Fault diagnosis and fault processing method for electronic rearview mirror

Abstract

The invention discloses a fault diagnosis and fault processing method for an electronic rearview mirror, and belongs to the technical field of vehicle-mounted electronic rearview mirrors. The method comprises the following steps: S1, carrying out CMS camera fault diagnosis, respectively judging whether a CMS left camera and a CMS right camera have faults, and then carrying out corresponding fault processing; s2, screen fault diagnosis is carried out, whether the CMS left screen and the CMS right screen have faults or not is judged, and then corresponding fault processing is carried out; s3, carrying out SOC module fault diagnosis, judging whether the SOC module has a fault or not, and then carrying out corresponding fault processing; and S4, carrying out panoramic camera fault diagnosis, respectively judging whether the left panoramic camera and the right panoramic camera have faults, and then carrying out corresponding fault processing. According to the fault diagnosis and fault processing method for the electronic rearview mirror, the fault of the electronic rearview mirror is diagnosed and processed timely and effectively, and when the electronic rearview mirror breaks down, the driving safety of a driver is guaranteed.

Description

Technical Field

[0001] The invention relates to a fault diagnosis and fault processing method of an electronic rearview mirror, belonging to the technical field of vehicle-mounted electronic rearview mirrors. Background Art

[0002] The electronic rearview mirror (CMS) is an indirect vision device that obtains a specified field of view through a system composed of a camera and an electronic screen. It includes electronic equipment such as a high-definition camera, a digital visual processing system, a safety system, and an electronic screen. It is a new type of rearview mirror that can replace the traditional optical rearview mirror.

[0003] At present, the use of electronic rearview mirrors is becoming more and more widespread, but the fault diagnosis and troubleshooting of electronic rearview mirrors still have the following defects: 1. There are few troubleshooting methods for electronic rearview mirrors once the screen or camera fails.

[0004] 2. With the rise of electronic rearview mirrors, their fault diagnosis and troubleshooting methods are still relatively simple, and the continuous operation of electronic rearview mirrors cannot be guaranteed. Screen freezing and blue screen phenomena often occur. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a fault diagnosis and fault handling method for an electronic rearview mirror, so as to timely and effectively diagnose and handle the fault of the electronic rearview mirror and ensure the driving safety of the driver when the electronic rearview mirror fails.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: A fault diagnosis and troubleshooting method for an electronic rearview mirror, comprising: Step S1, perform CMS camera fault diagnosis, determine whether the CMS left camera and the CMS right camera have faults, and then perform corresponding fault processing; Step S2: Perform screen fault diagnosis to determine whether the CMS left screen and the CMS right screen have faults, and then perform corresponding fault processing; Step S3: perform SOC module fault diagnosis to determine whether the SOC module has a fault, and then perform corresponding fault processing; Step S4: perform a periscopic camera fault diagnosis to determine whether the left periscopic camera and the right periscopic camera have faults, and then perform corresponding fault processing.

[0007] Further, in step S1, CMS camera fault diagnosis is performed, which specifically includes the following steps: When the CMS controller cannot detect the CMS camera input data or the CMS camera fault pin sends a fault signal within T consecutive cycles, the CMS camera abnormality is reported.

[0008] Further, in step S1, it is determined whether the CMS left camera and the CMS right camera are faulty, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller determines that the CMS left camera is faulty, it turns off the AI ​​function of the electronic rearview mirror and only maintains the basic function of the field of view display. At the same time, it sends the CMS left camera fault flag Flag_L_camera to the ADAS controller and the vehicle computer. After receiving the CMS left camera fault flag Flag_L_camera, the ADAS controller simultaneously sends the image information collected by the left surround camera to the central control screen; After the vehicle computer receives the CMS left camera fault flag Flag_L_camera, it plans the left part of the central control screen to display the external environment information collected by the left surround camera, temporarily replacing the function of the CMS left camera. At the same time, the vehicle computer displays the CMS left camera fault flag icon.

[0009] Further, in step S1, it is determined whether the CMS left camera and the CMS right camera are faulty, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller determines that the CMS right camera is faulty, it turns off the AI ​​function of the electronic rearview mirror and only maintains the basic function of the field of view display. At the same time, it sends the CMS right camera fault flag Flag_R_camera to the ADAS controller and the vehicle computer; After the ADAS controller receives the CMS right camera fault flag Flag_R_camera, it simultaneously sends the image information collected by the right surround camera to the central control screen; After the vehicle computer receives the CMS right camera fault flag Flag_R_camera, it plans the right part of the central control screen to display the external environment information collected by the right surround camera, temporarily replacing the function of the CMS right camera. At the same time, the vehicle computer displays the CMS right camera fault flag icon.

[0010] Further, in step S1, it is determined whether the CMS left camera and the CMS right camera are faulty, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller determines that both the CMS left camera and the CMS right camera are faulty, the AI ​​function of the electronic rearview mirror is turned off, and only the basic function of the field of view display is maintained. At the same time, the CMS left camera fault flag Flag_L_camera and the CMS right camera fault flag Flag_R_camera are sent to the ADAS controller and the vehicle computer; After the ADAS controller receives the CMS left camera fault flag Flag_L_camera and the CMS right camera fault flag Flag_R_camera; The image information collected by the left and right surround cameras is synchronously sent to the central control screen, which displays the external environment information collected by the left and right surround cameras, temporarily replacing the functions of the CMS left camera and CMS right camera. At the same time, the vehicle computer displays the fault flag icons of the CMS left camera and CMS right camera.

[0011] Furthermore, in step S2, screen fault diagnosis is performed, which specifically includes the following steps: The CMS controller continuously monitors the count ID according to the screen display feedback counter. When the count ID does not change for T1 cycles or the CMS controller receives a fault signal sent by the screen, it is determined that the screen is faulty.

[0012] Further, in step S2, it is determined whether the CMS left screen and the CMS right screen have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller detects that a fault occurs on the CMS left screen, the CMS controller first sends the perception information to the vehicle computer and sends the CMS left screen fault flag Flag_L_Screen to the vehicle computer. After the vehicle computer receives the CMS left screen fault flag Flag_L_Screen, it displays the CMS left camera information on the central control screen and displays the CMS left screen fault flag icon at the same time.

[0013] Further, in step S2, it is determined whether the CMS left screen and the CMS right screen have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller detects that a fault occurs on the CMS right screen, the CMS controller first sends the perception information to the vehicle computer and sends the CMS right screen fault flag Flag_R_Screen to the vehicle computer. After the vehicle computer receives the CMS right screen fault flag Flag_R_Screen, it displays the CMS right camera information on the central control screen and displays the CMS right screen fault flag icon at the same time.

[0014] Further, in step S3, SOC module fault diagnosis is performed to determine whether the SOC module has a fault, and then corresponding fault processing is performed, which specifically includes the following steps: When the MCU module detects that the SOC module has a fault, the MCU module sends the CMS left camera and CMS right camera sensing information sent by the serializer directly to the display driver module through the dual-channel deserializer, bypassing the SOC module, and controls the display driver module to send the information to the central control screen for display; At the same time, the MCU module sends the CMS system fault flag Flag_Soc to the vehicle computer. After receiving the CMS system fault flag, the vehicle computer prompts the user to replace the CMS controller on the central control screen.

[0015] Further, in step S4, a periscopic camera fault diagnosis is performed to determine whether the left periscopic camera and the right periscopic camera have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the ADAS controller detects that the left-side surround view camera has a fault, the ADAS controller sends the left-side surround view camera fault flag Flag_L_ads to the CMS controller to control the ADAS controller to stop receiving the left-side surround view camera related data; when the CMS controller receives the left-side surround view camera fault flag Flag_L_ads sent by the ADAS controller, it sends the left-side external environment data detected by the CMS controller to the ADAS controller for assisted driving; When the ADAS controller detects that the right-side surround view camera has a fault, the ADAS controller sends the right-side surround view camera fault flag Flag_R_ads to the CMS controller, and controls the ADAS controller to stop receiving relevant data from the right-side surround view camera; when the CMS controller receives the right-side surround view camera fault flag Flag_R_ads sent by the ADAS controller, it sends the right-side external environment data detected by the CMS controller to the ADAS controller for assisted driving.

[0016] By adopting the above technical solution, the present invention can detect faults of the camera and screen of the electronic rearview mirror, and handle the faults when a fault occurs, thereby ensuring the driving safety of the driver. The present invention can also link the temporary auxiliary mode of ADAS, and when the electronic rearview mirror fails, ADAS will perform auxiliary display to ensure the safety and reliability of CMS. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a fault diagnosis and fault handling method for an electronic rearview mirror of the present invention; Figure 2 is a principle block diagram of the electronic rearview mirror of the present invention; Figure 3 It is a principle block diagram of the CMS controller of the present invention. DETAILED DESCRIPTION

[0018] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0019] Embodiment 1 like Figure 1 As shown, this embodiment provides a fault diagnosis and fault handling method for an electronic rearview mirror, which includes: Step S1, perform CMS camera fault diagnosis, determine whether the CMS left camera and the CMS right camera have faults, and then perform corresponding fault processing; Step S2: Perform screen fault diagnosis to determine whether the CMS left screen and the CMS right screen have faults, and then perform corresponding fault processing; Step S3: perform SOC module fault diagnosis to determine whether the SOC module has a fault, and then perform corresponding fault processing; Step S4: perform a periscopic camera fault diagnosis to determine whether the left periscopic camera and the right periscopic camera have faults, and then perform corresponding fault processing.

[0020] In step S1 of this embodiment, a CMS camera fault diagnosis is performed to determine whether the CMS left camera and the CMS right camera have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller cannot detect the CMS camera input data or the CMS camera fault pin sends a fault signal within T consecutive cycles, the CMS camera abnormality is reported.

[0021] When the CMS controller determines that the CMS left camera is faulty, it turns off the AI ​​functions of the electronic rearview mirror (for example, door opening warning, blind spot monitoring, and rear cross-traffic warning), and only maintains the basic functions of the field of view display. At the same time, it sends the CMS left camera fault flag Flag_L_camera to the ADAS controller and the vehicle computer, and folds the exterior rearview mirror to which the CMS left camera belongs. After the ADAS controller receives the CMS left camera fault flag Flag_L_camera, since the AI ​​function of the electronic rearview mirror is turned off, only the basic function of the field of view display is maintained. The image information collected by the left perimeter camera is simultaneously sent to the central control screen via Ethernet; After the vehicle computer receives the CMS left camera fault flag Flag_L_camera, it plans the left part of the central control screen to display the external environment information collected by the left surround camera, temporarily replacing the function of the CMS left camera. At the same time, the vehicle computer displays the CMS left camera fault flag icon.

[0022] When the CMS controller determines that the CMS right camera is faulty, it turns off the AI ​​function of the electronic rearview mirror and only keeps the basic function of the field of view display. At the same time, it sends the CMS right camera fault flag Flag_R_camera to the ADAS controller and the vehicle computer, and folds up the exterior rearview mirror to which the CMS right camera belongs. After the ADAS controller receives the CMS right camera fault flag Flag_R_camera, since the AI ​​function of the electronic rearview mirror is turned off, only the basic function of the field of view display is maintained. The image information collected by the right panoramic camera is simultaneously sent to the central control screen via Ethernet; After the vehicle computer receives the CMS right camera fault flag Flag_R_camera, it plans the right part of the central control screen to display the external environment information collected by the right surround camera, temporarily replacing the function of the CMS right camera. At the same time, the vehicle computer displays the CMS right camera fault flag icon.

[0023] When the CMS controller determines that both the CMS left camera and the CMS right camera are faulty, the AI ​​function of the electronic rearview mirror is turned off, and only the basic function of the field of view display is maintained. At the same time, the CMS left camera fault flag Flag_L_camera and the CMS right camera fault flag Flag_R_camera are sent to the ADAS controller and the vehicle computer, and the exterior rearview mirrors to which the CMS left camera and the CMS right camera belong are folded; After the ADAS controller receives the CMS left camera fault flag Flag_L_camera and the CMS right camera fault flag Flag_R_camera, since the AI ​​function of the electronic rearview mirror is turned off, only the basic function of the field of view display is maintained; The image information collected by the left and right surround cameras is synchronously sent to the central control screen via Ethernet, and the central control screen displays the external environment information collected by the left and right surround cameras, temporarily replacing the functions of the CMS left camera and CMS right camera. At the same time, the vehicle computer displays the fault flag icons of the CMS left camera and CMS right camera.

[0024] In step S2 of this embodiment, screen fault diagnosis is performed to determine whether the CMS left screen and the CMS right screen have faults, and then corresponding fault processing is performed, which specifically includes the following steps: The CMS controller continuously monitors the count ID according to the screen display feedback counter. When the count ID does not change for T1 cycles or the CMS controller receives a fault signal sent by the screen, it is determined that the screen is faulty.

[0025] When the CMS controller detects that the CMS left screen has a fault, the CMS controller first sends the perception information to the vehicle computer via Ethernet, and sends the CMS left screen fault flag Flag_L_Screen to the vehicle computer. After the vehicle computer receives the CMS left screen fault flag Flag_L_Screen, it displays the CMS left camera information on the central control screen and displays the CMS left screen fault flag icon at the same time.

[0026] When the CMS controller detects that a fault occurs on the CMS right screen, the CMS controller first sends the perception information to the vehicle computer via Ethernet, and sends the CMS right screen fault flag Flag_R_Screen to the vehicle computer. After the vehicle computer receives the CMS right screen fault flag Flag_R_Screen, it displays the CMS right camera information on the central control screen and displays the CMS right screen fault flag icon at the same time.

[0027] When both the CMS left screen and the CMS right screen fail at the same time, the CMS controller first sends the perception information to the vehicle computer via Ethernet, and sends two fault flags Flag_L_Screen and Flag_R_Screen to the vehicle computer. After receiving the two fault flags, the vehicle computer displays the CMS left and right camera information on the central control screen, and displays the CMS left and right screen fault flag icons at the same time.

[0028] In step S3 of this embodiment, SOC module fault diagnosis is performed to determine whether the SOC module has a fault, and then corresponding fault processing is performed, which specifically includes the following steps: When the MCU module detects that the SOC module has a fault, the MCU module sends the CMS left camera and CMS right camera sensing information sent by the serializer directly to the display driver module through the dual-channel deserializer, bypassing the SOC module, and controls the display driver module to send the information to the central control screen for display. At this time, the AI ​​function of the electronic rearview mirror is limited and only has a default field of view; At the same time, the MCU module sends the CMS system fault flag Flag_Soc to the vehicle computer. After receiving the CMS system fault flag, the vehicle computer prompts the user to replace the CMS controller on the central control screen.

[0029] In step S4 of this embodiment, a periscopic camera fault diagnosis is performed to determine whether the left periscopic camera and the right periscopic camera have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the ADAS controller detects that the left-side surround view camera has a fault, the ADAS controller sends the left-side surround view camera fault flag Flag_L_ads to the CMS controller to control the ADAS controller to stop receiving the left-side surround view camera related data; when the CMS controller receives the left-side surround view camera fault flag Flag_L_ads sent by the ADAS controller, it sends the left-side external environment data detected by the CMS controller to the ADAS controller for assisted driving; When the ADAS controller detects that the right-side surround view camera has a fault, the ADAS controller sends the right-side surround view camera fault flag Flag_R_ads to the CMS controller, and controls the ADAS controller to stop receiving relevant data from the right-side surround view camera; when the CMS controller receives the right-side surround view camera fault flag Flag_R_ads sent by the ADAS controller, it sends the right-side external environment data detected by the CMS controller to the ADAS controller for assisted driving.

[0030] Embodiment 2 like Figure 2 As shown, this embodiment provides an electronic rearview mirror to which the fault diagnosis and fault handling method of the electronic rearview mirror of the first embodiment is applied, which comprises: CMS left camera and CMS right camera: CMS left camera and CMS right camera are used to replace conventional optical rearview mirrors to collect rear images on both sides of the vehicle.

[0031] The CMS left screen and the CMS right screen are installed in the vehicle and are used to display the rear images on both sides of the vehicle captured by the CMS left camera and the CMS right camera to the driver.

[0032] The CMS controller (electronic rearview mirror controller) is used to detect and process environmental information collected by the CMS left camera and CMS right camera and to control fault warnings.

[0033] The vehicle BCM is used to process the body-related controller information and pass the relevant information to the CMS controller, ADAS controller and central control screen.

[0034] The large central control screen is used by the driver to make relevant touch settings and display information about the vehicle's external environment.

[0035] ADAS controller (intelligent driving related control unit) is used to send and judge the vehicle's lateral and longitudinal control instructions.

[0036] The left-side surround camera and the right-side surround camera are used to collect images of the left and right sides of the vehicle.

[0037] like Figure 3 As shown, the CMS controller of this embodiment includes a serializer, a dual-channel deserializer, a SOC module, a display driver module and an MCU module. The serializer receives the image information of the CMS left camera and the CMS right camera, and then sends it to the dual-channel deserializer. The dual-channel deserializer sends the decoded information to the SOC module. The SOC module displays the images collected by the CMS left camera and the CMS right camera on the CMS left screen and the CMS right screen respectively through the display driver module. When the SOC module fails, the MCU module transmits the external perception information sent by the serializer through the dual-channel deserializer across the SOC module directly to the display driver chip, and controls the display driver chip to send the information to the central control large screen for display.

[0038] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fault diagnosis and fault handling method for an electronic rearview mirror, characterized in that: It includes: Step S1, perform CMS camera fault diagnosis, determine whether the CMS left camera and the CMS right camera have faults, and then perform corresponding fault processing; Step S2: Perform screen fault diagnosis to determine whether the CMS left screen and the CMS right screen have faults, and then perform corresponding fault processing; Step S3: perform SOC module fault diagnosis to determine whether the SOC module has a fault, and then perform corresponding fault processing; Step S4: perform a periscopic camera fault diagnosis to determine whether the left periscopic camera and the right periscopic camera have faults, and then perform corresponding fault processing.

2. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S1, CMS camera fault diagnosis is performed, which specifically includes the following steps: When the CMS controller cannot detect the CMS camera input data or the CMS camera fault pin sends a fault signal within T consecutive cycles, the CMS camera abnormality is reported.

3. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S1, it is determined whether the CMS left camera and the CMS right camera are faulty, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller determines that the CMS left camera is faulty, it turns off the AI ​​function of the electronic rearview mirror and only maintains the basic function of the field of view display. At the same time, it sends the CMS left camera fault flag Flag_L_camera to the ADAS controller and the vehicle computer; After receiving the CMS left camera fault flag Flag_L_camera, the ADAS controller simultaneously sends the image information collected by the left surround camera to the central control screen; After the vehicle computer receives the CMS left camera fault flag Flag_L_camera, it plans the left part of the central control screen to display the external environment information collected by the left surround camera, temporarily replacing the function of the CMS left camera. At the same time, the vehicle computer displays the CMS left camera fault flag icon.

4. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S1, it is determined whether the CMS left camera and the CMS right camera are faulty, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller determines that the CMS right camera is faulty, it turns off the AI ​​function of the electronic rearview mirror and only maintains the basic function of the field of view display. At the same time, it sends the CMS right camera fault flag Flag_R_camera to the ADAS controller and the vehicle computer; After the ADAS controller receives the CMS right camera fault flag Flag_R_camera, it simultaneously sends the image information collected by the right surround camera to the central control screen; After the vehicle computer receives the CMS right camera fault flag Flag_R_camera, it plans the right part of the central control screen to display the external environment information collected by the right surround camera, temporarily replacing the function of the CMS right camera. At the same time, the vehicle computer displays the CMS right camera fault flag icon.

5. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S1, it is determined whether the CMS left camera and the CMS right camera are faulty, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller determines that both the CMS left camera and the CMS right camera are faulty, the AI ​​function of the electronic rearview mirror is turned off, and only the basic function of the field of view display is maintained. At the same time, the CMS left camera fault flag Flag_L_camera and the CMS right camera fault flag Flag_R_camera are sent to the ADAS controller and the vehicle computer; After the ADAS controller receives the CMS left camera fault flag Flag_L_camera and the CMS right camera fault flag Flag_R_camera; The image information collected by the left and right surround cameras is synchronously sent to the central control screen, which displays the external environment information collected by the left and right surround cameras, temporarily replacing the functions of the CMS left camera and CMS right camera. At the same time, the vehicle computer displays the fault flag icons of the CMS left camera and CMS right camera.

6. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S2, screen fault diagnosis is performed, which specifically includes the following steps: The CMS controller continuously monitors the count ID according to the screen display feedback counter. When the count ID does not change for T1 cycles or the CMS controller receives a fault signal sent by the screen, it is determined that the screen is faulty.

7. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S2, it is determined whether the CMS left screen and the CMS right screen have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller detects that a fault occurs on the CMS left screen, the CMS controller first sends the perception information to the vehicle computer and sends the CMS left screen fault flag Flag_L_Screen to the vehicle computer. After the vehicle computer receives the CMS left screen fault flag Flag_L_Screen, it displays the CMS left camera information on the central control screen and displays the CMS left screen fault flag icon at the same time.

8. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S2, it is determined whether the CMS left screen and the CMS right screen have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the CMS controller detects that a fault occurs on the CMS right screen, the CMS controller first sends the perception information to the vehicle computer and sends the CMS right screen fault flag Flag_R_Screen to the vehicle computer. After the vehicle computer receives the CMS right screen fault flag Flag_R_Screen, it displays the CMS right camera information on the central control screen and displays the CMS right screen fault flag icon at the same time.

9. The fault diagnosis and troubleshooting method of the electronic rearview mirror according to claim 1, characterized in that: In step S3, SOC module fault diagnosis is performed to determine whether the SOC module has a fault, and then corresponding fault processing is performed, which specifically includes the following steps: When the MCU module detects that the SOC module has a fault, the MCU module sends the CMS left camera and CMS right camera sensing information sent by the serializer directly to the display driver module through the dual-channel deserializer, bypassing the SOC module, and controls the display driver module to send the information to the central control screen for display; At the same time, the MCU module sends the CMS system fault flag Flag_Soc to the vehicle computer. After receiving the CMS system fault flag, the vehicle computer prompts the user to replace the CMS controller on the central control screen.

10. The fault diagnosis and fault handling method of the electronic rearview mirror according to claim 1, characterized in that: In step S4, a periscopic camera fault diagnosis is performed to determine whether the left periscopic camera and the right periscopic camera have faults, and then corresponding fault processing is performed, which specifically includes the following steps: When the ADAS controller detects that the left-side surround view camera has a fault, the ADAS controller sends the left-side surround view camera fault flag Flag_L_ads to the CMS controller to control the ADAS controller to stop receiving the left-side surround view camera related data; when the CMS controller receives the left-side surround view camera fault flag Flag_L_ads sent by the ADAS controller, it sends the left-side external environment data detected by the CMS controller to the ADAS controller for assisted driving; When the ADAS controller detects that the right-side surround view camera has a fault, the ADAS controller sends the right-side surround view camera fault flag Flag_R_ads to the CMS controller, and controls the ADAS controller to stop receiving relevant data from the right-side surround view camera; when the CMS controller receives the right-side surround view camera fault flag Flag_R_ads sent by the ADAS controller, it sends the right-side external environment data detected by the CMS controller to the ADAS controller for assisted driving.

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