The invention relates to the technical field of automatic driving, and discloses an automatic driving decision planning cooperation method and
system based on fault prediction, and the method comprises the steps: collecting gateway operation data, carrying out the abnormal
trend detection and analysis of
time sequence features, and generating a
fault probability prediction curve; acquiring a load trigger
signal and dynamic response data, and estimating a quality parameter on line by a recursive least square
algorithm; the
mass center position is calculated by combining suspension displacement data with a
statics equation, and a kinetic parameter updating
package is generated through fusion; comparing the gateway
fault probability with a threshold judgment risk, sending an update packet and generating a check code at a low risk, and pre-
synchronizing a storage snapshot at a high risk; updating the kinetic equation
coefficient matrix and outputting to a decision domain and a
chassis domain; when the gateway fails, each domain operates independently based on a snapshot, and versions are compared to verify consistency and output a collaborative identifier; according to the invention, each function domain can still cooperatively operate based on the same kinetic parameter reference during the gateway fault period.