAS redundant control device 10 includes: an acquisition module 100, a receiving module 200, and a generation module 300.

[0074] Among them, the acquisition module 100 is used to acquire the heartbeat data and operating status of the ADAS domain control system;

[0075] The receiving module 200 is used to receive vehicle video data sent by the video splitter when the vehicle meets preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system; and

[0076] The generation module 300 is used to perform path planning based on video data and the vehicle's own status, and generate vehicle control signals based on the path planning results, so that the vehicle can perform corresponding actions based on the vehicle control signals.

[0077] According to one embodiment of this application, after acquiring the heartbeat data and operating status of the ADAS domain controller system, the acquisition module 100 is further configured to:

[0078] Determine if the heartbeat data is empty or if the running status is faulty;

[0079] If the heartbeat data is empty, or the operating status is a fault state, the vehicle is determined to meet the preset redundancy control conditions.

[0080] According to one embodiment of this application, when the ADAS domain control system is in a fault state, the control priority of the ADAS domain control system is lower than the control priority of the current cockpit system.

[0081] According to one embodiment of this application, the receiving module 200 is specifically used for:

[0082] Generate fault signals for the ADAS domain control system;

[0083] Control the vehicle to generate acoustic and / or optical alarms based on fault signals.

[0084] According to one embodiment of this application, the generation module 300 is specifically used for:

[0085] Target perception data received from video data;

[0086] The target perception data is processed using a pre-defined control algorithm. The processed target perception data and the vehicle's own state are then used to plan a path. Based on the path planning results, vehicle control signals are generated, enabling the vehicle to perform corresponding actions based on the vehicle control signals.

[0087] The ADAS redundancy control device for vehicles according to embodiments of this application acquires the heartbeat data and operating status of the Advanced Driver Assistance System (ADAS) domain control system. When the vehicle meets preset redundancy control conditions based on the heartbeat data and operating status of the ADAS domain control system, it receives video data of the vehicle sent by a video splitter. Based on the video data and the vehicle's own status, it performs path planning and generates vehicle control signals, enabling the vehicle to execute corresponding actions based on the vehicle control signals. This solves the problem that if the domain control fails during power redundancy backup within the same domain control, the power backup function cannot be enabled. By adding an independently powered video splitter and cockpit domain control, power can be switched to another backup domain control when the ADAS domain control fails, thus achieving a safe redundancy backup function for the ADAS domain control.

[0088] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0089] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0090] When the processor 502 executes the program, it implements the ADAS redundancy control method for vehicles provided in the above embodiments.

[0091] Furthermore, electronic devices also include:

[0092] Communication interface 503 is used for communication between memory 501 and processor 502.

[0093] The memory 501 is used to store computer programs that can run on the processor 502.

[0094] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0095] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0096] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0097] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0098] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described ADAS redundancy control method for vehicles.

[0099] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0100] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0101] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0102] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0103] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0104] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0105] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0106] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for ADAS redundancy control of a vehicle, characterized in that, The vehicle is equipped with an independently powered video splitter, including the following steps: Acquire the heartbeat data and operating status of the Advanced Driver Assistance System (ADAS) domain control system; When the vehicle meets the preset redundancy control conditions based on the heartbeat data of the ADAS domain control system and the operating status, the system receives the vehicle's video data sent by the video splitter; and Path planning is performed based on the video data and the vehicle's own status, and vehicle control signals are generated based on the path planning results, so that the vehicle can perform corresponding actions based on the vehicle control signals.

2. The method according to claim 1, characterized in that, After acquiring the heartbeat data and operating status of the ADAS domain control system, the following steps are also included: Determine whether the heartbeat data is empty or whether the running status is a fault state; If the heartbeat data is empty, or the operating status is the fault status, then the vehicle is determined to meet the preset redundancy control conditions.

3. The method according to claim 2, characterized in that, When the ADAS domain control system is in the fault state, the control priority of the ADAS domain control system is lower than the control priority of the current cockpit system.

4. The method according to claim 1, characterized in that, When determining that the vehicle meets the preset redundancy control conditions based on the heartbeat data of the ADAS domain control system and the operating status, the method further includes: Generate fault signals for the ADAS domain control system; The vehicle is controlled to perform acoustic and / or optical alarms based on the fault signal.

5. The method according to claim 1, characterized in that, The step of performing path planning based on the video data and the vehicle's own state, and generating vehicle control signals based on the path planning results, so that the vehicle performs corresponding actions based on the vehicle control signals, includes: Target perception data received from the video data; The target perception data is processed using a preset planning and control algorithm, and the processed target perception data and the vehicle's own state are used to plan a path. Based on the path planning result, a vehicle control signal is generated for the vehicle, so that the vehicle can perform corresponding actions based on the vehicle control signal.

6. A vehicle ADAS redundancy control device, characterized in that, The vehicle is equipped with an independently powered video splitter, including: The acquisition module is used to acquire the heartbeat data and operating status of the Advanced Driver Assistance System (ADAS) domain control system. The receiving module is configured to receive video data of the vehicle sent by the video splitter when the vehicle meets preset redundancy control conditions based on the heartbeat data of the ADAS domain control system and the operating status; and The generation module is used to perform path planning based on the video data and the vehicle's own state, and generate vehicle control signals based on the path planning results, so that the vehicle can perform corresponding actions based on the vehicle control signals.

7. The apparatus according to claim 6, characterized in that, After acquiring the heartbeat data and operating status of the ADAS domain control system, the acquisition module is further configured to: determine whether the heartbeat data is empty or whether the operating status is a fault state; If the heartbeat data is empty, or the operating status is the fault status, then the vehicle is determined to meet the preset redundancy control conditions.

8. The apparatus according to claim 7, characterized in that, When the ADAS domain control system is in the fault state, the control priority of the ADAS domain control system is lower than the control priority of the current cockpit system.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the ADAS redundancy control method for a vehicle as described in any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the ADAS redundancy control method for a vehicle as described in any one of claims 1-5.

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