Abstract: Provided are a driver-assistance method and apparatus, a device and a storage medium. The method includes that: diagnosis information of multiple sensors of a target vehicle, diagnosis information of multiple actuators of the target vehicle, and diagnosis information of multiple modular software functions are acquired in real time; a failure condition of a driver-assistance function of the target vehicle is determined according to the diagnosis information of the multiple sensors, the diagnosis information of the multiple actuators, and the diagnosis information of the multiple modular software functions; and a driver-assistance strategy of the target vehicle is determined according to the failure condition of the driver-assistance function of the target vehicle, and the target vehicle is continued to be assisted in driving according to the driver-assistance strategy.

Abstract: A guardrail estimation method based on multi-sensor data fusion is provided. The guardrail estimation method comprises acquiring multi-sensor data and vehicle information, determining a traveling track of the vehicle based on the vehicle information, determining multiple guardrail sample points based on the multi-sensor data and the traveling track, and estimating guardrail information based on the multiple guardrail sample points. When the vehicle is controlled laterally, the guardrail information is used for correcting a lane line of poor quality; and when the lane line cannot be detected, the guardrail information is used for a lateral control downgrade processing, and the guardrail information also facilitates aided realization of fast and accurate expressway lane-level localization and realization of a higher-level aided driving function.

Abstract: An all-around parking assisting system is disclosed according to the present disclosure. The system includes a set of image collecting apparatuses, a set of image pre-processing apparatuses, an image synthesis apparatus, an image correcting apparatus and a display apparatus. The set of image collecting apparatuses, positioned at the peripheral of a vehicle, is configured to collect a group of images relating to surroundings of the vehicle. Each image pre-processing apparatus in the set of image pre-processing apparatuses corresponds to one of the image collecting apparatuses and is configured to pre-process the image collected by the image collecting apparatus. The image synthesis apparatus may synthesize a group of pre-processed images and generate a continuous image relating to the surroundings of the vehicle.