A fault processing method and device, computer device and storage medium

Abstract

Embodiments of the present application disclose a fault processing method and device, computer equipment and a storage medium. The method comprises at least: acquiring vehicle operating parameters, and determining state information of each preset fault based on the vehicle operating parameters; for each target fault in an activated state, adjusting an initial fault level of the target fault according to state information of other faults having a dependency relationship with the target fault and vehicle driving state information, to obtain a current fault level of the target fault; dynamically adjusting the current fault level of each target fault according to the duration of each target fault, determining a target response level of a target fault having the highest current fault level, and responding to the target fault based on a response strategy corresponding to the target response level. The embodiments provided by the present application can detect and respond to faults occurring during automatic parking in a timely manner, thereby improving the safety of the automatic parking process.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a fault handling method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the maturity of fully automatic parking technology, more and more vehicles on the market are equipped with this function. When activated, the vehicle can automatically select a parking space and guide itself into the parking space in various complex scenarios, without requiring manual operation from the driver, bringing great convenience to driving.

[0003] However, with the widespread deployment of fully automated parking systems in vehicles, there has been an increasing number of cases where parking processes fail due to malfunctions, even leading to personal injury and property damage. In most of these cases, one or more subsystems responsible for ensuring the safe operation of the automated parking system malfunctioned, resulting in a fault. The algorithm itself failed to detect and respond to this fault in a timely manner, ultimately leading to parking failure or accidents. Therefore, how to promptly detect and respond to faults during automated parking to improve the safety of the process has become a pressing technical problem. Summary of the Invention

[0004] This application provides a fault handling method, apparatus, computer equipment, and storage medium to promptly detect and respond to faults occurring during automatic parking, thereby improving the safety of the automatic parking process. The specific technical solution is as follows.

[0005] In a first aspect, embodiments of this application provide a fault handling method, the method comprising:

[0006] The system acquires vehicle operating parameters and, based on these parameters, determines the status information for each preset fault. The vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal. The status information includes: active state or inactive state.

[0007] The system acquires vehicle driving status information, as well as preset initial fault levels for each fault and dependencies between each fault. For each target fault whose status information is active, the system adjusts the initial fault level of the target fault based on the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault level of the target fault. The vehicle driving status information includes current speed and / or current acceleration.

[0008] The current fault level of each target fault is dynamically adjusted based on the duration of its existence. According to the preset correspondence between fault level and response level, the target response level of the target fault with the highest current fault level is determined. The target fault is then responded to based on the response strategy corresponding to the target response level.

[0009] In this embodiment, during automatic parking, it is possible to detect whether preset faults are active. For each target fault that is active, the current fault level, i.e., the urgency of each fault, is determined based on the vehicle's driving status information and the dependencies between faults. Furthermore, the current fault level of each target fault can be dynamically adjusted based on the duration of its existence to avoid situations where faults are not responded to for extended periods. Finally, for each target fault, the highest-level fault can be responded to based on its current fault level ranking. This allows for timely detection and response to faults occurring during automatic parking, improving the safety of the automatic parking process.

[0010] Optionally, when the vehicle operating parameters include algorithm module input signals, vehicle status signals, operating environment parameters, algorithm module operating status parameters, and algorithm module output signals, the step of determining the status information of each preset fault based on the vehicle operating parameters includes:

[0011] The algorithm module is used to diagnose the real-time performance and continuity of the input signal, and to determine the status information of the input signal fault.

[0012] Longitudinal and lateral diagnostics are performed on the vehicle status signals to determine the status information of the controlled object's fault.

[0013] The operating environment parameters are used for slope diagnosis and tire adhesion diagnosis to determine the status information of operating environment faults;

[0014] The algorithm module's running status parameters are analyzed to determine the status information of module malfunctions.

[0015] The algorithm module is used to diagnose the real-time performance and continuity of its output signal, and to determine the status information of any output signal faults.

[0016] Optionally, the step of diagnosing the real-time performance and continuity of the input signal to the algorithm module and determining the state information of the input signal fault includes:

[0017] Calculate the first time difference between the timestamp of the current algorithm module input signal and the current timestamp. When the first time difference is greater than or equal to the first preset time threshold, determine that the state information of the algorithm module input signal delay fault is active. Calculate the first sequence number difference between the current algorithm module input signal and the previous frame input signal. When the first sequence number difference is greater than or equal to the first preset threshold, determine that the state information of the algorithm module input signal continuous fault is active.

[0018] The steps of performing longitudinal and lateral diagnostics on the vehicle status signal to determine the status information of the controlled object's fault include:

[0019] The algorithm module calculates the acceleration difference between the target acceleration output by the algorithm module and the actual acceleration of the vehicle. When the acceleration difference is greater than or equal to a preset acceleration threshold, the longitudinal fault status information of the vehicle is determined to be active. The algorithm module also calculates the angle difference between the target steering wheel angle output by the algorithm module and the actual steering wheel angle of the vehicle. When the angle difference is greater than or equal to a preset angle threshold, the lateral fault status information of the vehicle is determined to be active.

[0020] The steps of performing slope diagnosis and tire adhesion diagnosis on the operating environment parameters to determine the status information of operating environment faults include:

[0021] Determine whether the current slope of the vehicle is greater than or equal to a preset slope threshold. If so, determine that the slope fault status information is active. Check whether the mean square error of the four wheel speeds of the vehicle is greater than or equal to a preset threshold. If so, determine that the tire adhesion fault status information is active.

[0022] The step of diagnosing the time consumption of the algorithm module's running status parameters to determine the status information of module running faults includes:

[0023] Calculate the difference between the return time and the start time of any calculation cycle of the algorithm module. When the difference is greater than or equal to a preset duration, determine the status information of the module's time consumption fault as an active state.

[0024] The steps for diagnosing the real-time performance and continuity of the output signal of the algorithm module, and determining the state information of the output signal fault, include:

[0025] Calculate the second time difference between the timestamp of the current algorithm module output signal and the current timestamp. When the second time difference is greater than or equal to the second preset time threshold, determine that the state information of the algorithm module output signal delay fault is active. Calculate the second sequence number difference between the current algorithm module output signal and the output signal of the previous frame. When the second sequence number difference is greater than or equal to the second preset threshold, determine that the state information of the algorithm module output signal continuous fault is active.

[0026] Optionally, the vehicle driving status information includes current speed and current acceleration; the step of adjusting the initial fault level of each target fault whose status information is active, based on the status information of other faults that are dependent on the target fault and the vehicle driving status information, to obtain the current fault level of the target fault, includes:

[0027] Based on the preset speed level division interval, the current speed level is determined to be high-speed, medium-speed, or low-speed operating condition. Based on the preset acceleration level division interval, the current acceleration level is determined to be acceleration, deceleration, or constant speed operating condition.

[0028] For each target fault whose status information is active, other faults that are dependent on the target fault are detected in sequence. When the status information of any of the other faults is active, the initial fault level of the target fault is increased.

[0029] Obtain the preset correspondence between each fault and each speed level, as well as the correspondence between each fault and each acceleration level. Based on the current speed level, the current acceleration level, the correspondence between each fault and each speed level, and the correspondence between each fault and each acceleration level, adjust the initial fault level of each target fault to obtain the current fault level of the target fault.

[0030] Optionally, other faults that are dependent on the fault of the controlled object include: module operation faults and output signal faults; other faults that are dependent on the fault of the module operation include: controlled object faults; other faults that are dependent on the fault of the output signal include: controlled object faults.

[0031] The relationship between each fault and each speed level for escalation and de-escalation includes: faults that are related to escalation in high-speed operation include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that are related to escalation in medium-speed operation include: controlled object faults; faults that are related to maintenance in medium-speed operation include: input signal faults, operating environment faults, module operation faults, and output signal faults; faults that are related to maintenance in low-speed operation include: input signal faults, controlled object faults, module operation faults, and output signal faults; and faults that are related to de-escalation in low-speed operation include: operating environment faults.

[0032] The correspondence between each fault and each acceleration level includes: faults that maintain their level in acceleration conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that increase their level in deceleration conditions include: input signal faults, controlled object faults, module operation faults, and output signal faults; faults that maintain their level in deceleration conditions include: operating environment faults; and faults that maintain their level in constant speed conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults.

[0033] Optionally, each preset fault corresponds to a unique fault identification code; the step of dynamically adjusting the current fault level of each target fault based on the duration of each target fault includes:

[0034] Establish a fault queue, wherein each element in the fault queue contains the fault identification code, fault level, and fault existence time counter for each preset fault; initialize each fault existence time counter to 0;

[0035] For each element included in the fault queue, identify the target element whose fault identification code is the corresponding fault identification code of each target fault, modify the fault level included in each target element to the current fault level of the corresponding target fault, and increase the fault existence time counter by a preset step.

[0036] For each element included in the fault queue, when the fault existence time counter included in the element is greater than a set threshold, the fault level included in the element is increased by one level.

[0037] Optionally, the corresponding response strategies, ranked from low to high, include:

[0038] Only record fault codes;

[0039] Record fault codes and provide prompts to the driver via the human-machine interface (HMI);

[0040] The fault code is recorded, and the HMI prompts the driver that the fully automatic parking is completed in a downgraded manner.

[0041] The fault code is recorded, and the HMI prompts the driver to brake gently and stop the vehicle.

[0042] Record the fault code, and the HMI will prompt the driver to brake aggressively and stop the vehicle.

[0043] The fault code is recorded, and the HMI prompts the driver to brake aggressively and stop the vehicle, exiting the parking maneuver.

[0044] Secondly, embodiments of this application provide a fault handling apparatus, the apparatus comprising:

[0045] A fault detection module is used to acquire vehicle operating parameters and determine the status information of each preset fault based on the vehicle operating parameters; the vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal; the status information includes: active state or inactive state.

[0046] The fault rating determination module is used to acquire vehicle driving status information, as well as preset initial fault ratings for each fault and the dependencies between each fault. For each target fault whose status information is active, the module adjusts the initial fault rating of the target fault based on the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault rating of the target fault. The vehicle driving status information includes the current speed and / or the current acceleration.

[0047] The fault response module is used to dynamically adjust the current fault level of each target fault based on the duration of each target fault, and determine the target response level of the target fault with the highest current fault level according to the preset correspondence between fault level and response level, and respond to the target fault based on the response strategy corresponding to the target response level.

[0048] Optionally, when the vehicle operating parameters include algorithm module input signals, vehicle status signals, operating environment parameters, algorithm module operating status parameters, and algorithm module output signals, the fault detection module includes:

[0049] The input signal quality diagnosis submodule is used to diagnose the real-time performance and continuity of the input signal of the algorithm module and determine the status information of input signal faults.

[0050] The vehicle status signal diagnostic submodule is used to perform longitudinal and lateral diagnostics on the vehicle status signals to determine the status information of the controlled object's fault.

[0051] The operating environment parameter diagnosis submodule is used to perform slope diagnosis and tire adhesion diagnosis on the operating environment parameters to determine the status information of operating environment faults;

[0052] The algorithm running status diagnosis submodule is used to perform time-consuming diagnosis on the running status parameters of the algorithm module and determine the status information of module running failure.

[0053] The output signal quality diagnosis submodule is used to diagnose the real-time performance and continuity of the output signal of the algorithm module and determine the status information of the output signal fault.

[0054] Optionally, the input signal quality diagnostic submodule is specifically used for:

[0055] Calculate the first time difference between the timestamp of the current algorithm module input signal and the current timestamp. When the first time difference is greater than or equal to the first preset time threshold, determine that the state information of the algorithm module input signal delay fault is active. Calculate the first sequence number difference between the current algorithm module input signal and the previous frame input signal. When the first sequence number difference is greater than or equal to the first preset threshold, determine that the state information of the algorithm module input signal continuous fault is active.

[0056] The vehicle status signal diagnostic submodule is specifically used for:

[0057] The algorithm module calculates the acceleration difference between the target acceleration output by the algorithm module and the actual acceleration of the vehicle. When the acceleration difference is greater than or equal to a preset acceleration threshold, the longitudinal fault status information of the vehicle is determined to be active. The algorithm module also calculates the angle difference between the target steering wheel angle output by the algorithm module and the actual steering wheel angle of the vehicle. When the angle difference is greater than or equal to a preset angle threshold, the lateral fault status information of the vehicle is determined to be active.

[0058] The runtime environment parameter diagnosis submodule is specifically used for:

[0059] Determine whether the current slope of the vehicle is greater than or equal to a preset slope threshold. If so, determine that the slope fault status information is active. Check whether the mean square error of the four wheel speeds of the vehicle is greater than or equal to a preset threshold. If so, determine that the tire adhesion fault status information is active.

[0060] The algorithm running status diagnosis submodule is specifically used for:

[0061] Calculate the difference between the return time and the start time of any calculation cycle of the algorithm module. When the difference is greater than or equal to a preset duration, determine the status information of the module's time consumption fault as an active state.

[0062] The output signal quality diagnosis submodule is specifically used for:

[0063] Calculate the second time difference between the timestamp of the current algorithm module output signal and the current timestamp. When the second time difference is greater than or equal to the second preset time threshold, determine that the state information of the algorithm module output signal delay fault is active. Calculate the second sequence number difference between the current algorithm module output signal and the output signal of the previous frame. When the second sequence number difference is greater than or equal to the second preset threshold, determine that the state information of the algorithm module output signal continuous fault is active.

[0064] Optionally, the vehicle driving status information includes current speed and current acceleration; the level determination module includes:

[0065] The interval division submodule is used to divide intervals according to preset speed levels, determine whether the current speed is in a high-speed condition, medium-speed condition or low-speed condition, and divide intervals according to preset acceleration levels, determine whether the current acceleration is in an acceleration condition, deceleration condition or constant speed condition.

[0066] The dependency fault adjustment submodule is used to detect other faults that are dependent on each target fault whose status information is active. When the status information of any of the other faults is active, the initial fault level of the target fault is increased.

[0067] The level determination submodule is used to obtain the preset correspondence between each fault and each speed level, as well as the correspondence between each fault and each acceleration level. Based on the current speed level, the current acceleration level, the correspondence between each fault and each speed level, and the correspondence between each fault and each acceleration level, the initial fault level of each target fault is adjusted to obtain the current fault level of the target fault.

[0068] Optionally, other faults that are dependent on the fault of the controlled object include: module operation faults and output signal faults; other faults that are dependent on the fault of the module operation include: controlled object faults; other faults that are dependent on the fault of the output signal include: controlled object faults.

[0069] The relationship between each fault and each speed level for escalation and de-escalation includes: faults that are related to escalation in high-speed operation include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that are related to escalation in medium-speed operation include: controlled object faults; faults that are related to maintenance in medium-speed operation include: input signal faults, operating environment faults, module operation faults, and output signal faults; faults that are related to maintenance in low-speed operation include: input signal faults, controlled object faults, module operation faults, and output signal faults; and faults that are related to de-escalation in low-speed operation include: operating environment faults.

[0070] The correspondence between each fault and each acceleration level includes: faults that maintain their level in acceleration conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that increase their level in deceleration conditions include: input signal faults, controlled object faults, module operation faults, and output signal faults; faults that maintain their level in deceleration conditions include: operating environment faults; and faults that maintain their level in constant speed conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults.

[0071] Optionally, the fault response module is specifically used for:

[0072] Establish a fault queue, wherein each element in the fault queue contains the fault identification code, fault level, and fault existence time counter for each preset fault; initialize each fault existence time counter to 0;

[0073] For each element included in the fault queue, identify the target element whose fault identification code is the corresponding fault identification code of each target fault, modify the fault level included in each target element to the current fault level of the corresponding target fault, and increase the fault existence time counter by a preset step.

[0074] For each element included in the fault queue, when the fault existence time counter included in the element is greater than a set threshold, the fault level included in the element is increased by one level.

[0075] Optionally, the corresponding response strategies, ranked from low to high, include:

[0076] Only record fault codes;

[0077] Record fault codes and provide prompts to the driver via the human-machine interface (HMI);

[0078] The fault code is recorded, and the HMI prompts the driver that the fully automatic parking is completed in a downgraded manner.

[0079] The fault code is recorded, and the HMI prompts the driver to brake gently and stop the vehicle.

[0080] Record the fault code, and the HMI will prompt the driver to brake aggressively and stop the vehicle.

[0081] The fault code is recorded, and the HMI prompts the driver to brake aggressively and stop the vehicle, exiting the parking maneuver.

[0082] Thirdly, embodiments of this application provide a computer device, including: a real-time fault diagnosis system, a dynamic fault coordination system, and a fine-grained fault response system;

[0083] The real-time fault diagnosis system is used to acquire vehicle operating parameters and determine the status information of each preset fault based on the vehicle operating parameters; the vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal; the status information includes: active state or inactive state.

[0084] The dynamic fault coordination system is used to acquire vehicle driving status information, as well as preset initial fault levels and dependencies between faults. For each target fault whose status information is active, the system adjusts the initial fault level of the target fault based on the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault level of the target fault. The vehicle driving status information includes current speed and / or current acceleration.

[0085] The refined fault response system is used to dynamically adjust the current fault level of each target fault based on the duration of each target fault's existence, and determine the target response level of the target fault with the highest current fault level according to a preset correspondence between fault level and response level, and respond to the target fault based on the response strategy corresponding to the target response level.

[0086] Fourthly, embodiments of this application provide a computer-readable storage medium having stored thereon one or more computer instructions that are executed by a processor to implement the fault handling method as described in the first aspect above.

[0087] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the fault handling method described in the first aspect above. Attached Figure Description

[0088] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0089] Figure 1 This is a schematic diagram of the functional safety framework provided in the embodiments of this application;

[0090] Figure 2 This is a schematic diagram of the structure of the real-time fault diagnosis system provided in the embodiments of this application;

[0091] Figure 3 This is a schematic diagram of the structure of the dynamic fault coordination system provided in the embodiments of this application;

[0092] Figure 4 This is a schematic diagram of the structure of the fine fault response system provided in the embodiments of this application;

[0093] Figure 5 A schematic flowchart of a fault handling method provided in an embodiment of this application;

[0094] Figure 6 This is a schematic diagram of a fault handling device provided in an embodiment of this application. Detailed Implementation

[0095] 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 a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0096] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0097] This application discloses a fault handling method, apparatus, computer equipment, and storage medium, which can promptly detect and respond to faults occurring during automatic parking, thereby improving the safety of the automatic parking process. The embodiments of this application are described in detail below.

[0098] In this application embodiment, a functional safety framework and implementation method are designed and developed for the PNC (planning and control algorithm, also known as the functional algorithm module) of a fully automated parking system. This ensures that the planning and control algorithm always operates under the intended design conditions in fully automated parking scenarios. When an unexpected failure occurs in the algorithm, the functional safety framework can promptly guide the vehicle into a fault mode, ensuring that the vehicle can still operate in a fairly safe manner in the fault mode, preventing safety accidents. Through the implementation and application of this system framework in a real vehicle, the safety of the fully automated parking system can be greatly improved, the safety risks of the fully automated parking system in unexpected failure scenarios can be reduced, and the robustness of the system can be enhanced.

[0099] Specifically, this functional safety framework can be set in a computer device, such as a controller in a vehicle. This functional safety framework is independent of the functional algorithm module of the fully automatic parking system, such as... Figure 1 As shown, the functional safety framework in this computer device mainly comprises three functional subsystems:

[0100] 1. Real-time Fault Diagnosis System: This system monitors and diagnoses faults in the PNC (Power Control Controller) functional algorithm in real time, ensuring that the algorithm's output meets functional safety requirements. Specifically, the real-time status monitoring and fault diagnosis of the functional algorithm module can include: input signal quality diagnosis, module operating status diagnosis, output signal quality diagnosis, vehicle status diagnosis, and operating environment diagnosis. Each type of fault can be further subdivided into several fault scenarios. Each fault scenario is configured with a unique fault identification code, and each fault code corresponds to a unique fault state and diagnostic execution program. The diagnostic execution program runs periodically or triggered by events, dynamically modifying the fault state based on the execution results. After the diagnostic cycle ends, the real-time fault diagnosis system outputs the diagnostic status of each fault as input to the dynamic fault coordination system.

[0101] 2. Dynamic Fault Coordination System: The function of the dynamic fault coordination system is to evaluate the fault status reported by the real-time fault diagnosis system and coordinate the output of a reasonable fault level. The hardware and software operating environment and vehicle status of the fully automatic parking system are often dynamically changing. The same fault scenario may require different fault handling procedures under different operating environments. Therefore, the severity of the fault is a dynamic variable. In addition, when multiple faults occur simultaneously in the system, there are often certain dependencies between the faults. The handling procedure for the same fault may be affected by the existence of other dependent faults. The dynamic fault coordination system needs to comprehensively coordinate the various subsystems (including vehicle information and environmental information) on which the fully automatic parking system depends, as well as the states between various faults, to coordinate the fault level at the system level and use it as input for the fine-grained fault response system.

[0102] 3. Refined Fault Response System: Fault response serves as the bridge between functional safety and the vehicle as a whole. The output of the fault response system directly impacts the vehicle chassis, controlling its kinematics and dynamics. The refined fault response system needs to uniformly determine the vehicle's control commands based on the fault level at the system level (e.g., the presence of a fault) and the module outputs. A balance must be struck between the timeliness and appropriateness of the fault response to ensure that the vehicle's movement under fault modes meets safety and comfort requirements.

[0103] The function of a real-time fault diagnosis system is to monitor in real time the dependencies of the functional algorithm module for correct operation. The functional algorithm module, based on the output (sensing, prediction) of upstream modules and the vehicle's motion state, plans the vehicle's parking path in real time and controls the vehicle's driving, braking, steering, and gear shifting to ensure the vehicle moves along the planned path. To ensure the functional algorithm module can output safe and reasonable control signals, such as... Figure 2 As shown, the real-time fault diagnosis system can perform real-time diagnosis and monitoring of various dependent signals of the functional algorithm module. The real-time fault diagnosis system covers the following aspects: input signal quality diagnosis, controlled object status diagnosis, operating environment diagnosis, module operating status diagnosis, and output signal quality diagnosis.

[0104] Each of the above types of faults can be further divided into individual independent faults. Each fault corresponds to a unique fault identification code, fault status, and fault diagnosis program. The fault diagnosis program runs periodically or triggered. After the diagnosis program completes its operation, the real-time fault diagnosis system sets the program status based on the diagnostic results, and the fault status manager sends the real-time status of each fault to the dynamic fault coordination system in a specific data format.

[0105] The specific steps for diagnosing each type of fault include:

[0106] 1. Input signal quality diagnosis

[0107] a. Real-time diagnosis: Check the difference between the timestamp of the input signal and the current timestamp. If the difference is greater than the threshold, the input signal delay is too large, and the input signal delay fault status in the fault status manager is set to the active state.

[0108] b. Continuity diagnosis: Check the sequence number difference between the current signal and the previous frame signal. If the difference is greater than the threshold, the input signal is discontinuous, and the continuous fault status of the input signal in the fault status manager is set to the active state.

[0109] 2. Controlled object status diagnosis:

[0110] a. Longitudinal diagnosis: Check the difference between the target acceleration and the actual acceleration of the intelligent driving system. If the difference is greater than the threshold, the vehicle's longitudinal status is faulty, and the longitudinal fault status in the fault status manager is set to active.

[0111] b. Lateral diagnosis: Check the difference between the target steering wheel angle and the actual steering wheel angle of the intelligent driving system. If the difference is greater than the threshold, the vehicle has a lateral status fault, and the lateral fault status in the fault status manager is set to active.

[0112] 3. Operating environment diagnostics:

[0113] a. Slope Diagnosis: Check the vehicle's slope. If the slope is greater than the threshold, the vehicle has an excessive slope fault. Set the slope fault status to active in the fault status manager.

[0114] b. Tire adhesion diagnosis: Check the mean square error of the wheel speeds of the four wheels. If the mean square error is greater than the threshold, then there is a tire adhesion fault. Set the tire adhesion fault status to active in the fault status manager.

[0115] 4. Module running status diagnosis:

[0116] a. Module time consumption diagnosis: Check the time when the module returns and subtract it from the time when the module starts running to calculate the module time consumption. If the time consumption is greater than the threshold, the module operation is faulty, and the module time consumption fault status in the fault status manager is set to active.

[0117] 5. Output signal quality diagnosis:

[0118] a. Real-time diagnosis: Check the difference between the timestamp of the output signal and the current timestamp. If the difference is greater than the threshold, the output signal delay is too large. Set the output signal delay fault status in the fault status manager to the active state.

[0119] b. Continuity diagnosis: Check the sequence number difference between the current signal and the previous frame signal. If the difference is greater than the threshold, the output signal is discontinuous, and the output signal continuity fault status in the fault status manager is set to active.

[0120] The function of a dynamic fault coordination system is to coordinate a unique fault level based on the fault status reported by the real-time fault diagnosis system, according to certain rules, and output this level to the fine-grained fault response system. For example... Figure 3 As shown, the dynamic fault coordination system mainly consists of three parts: fault status bus, fault level judge, and fault level coordinator.

[0121] The fault status bus is responsible for receiving all fault status information reported by the real-time fault diagnosis system, as well as additional information required for fault classification. Therefore, the fault status bus is an "information pool" containing fault and fault diagnosis system information; subsequent related procedures directly extract the necessary information from the fault status bus to determine the fault level. The design of the fault status bus effectively isolates the coupling between fault diagnosis and fault response, avoiding miscalculations in the response procedure caused by information asynchrony between diagnosis and response.

[0122] The fault severity determiner assesses the severity level of each active fault code. The determination considers not only the individual severity of the fault but also the dependencies between faults and additional state information. When a fault is active, its severity may be influenced by the presence of other dependent faults; that is, the severity of the same fault occurring alone may differ from its severity when occurring with other faults. Furthermore, the severity level of the same fault may vary in different scenarios. The fault severity determiner needs to comprehensively consider the relationship between active faults, dependent faults, and state information to determine a unique fault level for each fault.

[0123] The fault level coordinator, for an active fault, outputs a unique fault level to the fault response system based on the results of the fault level judge and certain rules. The fault response system then selects a reasonable fault response path based on the final fault level.

[0124] For any fault level determiner, the fault coordination steps are as follows:

[0125] 1. Read the fault status information, including the fault identification code and activation status;

[0126] 2. Read the vehicle's speed, acceleration, and gear information;

[0127] 3. Classify vehicle speeds into high-speed, medium-speed, and low-speed categories based on threshold values;

[0128] 4. Acceleration is divided into acceleration, deceleration, and steady-state conditions based on threshold values;

[0129] 5. Fault severity determination: For each fault, perform the following steps:

[0130] a. Static fault level reading (pre-set fault level);

[0131] b. Dynamic adjustment of speed level: The fault level is increased or decreased based on the speed level. In one implementation, the fault level can be adjusted based on the speed level according to the adjustment strategy shown in the table below:

[0132] High-speed operating conditions Medium-speed operating conditions Low-speed operating conditions Input signal fault + ～ ～ Control object failure + + ～ Operating environment failure + ～ - Module malfunction + ～ ～ Output signal failure + ～ ～

[0133] In this context, "+" indicates that the fault level is increased by one level, "-" indicates that the fault level is decreased by one level, and "~" indicates that the fault level remains unchanged.

[0134] It can be seen that under high-speed conditions, all fault levels are raised by one level, meaning that under high-speed conditions, any fault could lead to serious consequences, thus requiring an increase in fault level. Under medium-speed conditions, other types of fault levels remain unchanged, with only the fault of the controlled object having a significant impact on vehicle driving safety; therefore, the fault level of the controlled object is raised by one level. Under low-speed conditions, the vehicle has a relatively long reaction time for each fault, and the fault of the operating environment has a relatively small impact on vehicle driving safety; therefore, other fault levels can remain unchanged, and the fault level of the operating environment fault is lowered by one level.

[0135] c. Dynamic adjustment of acceleration and deceleration: The fault level is raised or lowered according to the vehicle's acceleration and deceleration. In one implementation, the fault level can be adjusted based on the acceleration level according to the adjustment strategy shown in the table below:

[0136]

[0137] d. Dependent Fault Adjustment: For any fault, determine whether its dependent faults are active. If active, increase the fault severity of the fault. In one implementation, the adjustment strategy shown in the table below can be used to adjust the fault severity based on each dependent fault:

[0138]

[0139] e. Output the final fault level to the fault level coordinator. For each active fault, output the fault code and the coordinated final fault level to the fine-grained fault response system for final coordination and output of the fault response.

[0140] A sophisticated fault response system needs to consider the actions a fully automated parking system should take under various fault scenarios and implement them within the system. Since the planning and control algorithms for fully automated parking may encounter a wide variety of fault scenarios, specifying a corresponding fault response for each fault would make the system overly redundant and cumbersome. Therefore, in this embodiment, faults are graded to achieve fault aggregation, simplifying the fault response levels. When classifying fault levels, a balance needs to be struck between the simplification of the grading and the rationality of the fault response. Figure 4 As shown, the fine-grained fault response system of this application includes the following subsystems: a static fault classifier, a dynamic fault classifier, a fault priority queue, and a response procedure selector.

[0141] The static fault classifier prioritizes the fault levels output by the dynamic fault coordination system and stores the results in a fault priority queue.

[0142] The dynamic fault classifier dynamically adjusts the fault priority queue based on factors such as the fault's duration, vehicle response status, and environmental information. It can dynamically increase or decrease the fault level according to the severity of the actual situation, resulting in a safer and more reasonable fault response level output by the system.

[0143] A fault priority queue is a data structure used to store fault priority levels. It can quickly and efficiently output the highest priority level in the queue, and can also quickly adjust the data units in the queue.

[0144] The response procedure selector selects the corresponding response action based on the highest priority level in the fault priority queue. The specific fault response action is defined in detail within the response procedure selector. In one implementation, the response severity levels of the fully automated parking system, from low to high, are as follows:

[0145] No faults;

[0146] If a fault exists but does not affect functionality, only the fault code is recorded to facilitate after-sales system diagnosis.

[0147] There is a fault that does not affect functionality, but requires professional repair. The fault code will be recorded, and the HMI (Human Machine Interface) will alert the driver.

[0148] If a malfunction occurs, affecting functionality, a fault code is recorded, the HMI alerts the driver, and fully automatic parking is completed in a downgraded manner.

[0149] A fault exists, the function cannot operate, there is no safety hazard, the fault code is recorded, the HMI prompts the driver, and the vehicle brakes and stops with a gentle deceleration;

[0150] A malfunction has occurred, the function cannot operate, there is a safety hazard, a fault code is recorded, the HMI prompts the driver, and the vehicle brakes aggressively and stops.

[0151] A fault exists, the functional status cannot be determined, a fault code is recorded, the HMI prompts the driver, the vehicle brakes aggressively and stops, and exits parking.

[0152] The dynamic fault classifier can dynamically adjust each fault level according to the following steps:

[0153] a. Create an empty fault queue. Each element in the queue contains a fault identification code, a fault level, and a fault duration counter. Initialize all counters to 0.

[0154] b. Modify the contents of the fault queue based on the output provided by the static fault classifier. If a fault is not active, set the time counter of the fault in the queue to 0. If a fault is active and the dynamic level adjustment configuration of the fault is enabled, increment the fault counter in the queue by 1 and set the fault level to the fault level output by the static fault classifier.

[0155] c. Dynamic adjustment of fault level: If the time counter of a certain fault exceeds the set threshold, the fault level will be increased by one level;

[0156] d. Traverse the fault queue and find the highest-priority fault;

[0157] e. Select the fault response level based on the level output in step d;

[0158] f. Output drive, brake, steering, and gear commands to the vehicle controller based on the fault response level.

[0159] This application provides an innovative diagnostic architecture design where the fault diagnosis system and functional algorithm modules are fully coupled, ensuring that the fault diagnosis system does not affect normal functional development and operation. Simultaneously, the fault diagnosis system can independently, in real-time, and efficiently monitor the functional modules, ensuring their correct operation. Furthermore, a modular diagnostic system architecture is provided, designing fault diagnosis, coordination, and response as modules. These modules use a unified interface definition, and the functions within each module are independently designed and developed, facilitating detailed design and system expansion of the diagnostic system. In addition, comprehensive fault diagnosis coverage is provided, ensuring all necessary fault diagnosis functions for the normal operation of the fully automatic parking planning and control function. The system comprehensively covers all conditions to ensure a thorough diagnosis of the planning algorithm for the fully automated parking system, achieving a high level of algorithmic functional safety. It also features dynamic fault level coordination, dynamically coordinating fault severity levels based on the severity of the fault itself and the relative dependencies between faults, avoiding mechanical and rigid fault level classifications and ensuring more reasonable fault level divisions. Finally, it achieves refined fault response, performing static and dynamic adjustments to system faults to achieve more accurate, reasonable, and comfortable fault scenario responses. While ensuring functional safety in fully automated parking scenarios, it significantly reduces overly aggressive fault responses in fault mode systems, improving the driving experience.

[0160] Accordingly, based on the aforementioned functional safety framework, this application also provides a fault handling method, such as... Figure 5 As shown, the method includes the following steps:

[0161] S510: Acquire vehicle operating parameters and determine the status information of each preset fault based on the vehicle operating parameters; the vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal; the status information includes: active state or inactive state.

[0162] S520: Obtain vehicle driving status information, as well as the preset initial fault level of each fault and the dependency relationship between each fault, and for each target fault whose status information is active, adjust the initial fault level of the target fault according to the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault level of the target fault; the vehicle driving status information includes the current speed and / or the current acceleration.

[0163] S530: Dynamically adjust the current fault level of each target fault based on the duration of each target fault's existence, and determine the target response level of the target fault with the highest current fault level based on the preset correspondence between fault level and response level, and respond to the target fault based on the response strategy corresponding to the target response level.

[0164] In one implementation, when the vehicle operating parameters include algorithm module input signals, vehicle status signals, operating environment parameters, algorithm module operating status parameters, and algorithm module output signals, the step of determining the state information of each preset fault based on the vehicle operating parameters may include: diagnosing the real-time performance and continuity of the algorithm module input signals to determine the state information of input signal faults; performing longitudinal and lateral diagnoses on the vehicle status signals to determine the state information of controlled object faults; performing slope and tire adhesion diagnoses on the operating environment parameters to determine the state information of operating environment faults; performing time consumption diagnoses on the algorithm module operating status parameters to determine the state information of module operating faults; and diagnosing the real-time performance and continuity of the algorithm module output signals to determine the state information of output signal faults.

[0165] The steps for diagnosing the real-time performance and continuity of the input signal of the diagnostic algorithm module and determining the status information of the input signal fault may include: calculating a first time difference between the timestamp of the current algorithm module input signal and the current timestamp; when the first time difference is greater than or equal to a first preset time threshold, determining the status information of the algorithm module input signal delay fault as active; calculating a first sequence number difference between the current algorithm module input signal and the previous frame input signal; when the first sequence number difference is greater than or equal to a first preset threshold, determining the status information of the algorithm module input signal continuous fault as active.

[0166] The steps for performing longitudinal and lateral diagnostics on vehicle status signals to determine the status information of a controlled object's fault may include: calculating the acceleration difference between the target acceleration output by the algorithm module and the actual vehicle acceleration; when the acceleration difference is greater than or equal to a preset acceleration threshold, the longitudinal fault status information of the vehicle is determined to be active; calculating the angle difference between the target steering wheel angle output by the algorithm module and the actual vehicle steering wheel angle; when the angle difference is greater than or equal to a preset angle threshold, the lateral fault status information of the vehicle is determined to be active.

[0167] The steps for performing slope diagnosis and tire adhesion diagnosis on operating environment parameters to determine the status information of operating environment faults may include: determining whether the current slope of the vehicle is greater than or equal to a preset slope threshold; if so, determining that the slope fault status information is active; and checking whether the mean square difference of the four wheel speeds of the vehicle is greater than or equal to a preset threshold; if so, determining that the tire adhesion fault status information is active.

[0168] The steps for diagnosing the time consumption of the algorithm module's running status parameters and determining the status information of the module's running fault may include: calculating the difference between the return time and the start time of any calculation cycle of the algorithm module; when the difference is greater than or equal to a preset duration, the status information of the module's time consumption fault is determined to be active.

[0169] The steps for diagnosing the real-time performance and continuity of the output signal of the diagnostic algorithm module and determining the status information of the output signal fault may include: calculating a second time difference between the timestamp of the current algorithm module output signal and the current timestamp; when the second time difference is greater than or equal to a second preset time threshold, determining the status information of the algorithm module output signal delay fault as active; calculating a second sequence number difference between the current algorithm module output signal and the output signal of the previous frame; when the second sequence number difference is greater than or equal to a second preset threshold, determining the status information of the algorithm module output signal continuity fault as active.

[0170] In one implementation, the vehicle driving status information includes current speed and current acceleration. For each target fault whose status information is active, the step of adjusting the initial fault level of the target fault based on the status information of other faults that depend on the target fault, and the vehicle driving status information, to obtain the current fault level of the target fault, may include: determining the current speed level (high-speed, medium-speed, or low-speed) according to a preset speed level division interval, and determining the current acceleration level (acceleration, deceleration, or uniform acceleration) according to a preset acceleration level division interval. High-speed operation; for each target fault whose status information is active, other faults that are dependent on the target fault are detected in sequence. When the status information of any other fault is active, the initial fault level of the target fault is increased; the preset correspondence between each fault and each speed level, and the correspondence between each fault and each acceleration level are obtained. Based on the current speed level, the current acceleration level, the correspondence between each fault and each speed level, and the correspondence between each fault and each acceleration level, the initial fault level of each target fault is adjusted to obtain the current fault level of the target fault.

[0171] In one implementation, other faults dependent on the controlled object fault include: module operation faults and output signal faults; other faults dependent on the module operation fault include: controlled object faults; other faults dependent on the output signal fault include: controlled object faults; the escalation / de-escalation relationship between each fault and each speed level includes: faults with an escalation relationship to high-speed conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults with an escalation relationship to medium-speed conditions include: controlled object faults; faults with a maintenance relationship to medium-speed conditions include: input signal faults, operating environment faults, module operation faults, and output signal faults; faults with a maintenance relationship to low-speed conditions include: faults with an escalation relationship to low-speed conditions. Faults include: input signal faults, controlled object faults, module operation faults, and output signal faults; faults that have a decreasing relationship with low-speed conditions include: operating environment faults; the correspondence between each fault and each acceleration level is as follows: faults that maintain the acceleration level with acceleration conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that increase the deceleration level with deceleration conditions include: input signal faults, controlled object faults, module operation faults, and output signal faults; faults that maintain the deceleration level with deceleration conditions include: operating environment faults; faults that maintain the constant speed level with constant speed conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults.

[0172] In one implementation, each fault is pre-defined to correspond to a unique fault identification code. The step of dynamically adjusting the current fault level of each target fault based on the duration of each target fault may include: establishing a fault queue, where each element contains a pre-defined fault identification code, fault level, and fault duration counter for each fault; initializing each fault duration counter to 0; for each element in the fault queue, identifying the target element whose fault identification code corresponds to the fault identification code of each target fault, modifying the fault level included in each target element to the current fault level of the corresponding target fault, and increasing the fault duration counter by a pre-defined step size; for each element in the fault queue, when the fault duration counter included in that element is greater than a set threshold, increasing the fault level included in that element by one level.

[0173] In one implementation, the corresponding response strategies, from low to high response levels, include: recording only the fault code; recording the fault code and prompting the driver via the Human-Machine Interface (HMI); recording the fault code, prompting the driver via the HMI, and completing fully automatic parking in a downgraded manner; recording the fault code, prompting the driver via the HMI, and the vehicle braking and stopping with gentle deceleration; recording the fault code, prompting the driver via the HMI, and the vehicle braking and stopping with aggressive deceleration; recording the fault code, prompting the driver via the HMI, and the vehicle braking and stopping with aggressive deceleration, exiting the parking maneuver.

[0174] In this embodiment, during automatic parking, it is possible to detect whether preset faults are active. For each target fault that is active, the current fault level, i.e., the urgency of each fault, is determined based on the vehicle's driving status information and the dependencies between faults. Furthermore, the current fault level of each target fault can be dynamically adjusted based on the duration of its existence to avoid situations where faults are not responded to for extended periods. Finally, for each target fault, the highest-level fault can be responded to based on its current fault level ranking. This allows for timely detection and response to faults occurring during automatic parking, improving the safety of the automatic parking process.

[0175] like Figure 6 As shown in the figure, this application embodiment also provides a fault handling device, the device comprising:

[0176] The fault detection module 610 is used to acquire vehicle operating parameters and determine the status information of each preset fault based on the vehicle operating parameters; the vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal; the status information includes: active state or inactive state.

[0177] The fault rating determination module 620 is used to acquire vehicle driving status information, as well as preset initial fault ratings for each fault and the dependencies between each fault. For each target fault whose status information is active, the module adjusts the initial fault rating of the target fault based on the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault rating of the target fault. The vehicle driving status information includes the current speed and / or the current acceleration.

[0178] The fault response module 630 is used to dynamically adjust the current fault level of each target fault based on the duration of existence of each target fault, and determine the target response level of the target fault with the highest current fault level according to the preset correspondence between fault level and response level, and respond to the target fault based on the response strategy corresponding to the target response level.

[0179] Optionally, when the vehicle operating parameters include algorithm module input signals, vehicle status signals, operating environment parameters, algorithm module operating status parameters, and algorithm module output signals, the fault detection module 610 includes:

[0180] The input signal quality diagnosis submodule is used to diagnose the real-time performance and continuity of the input signal of the algorithm module and determine the status information of input signal faults.

[0181] The vehicle status signal diagnostic submodule is used to perform longitudinal and lateral diagnostics on the vehicle status signals to determine the status information of the controlled object's fault.

[0182] The operating environment parameter diagnosis submodule is used to perform slope diagnosis and tire adhesion diagnosis on the operating environment parameters to determine the status information of operating environment faults;

[0183] The algorithm running status diagnosis submodule is used to perform time-consuming diagnosis on the running status parameters of the algorithm module and determine the status information of module running failure.

[0184] The output signal quality diagnosis submodule is used to diagnose the real-time performance and continuity of the output signal of the algorithm module and determine the status information of the output signal fault.

[0185] Optionally, the input signal quality diagnostic submodule is specifically used for:

[0186] Calculate the first time difference between the timestamp of the current algorithm module input signal and the current timestamp. When the first time difference is greater than or equal to the first preset time threshold, determine that the state information of the algorithm module input signal delay fault is active. Calculate the first sequence number difference between the current algorithm module input signal and the previous frame input signal. When the first sequence number difference is greater than or equal to the first preset threshold, determine that the state information of the algorithm module input signal continuous fault is active.

[0187] The vehicle status signal diagnostic submodule is specifically used for:

[0188] The algorithm module calculates the acceleration difference between the target acceleration output by the algorithm module and the actual acceleration of the vehicle. When the acceleration difference is greater than or equal to a preset acceleration threshold, the longitudinal fault status information of the vehicle is determined to be active. The algorithm module also calculates the angle difference between the target steering wheel angle output by the algorithm module and the actual steering wheel angle of the vehicle. When the angle difference is greater than or equal to a preset angle threshold, the lateral fault status information of the vehicle is determined to be active.

[0189] The runtime environment parameter diagnosis submodule is specifically used for:

[0190] Determine whether the current slope of the vehicle is greater than or equal to a preset slope threshold. If so, determine that the slope fault status information is active. Check whether the mean square error of the four wheel speeds of the vehicle is greater than or equal to a preset threshold. If so, determine that the tire adhesion fault status information is active.

[0191] The algorithm running status diagnosis submodule is specifically used for:

[0192] Calculate the difference between the return time and the start time of any calculation cycle of the algorithm module. When the difference is greater than or equal to a preset duration, determine the status information of the module's time consumption fault as an active state.

[0193] The output signal quality diagnosis submodule is specifically used for:

[0194] Calculate the second time difference between the timestamp of the current algorithm module output signal and the current timestamp. When the second time difference is greater than or equal to the second preset time threshold, determine that the state information of the algorithm module output signal delay fault is active. Calculate the second sequence number difference between the current algorithm module output signal and the output signal of the previous frame. When the second sequence number difference is greater than or equal to the second preset threshold, determine that the state information of the algorithm module output signal continuous fault is active.

[0195] Optionally, the vehicle driving status information includes current speed and current acceleration; the level determination module 620 includes:

[0196] The interval division submodule is used to divide intervals according to preset speed levels, determine whether the current speed is in a high-speed condition, medium-speed condition or low-speed condition, and divide intervals according to preset acceleration levels, determine whether the current acceleration is in an acceleration condition, deceleration condition or constant speed condition.

[0197] The dependency fault adjustment submodule is used to detect other faults that are dependent on each target fault whose status information is active. When the status information of any of the other faults is active, the initial fault level of the target fault is increased.

[0198] The level determination submodule is used to obtain the preset correspondence between each fault and each speed level, as well as the correspondence between each fault and each acceleration level. Based on the current speed level, the current acceleration level, the correspondence between each fault and each speed level, and the correspondence between each fault and each acceleration level, the initial fault level of each target fault is adjusted to obtain the current fault level of the target fault.

[0199] Optionally, other faults that are dependent on the fault of the controlled object include: module operation faults and output signal faults; other faults that are dependent on the fault of the module operation include: controlled object faults; other faults that are dependent on the fault of the output signal include: controlled object faults.

[0200] The relationship between each fault and each speed level for escalation and de-escalation includes: faults that are related to escalation in high-speed operation include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that are related to escalation in medium-speed operation include: controlled object faults; faults that are related to maintenance in medium-speed operation include: input signal faults, operating environment faults, module operation faults, and output signal faults; faults that are related to maintenance in low-speed operation include: input signal faults, controlled object faults, module operation faults, and output signal faults; and faults that are related to de-escalation in low-speed operation include: operating environment faults.

[0201] The correspondence between each fault and each acceleration level includes: faults that maintain their level in acceleration conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that increase their level in deceleration conditions include: input signal faults, controlled object faults, module operation faults, and output signal faults; faults that maintain their level in deceleration conditions include: operating environment faults; and faults that maintain their level in constant speed conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults.

[0202] Optionally, the fault response module 630 is specifically used for:

[0203] Establish a fault queue, wherein each element in the fault queue contains the fault identification code, fault level, and fault existence time counter for each preset fault; initialize each fault existence time counter to 0;

[0204] For each element included in the fault queue, identify the target element whose fault identification code is the corresponding fault identification code of each target fault, modify the fault level included in each target element to the current fault level of the corresponding target fault, and increase the fault existence time counter by a preset step.

[0205] For each element included in the fault queue, when the fault existence time counter included in the element is greater than a set threshold, the fault level included in the element is increased by one level.

[0206] Optionally, the corresponding response strategies, ranked from low to high, include:

[0207] Only record fault codes;

[0208] Record fault codes and provide prompts to the driver via the human-machine interface (HMI);

[0209] The fault code is recorded, and the HMI prompts the driver that the fully automatic parking is completed in a downgraded manner.

[0210] The fault code is recorded, and the HMI prompts the driver to brake gently and stop the vehicle.

[0211] Record the fault code, and the HMI will prompt the driver to brake aggressively and stop the vehicle.

[0212] The fault code is recorded, and the HMI prompts the driver to brake aggressively and stop the vehicle, exiting the parking maneuver.

[0213] In this embodiment, during automatic parking, it is possible to detect whether preset faults are active. For each target fault that is active, the current fault level, i.e., the urgency of each fault, is determined based on the vehicle's driving status information and the dependencies between faults. Furthermore, the current fault level of each target fault can be dynamically adjusted based on the duration of its existence to avoid situations where faults are not responded to for extended periods. Finally, for each target fault, the highest-level fault can be responded to based on its current fault level ranking. This allows for timely detection and response to faults occurring during automatic parking, improving the safety of the automatic parking process.

[0214] This application also provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement... Figure 5 The technical solution of the fault handling method is described above.

[0215] This application provides a computer program product, which includes a computer program that, when executed by a processor, implements the following: Figure 5 The technical solution of the fault handling method is described above.

[0216] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0217] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0218] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A fault handling method, characterized in that, The method includes: The system acquires vehicle operating parameters and, based on these parameters, determines the status information for each preset fault. The vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal. The status information includes: active state or inactive state. The system acquires vehicle driving status information, as well as preset initial fault levels for each fault and dependencies between each fault. For each target fault whose status information is active, the system adjusts the initial fault level of the target fault based on the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault level of the target fault. The vehicle driving status information includes current speed and / or current acceleration. The current fault level of each target fault is dynamically adjusted based on the duration of its existence. According to the preset correspondence between fault level and response level, the target response level of the target fault with the highest current fault level is determined. The target fault is then responded to based on the response strategy corresponding to the target response level.

2. The method according to claim 1, characterized in that, When the vehicle operating parameters include algorithm module input signals, vehicle status signals, operating environment parameters, algorithm module operating status parameters, and algorithm module output signals, the step of determining the status information of each preset fault based on the vehicle operating parameters includes: The algorithm module is used to diagnose the real-time performance and continuity of the input signal, and to determine the status information of the input signal fault. Longitudinal and lateral diagnostics are performed on the vehicle status signals to determine the status information of the controlled object's fault. The operating environment parameters are used for slope diagnosis and tire adhesion diagnosis to determine the status information of operating environment faults; The algorithm module's running status parameters are analyzed to determine the status information of module malfunctions. The algorithm module is used to diagnose the real-time performance and continuity of its output signal, and to determine the status information of any output signal faults.

3. The method according to claim 2, characterized in that, The steps for diagnosing the real-time performance and continuity of the input signal to the algorithm module and determining the state information of the input signal fault include: Calculate the first time difference between the timestamp of the current algorithm module input signal and the current timestamp. When the first time difference is greater than or equal to the first preset time threshold, determine that the state information of the algorithm module input signal delay fault is active. Calculate the first sequence number difference between the current algorithm module input signal and the previous frame input signal. When the first sequence number difference is greater than or equal to the first preset threshold, determine that the state information of the algorithm module input signal continuous fault is active. The steps of performing longitudinal and lateral diagnostics on the vehicle status signal to determine the status information of the controlled object's fault include: The algorithm module calculates the acceleration difference between the target acceleration output by the algorithm module and the actual acceleration of the vehicle. When the acceleration difference is greater than or equal to a preset acceleration threshold, the longitudinal fault status information of the vehicle is determined to be active. The algorithm module also calculates the angle difference between the target steering wheel angle output by the algorithm module and the actual steering wheel angle of the vehicle. When the angle difference is greater than or equal to a preset angle threshold, the lateral fault status information of the vehicle is determined to be active. The steps of performing slope diagnosis and tire adhesion diagnosis on the operating environment parameters to determine the status information of operating environment faults include: Determine whether the current slope of the vehicle is greater than or equal to a preset slope threshold. If so, determine that the slope fault status information is active. Check whether the mean square error of the four wheel speeds of the vehicle is greater than or equal to a preset threshold. If so, determine that the tire adhesion fault status information is active. The step of performing time-consuming diagnosis on the running status parameters of the algorithm module to determine the status information of module operation failure includes: Calculate the difference between the return time and the start time of any calculation cycle of the algorithm module. When the difference is greater than or equal to a preset duration, determine the status information of the module's time consumption fault as an active state. The steps for diagnosing the real-time performance and continuity of the output signal of the algorithm module, and determining the state information of the output signal fault, include: Calculate the second time difference between the timestamp of the current algorithm module output signal and the current timestamp. When the second time difference is greater than or equal to the second preset time threshold, determine that the state information of the algorithm module output signal delay fault is active. Calculate the second sequence number difference between the current algorithm module output signal and the output signal of the previous frame. When the second sequence number difference is greater than or equal to the second preset threshold, determine that the state information of the algorithm module output signal continuous fault is active.

4. The method according to claim 2, characterized in that, The vehicle driving status information includes current speed and current acceleration; the step of adjusting the initial fault level of each target fault whose status information is active, based on the status information of other faults that are dependent on the target fault and the vehicle driving status information, to obtain the current fault level of the target fault, includes: Based on the preset speed level division interval, the current speed level is determined to be high-speed, medium-speed, or low-speed operating condition. Based on the preset acceleration level division interval, the current acceleration level is determined to be acceleration, deceleration, or constant speed operating condition. For each target fault whose status information is active, other faults that are dependent on the target fault are detected in sequence. When the status information of any of the other faults is active, the initial fault level of the target fault is increased. Obtain the preset correspondence between each fault and each speed level, as well as the correspondence between each fault and each acceleration level. Based on the current speed level, the current acceleration level, the correspondence between each fault and each speed level, and the correspondence between each fault and each acceleration level, adjust the initial fault level of each target fault to obtain the current fault level of the target fault.

5. The method according to claim 4, characterized in that, Other faults that are dependent on the controlled object fault include: module operation faults and output signal faults; other faults that are dependent on the module operation fault include: controlled object faults; other faults that are dependent on the output signal fault include: controlled object faults. The relationship between each fault and each speed level for escalation and de-escalation includes: faults that are related to escalation in high-speed operation include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that are related to escalation in medium-speed operation include: controlled object faults; faults that are related to maintenance in medium-speed operation include: input signal faults, operating environment faults, module operation faults, and output signal faults; faults that are related to maintenance in low-speed operation include: input signal faults, controlled object faults, module operation faults, and output signal faults; and faults that are related to de-escalation in low-speed operation include: operating environment faults. The correspondence between each fault and each acceleration level includes: faults that maintain their level in acceleration conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults; faults that increase their level in deceleration conditions include: input signal faults, controlled object faults, module operation faults, and output signal faults; faults that maintain their level in deceleration conditions include: operating environment faults; and faults that maintain their level in constant speed conditions include: input signal faults, controlled object faults, operating environment faults, module operation faults, and output signal faults.

6. The method according to any one of claims 1-5, characterized in that, Each preset fault corresponds to a unique fault identification code; the step of dynamically adjusting the current fault level of each target fault based on the duration of each target fault includes: Establish a fault queue, wherein each element in the fault queue contains the fault identification code, fault level, and fault existence time counter for each preset fault; initialize each fault existence time counter to 0; For each element included in the fault queue, identify the target element whose fault identification code is the corresponding fault identification code of each target fault, modify the fault level included in each target element to the current fault level of the corresponding target fault, and increase the fault existence time counter by a preset step. For each element included in the fault queue, when the fault existence time counter included in the element is greater than a set threshold, the fault level included in the element is increased by one level.

7. The method according to claim 6, characterized in that, The corresponding response strategies, ranked from lowest to highest, include: Only record fault codes; Record fault codes and provide prompts to the driver via the human-machine interface (HMI); The fault code is recorded, and the HMI prompts the driver that the fully automatic parking is completed in a downgraded manner. The fault code is recorded, and the HMI prompts the driver to brake gently and stop the vehicle. Record the fault code, and the HMI will prompt the driver to brake aggressively and stop the vehicle. The fault code is recorded, and the HMI prompts the driver to brake aggressively and stop the vehicle, exiting the parking maneuver.

8. A fault handling device, characterized in that, The device includes: A fault detection module is used to acquire vehicle operating parameters and determine the status information of each preset fault based on the vehicle operating parameters; the vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal; the status information includes: active state or inactive state. The fault rating determination module is used to acquire vehicle driving status information, as well as preset initial fault ratings for each fault and the dependencies between each fault. For each target fault whose status information is active, the module adjusts the initial fault rating of the target fault based on the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault rating of the target fault. The vehicle driving status information includes the current speed and / or the current acceleration. The fault response module is used to dynamically adjust the current fault level of each target fault based on the duration of each target fault, and determine the target response level of the target fault with the highest current fault level according to the preset correspondence between fault level and response level, and respond to the target fault based on the response strategy corresponding to the target response level.

9. A computer device, characterized in that, include: Real-time fault diagnosis system, dynamic fault coordination system, and refined fault response system; The real-time fault diagnosis system is used to acquire vehicle operating parameters and determine the status information of each preset fault based on the vehicle operating parameters; the vehicle operating parameters include at least one of the following: algorithm module input signal, vehicle status signal, operating environment parameters, algorithm module operating status parameters, and algorithm module output signal; The status information includes: active status or inactive status; The dynamic fault coordination system is used to acquire vehicle driving status information, as well as preset initial fault levels and dependencies between faults. For each target fault whose status information is active, the system adjusts the initial fault level of the target fault based on the status information of other faults that are dependent on the target fault and the vehicle driving status information to obtain the current fault level of the target fault. The vehicle driving status information includes current speed and / or current acceleration. The refined fault response system is used to dynamically adjust the current fault level of each target fault based on the duration of each target fault's existence, and determine the target response level of the target fault with the highest current fault level according to a preset correspondence between fault level and response level, and respond to the target fault based on the response strategy corresponding to the target response level.

10. A readable storage medium having stored thereon one or more computer instructions, characterized in that, The instruction is executed by the processor to implement the fault handling method as described in any one of claims 1-7.

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