A non-transitory computer-readable storage medium, storing a computer program, wherein the program, when executed by a processor, implements a driver-assistance method, wherein the driver-assistance method comprises:
- acquiring, in real time, diagnosis information of a plurality of sensors of a target vehicle, diagnosis information of a plurality of actuators of the target vehicle, and diagnosis information of a plurality of modular software functions;
- determining a failure condition of a driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions;
- and
- determining a driver-assistance strategy of the target vehicle according to the failure condition of the driver-assistance function of the target vehicle, and continuing to assist in driving the target vehicle according to the driver-assistance strategy;
- wherein determining the failure condition of the driver-assistance function of the target vehicle according to the diagnosis information of the plurality of sensors, the diagnosis information of the plurality of actuators, and the diagnosis information of the plurality of modular software functions comprises one of:
- in a case where diagnosis information of at least one sensor among the plurality of sensors indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor in the target function link;
- in a case where diagnosis information of at least one actuator among the plurality of actuators indicates an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one actuator in the target function link;
- or
- in a case where diagnosis information of at least one sensor among the plurality of sensors and diagnosis information of at least one actuator among the plurality of actuators indicate an abnormality, and the diagnosis information of the plurality of modular software functions indicates a normality, determining a failure condition of a driver-assistance function corresponding to a target function link according to role information of the at least one sensor and the at least one actuator in the target function link;
- and
- wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor in the target function link comprises:
- in a case where the at least one sensor comprises one sensor which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;
- wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one actuator in the target function link comprises:
- in a case where the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails;
- wherein determining the failure condition of the driver-assistance function corresponding to the target function link according to the role information of the at least one sensor and the at least one actuator in the target function link comprises:
- in a case where the at least one sensor comprises one sensor which is connected to the target function link in series and the at least one actuator comprises one actuator which is connected to the target function link in series, determining that the driver-assistance function corresponding to the target function link fails.