Sensor calibration system for automatic driving
An automatic driving and calibration system technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as increasing automation demand and increasing production capacity obstacles, complex development and use and traceability problems, and limited MCU processing capacity. To achieve the effect of simplifying the calibration process, improving development efficiency and rapid positioning
Active Publication Date: 2021-09-03
英博超算(南京)科技有限公司
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[0003]The automatic driving module is an emerging technology at present, and the calibration scheme adopted is the traditional mode, that is, the complex MCU (micro control unit) + SOC mode, and the front-view camera passes through the FPD- The LINK III serial bus is connected to the SOC, and the millimeter-wave radar sensor is connected to the MCU through a private CAN. Since the millimeter-wave radar sensor cannot be directly connected to the SOC through the FPD-LINK III serial bus, the millimeter-wave radar sensor is connected to the private CAN. On the MCU, but the processing capacity of the MCU is limited, this connection method will undoubtedly increase the information processing of the MCU, and make the MCU load too large;
[0004] There are two processing schemes in the MCU+SOC mode: first, the MCU is the main body of the calibration processing, and the SOC transmits the front-view camera sensor information to the MCU through SPI or Ethernet, and the MCU Complete the information processing of the millimeter wave and the front-view camera sensor connected to the SOC, the MCU completes the calibration operation through the CAN bus and the diagnostic instrument; second, the SOC is the main body of the calibration processing, and the SOC obtains the millimeter wave radar collected on the MCU through the SPI or Ethernet physical connection The sensor information is transferred through the MCU to realize the calibration operation of the diagnostic instrument, but no matter which processing scheme is adopted, there will inevitably be conversion and transmission of the information collected by the sensor between the MCU and the SOC when processing the sensor information. The development and use of solutions and traceability issues are relatively complex, which hinders the increase in automation requirements and production capacity
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[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0036] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or there can also be an intervening component. When a component is said to be "connected" to another component, it may be directly connected to the other component or there may be intervening components at the same time. When a component is said to be "set on" another component, it may be set directly on the other component or t...
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The invention provides a sensor calibration system for automatic driving. The calibration method comprises the steps: an automatic driving unit calibration sensor is connected with an SOC, a diagnostic instrument is connected with a CAN bus, an MCU is connected with the CAN bus through a hardware CAN controller and receives data transmitted by the CAN bus, a CAN driver is connected with the hardware CAN controller and completes the work of the physical layer of ISO, and a CanTP is connected with the CAN driver to complete the work of the network layer of ISO; and a DCM is connected with the CanTP to complete the work of the application layer, an EvIf module of the MCU is connected with the SOC through the Ethernet to transmit a request to the SOC, the SOC identifies the request sent by the MCU, processes a request task and feeds back a result to the MCU through the Ethernet, and the MCU sends data to the CAN bus layer by layer from the application layer to the physical layer after data processing. The calibration process comprises preparation operation, acquisition operation and calibration operation which are carried out in sequence. According to the method, a complex calibration process can be simplified, the development efficiency can be improved, the modules can be refined, and a problem can be quickly positioned.
Description
technical field [0001] The invention relates to the technical field of automatic driving, in particular to a sensor calibration system for automatic driving. Background technique [0002] In today's digitized world, the automotive electronics industry is undergoing a fiery transformation. The complexity of the existing automotive ECU systems is gradually increasing. Each OEM has a clear goal for increasing the demand for production line automation and increasing production capacity. Therefore, the The scheme of the calibration method and process of the car off-line has higher requirements. [0003] The automatic driving module is an emerging technology at present. The calibration scheme adopted is the traditional mode, that is, the complex MCU (micro control unit) + SOC mode. CAN is connected to the MCU. Since the millimeter-wave radar sensor cannot be directly connected to the SOC through the FPD-LINK III serial bus, the millimeter-wave radar sensor is connected to the MCU...
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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 严伟景永年雷海军王中普
Owner 英博超算(南京)科技有限公司