Diagnostic system and method for EOL calibration of multiple sensors for autonomous driving

Abstract

The present invention provides a diagnostic system and method for EOL calibration of multiple sensors for autonomous driving, including: EOL calibration diagnostic equipment, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar. The autonomous driving domain controller includes a UDS server diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK. The UDS server diagnostic communication module is used to receive general UDS diagnostic service information, sensor calibration data information, and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic equipment; the camera EOL calibration SDK, the forward radar EOL calibration SDK, or the rearward radar EOL calibration SDK is executed in a function call manner according to the UDS diagnostic calibration routine start service request information. Therefore, EOL calibration of the sensors of the autonomous driving system can be realized.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a diagnostic system and method for EOL calibration of multiple sensors for autonomous driving. Background Art

[0002] The end-of-life (EOL) calibration of the autonomous driving system's sensors after installation is used to eliminate position and orientation deviations caused by installation accuracy, which is necessary for autonomous driving functions.

[0003] Common vehicle controller calibration methods upgrade a single controller, which cannot perform EOL calibration of multiple sensors. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a diagnostic system and method for EOL calibration of multiple sensors for autonomous driving, which can realize EOL calibration of sensors of the autonomous driving system.

[0005] In a first aspect, embodiments of the present invention provide a diagnostic system for EOL calibration of multiple sensors for autonomous driving. The system includes an EOL calibration diagnostic device, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar. The autonomous driving domain controller includes a UDS Server diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK.

[0006] The camera EOL calibration SDK is used to obtain first point cloud data and status information of the camera from the camera;

[0007] The forward radar EOL calibration SDK is used to obtain second point cloud data and status information of the forward radar from the forward radar;

[0008] The rearward radar EOL calibration SDK is used to obtain the third point cloud data and the status information of the rearward radar from the rearward radar;

[0009] The UDS Server diagnostic communication module is configured to receive general UDS diagnostic service information, sensor calibration data information, and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic device; and execute the camera EOL calibration SDK, the forward radar EOL calibration SDK, or the rearward radar EOL calibration SDK in a function call manner according to the UDS diagnostic calibration routine start service request information.

[0010] Furthermore, the UDS Server diagnostic communication module is configured to enter factory mode after receiving the universal UDS diagnostic service information sent by the EOL calibration diagnostic device;

[0011] The general UDS diagnostic service information includes an extended session, a security access request seed for a security release operation, and a security access sending key.

[0012] Furthermore, the UDS Server diagnostic communication module is configured to clear the fault after receiving the calibration data information of the camera sent by the EOL calibration diagnostic device;

[0013] Receiving the camera calibration result sent by the EOL calibration diagnostic device;

[0014] Among them, the calibration data information of the camera includes writing the camera installation position on the vehicle body, reading the camera installation position on the vehicle body, writing the camera calibration plate position, reading the camera calibration plate position, starting camera calibration and requesting camera calibration result status.

[0015] Furthermore, the UDS Server diagnostic communication module is configured to clear the fault after receiving the calibration data information of the forward radar sent by the EOL calibration diagnostic device;

[0016] receiving a forward radar calibration result sent by the EOL calibration diagnostic device;

[0017] Among them, the calibration data information of the forward radar includes writing the forward radar installation position on the vehicle body, reading the forward radar installation position on the vehicle body, writing the forward radar calibration plate position, reading the forward radar calibration plate position, starting the forward radar calibration and requesting the forward radar calibration result status.

[0018] Furthermore, the UDS Server diagnostic communication module is used to clear the fault after receiving the calibration data information of the rearward radar sent by the EOL calibration diagnostic device;

[0019] receiving a calibration result of a backward radar sent by the EOL calibration diagnostic device;

[0020] Among them, the calibration data information of the rearward radar includes writing the rearward radar installation position on the vehicle body, reading the rearward radar installation position on the vehicle body, writing the rearward radar calibration plate position, reading the rearward radar calibration plate position, starting the rearward radar calibration and requesting the rearward radar calibration result status.

[0021] Furthermore, the EOL calibration diagnostic device is a diagnostic device for end-of-production line calibration, and is connected to the autonomous driving domain controller via an on-board gateway.

[0022] Furthermore, the camera is a camera sensor within the domain of the autonomous driving domain controller, the forward radar is a forward radar sensor within the domain of the autonomous driving domain controller, and the rearward radar is a rearward radar sensor within the domain of the autonomous driving domain controller; the camera, the forward radar and the rearward radar are connected to the autonomous driving domain controller via a CAN bus.

[0023] In a second aspect, an embodiment of the present invention provides a diagnostic method for EOL calibration of multiple sensors for autonomous driving, which is applied to the diagnostic system for EOL calibration of multiple sensors for autonomous driving as described above. The system includes EOL calibration diagnostic equipment, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar. The autonomous driving domain controller includes a UDSServer diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK. The method includes:

[0024] The camera EOL calibration SDK obtains first point cloud data and status information of the camera from the camera;

[0025] The forward radar EOL calibration SDK acquires second point cloud data and status information of the forward radar from the forward radar;

[0026] The rearward radar EOL calibration SDK obtains third point cloud data and status information of the rearward radar from the rearward radar;

[0027] The UDS Server diagnostic communication module receives general UDS diagnostic service information, sensor calibration data information, and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic device;

[0028] The camera EOL calibration SDK, the forward radar EOL calibration SDK or the rearward radar EOL calibration SDK is executed in a function call manner according to the calibration routine start service request information of the UDS diagnosis.

[0029] In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the above-mentioned method when executing the computer program.

[0030] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the method described above.

[0031] An embodiment of the present invention provides a diagnostic system and method for EOL calibration of multiple sensors for autonomous driving, including: an EOL calibration diagnostic device, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar. The autonomous driving domain controller includes a UDS Server diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK; the camera EOL calibration SDK is used to obtain first point cloud data and camera status information from the camera; the forward radar EOL calibration SDK is used to obtain second point cloud data and status information of the forward radar from the forward radar; the rearward radar EOL calibration SDK is used to obtain third point cloud data and status information of the rearward radar from the rearward radar; the UDS The server diagnostic communication module is used to receive general UDS diagnostic service information, sensor calibration data information and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic equipment; execute the camera EOL calibration SDK, forward radar EOL calibration SDK or rear radar EOL calibration SDK in the form of function calls based on the said UDS diagnostic calibration routine start service request information; and realize EOL calibration of autonomous driving system sensors.

[0032] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 Schematic diagram of a diagnostic system for EOL calibration of multiple sensors for autonomous driving provided in the first embodiment of the present invention;

[0036] Figure 2 This is a flow chart of a diagnostic method for EOL calibration of multiple sensors for autonomous driving provided in the second embodiment of the present invention;

[0037] Figure 3This is a flowchart of another diagnostic method for EOL calibration of multiple sensors for autonomous driving provided in Example 3 of the present invention.

[0038] icon:

[0039] 1-EOL calibration diagnostic equipment; 2-Autonomous driving domain controller; 3-Camera; 4-Forward radar; 5-Rearward radar; 21-UDS Server diagnostic communication module; 22-Camera EOL calibration SDK; 23-Forward radar EOL calibration SDK; 24-Rearward radar EOL calibration SDK. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] To facilitate understanding of this embodiment, the embodiment of the present invention is described in detail below.

[0042] Example 1:

[0043] Figure 1 Schematic diagram of a diagnostic system for EOL calibration of multiple sensors for autonomous driving, according to the first embodiment of the present invention.

[0044] Reference Figure 1 The system includes: EOL (End of Line) calibration and diagnostic equipment 1, autonomous driving domain controller 2, camera 3, forward radar 4, and rearward radar 5. The autonomous driving domain controller 2 includes a UDS (Unified Diagnostic Services) Server diagnostic communication module 21, a camera EOL calibration SDK (Software Development Kit) 22, a forward radar EOL calibration SDK 23, and a rearward radar EOL calibration SDK 24. Among them, the camera 3, forward radar 4, and rearward radar 5 are sensors within the domain of the autonomous driving domain controller 2.

[0045] Camera EOL calibration SDK22, used to obtain the first point cloud data and camera status information from the camera;

[0046] Forward radar EOL calibration SDK23, used to obtain the second point cloud data and status information of the forward radar;

[0047] Backward radar EOL calibration SDK24, used to obtain the third point cloud data and status information of the rearward radar;

[0048] The UDS Server diagnostic communication module 21 is used to receive the general UDS diagnostic service information, sensor calibration data information and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic device 1; and execute the camera EOL calibration SDK22, forward radar EOL calibration SDK23 or rear radar EOL calibration SDK24 in the form of function calls according to the UDS diagnostic calibration routine start service request information.

[0049] Here, the UDS Server diagnostic communication module 21 is responsible for performing diagnostic communication with the EOL calibration diagnostic device 1 , writing calibration data, starting a calibration routine, obtaining calibration routine results, and reading calibration results.

[0050] The EOL calibration diagnostic device 1 sends a general UDS diagnostic service to the autonomous driving domain controller 2 to perform calibration learning for the camera 3, forward radar 4, and rearward radar 5 respectively.

[0051] Furthermore, the UDS Server diagnostic communication module 21 is configured to enter the factory mode after receiving the universal UDS diagnostic service information sent by the EOL calibration diagnostic device 1;

[0052] Among them, the general UDS diagnostic service information includes the extended session, the security access request seed of the security release operation, and the security access sending key.

[0053] Furthermore, the UDS Server diagnostic communication module 21 is used to clear the fault after receiving the calibration data information of the camera sent by the EOL calibration diagnostic device 1;

[0054] Receive the camera calibration result sent by the EOL calibration diagnostic device 1;

[0055] Among them, the camera calibration data information includes writing the camera installation position on the vehicle body, reading the camera installation position on the vehicle body, writing the camera calibration plate position, reading the camera calibration plate position, starting camera calibration and requesting the camera calibration result status.

[0056] Furthermore, the UDS Server diagnostic communication module 21 is used to clear the fault after receiving the calibration data information of the forward radar sent by the EOL calibration diagnostic device 1;

[0057] Receive the forward radar calibration result sent by the EOL calibration diagnostic device 1;

[0058] Among them, the calibration data information of the forward radar includes writing the installation position of the forward radar on the vehicle body, reading the installation position of the forward radar on the vehicle body, writing the position of the forward radar calibration plate, reading the position of the forward radar calibration plate, starting the forward radar calibration and requesting the forward radar calibration result status.

[0059] Furthermore, the UDS Server diagnostic communication module 21 is used to clear the fault after receiving the calibration data information of the rear radar sent by the EOL calibration diagnostic device 1;

[0060] receiving a calibration result of a backward radar sent by the EOL calibration diagnostic device 1;

[0061] Among them, the calibration data information of the rearward radar includes writing the rearward radar installation position on the vehicle body, reading the rearward radar installation position on the vehicle body, writing the rearward radar calibration plate position, reading the rearward radar calibration plate position, starting the rearward radar calibration and requesting the rearward radar calibration result status.

[0062] Furthermore, the EOL calibration diagnostic device 1 is a diagnostic device for end-of-production line calibration, and is connected to the autonomous driving domain controller 2 through an on-board gateway.

[0063] Furthermore, camera 3 is a camera sensor within the domain of the autonomous driving domain controller 2, forward radar 4 is a forward radar sensor within the domain of the autonomous driving domain controller 2, and rearward radar 5 is a rearward radar sensor within the domain of the autonomous driving domain controller 2; camera 3, forward radar 4 and rearward radar 5 are connected to the autonomous driving domain controller 2 via a CAN bus.

[0064] Specifically, camera 3 sends the first point cloud data and the status information of the camera to the autonomous driving domain controller 2 via the CAN bus; the forward radar 4 sends the second point cloud data and the status information of the forward radar to the autonomous driving domain controller 2 via the CAN bus; the rearward radar 5 sends the third point cloud data and the status information of the rearward radar to the autonomous driving domain controller 2 via the CAN bus.

[0065] Example 2:

[0066] Figure 2 This is a flow chart of a diagnostic method for EOL calibration of multiple sensors for autonomous driving provided in the second embodiment of the present invention.

[0067] Reference Figure 2A diagnostic system for EOL calibration of multiple sensors for autonomous driving, as described above, includes an EOL calibration diagnostic device, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar. The autonomous driving domain controller includes a UDS Server diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK. The method includes the following steps:

[0068] Step S101: The camera EOL calibration SDK obtains first point cloud data and camera status information from the camera;

[0069] Step S102: The forward radar EOL calibration SDK obtains second point cloud data and status information of the forward radar from the forward radar;

[0070] Step S103: The rearward radar EOL calibration SDK obtains the third point cloud data and the status information of the rearward radar from the rearward radar;

[0071] Step S104: The UDS Server diagnostic communication module receives the general UDS diagnostic service information, sensor calibration data information, and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic device;

[0072] Step S105 , executing the camera EOL calibration SDK, the forward radar EOL calibration SDK, or the rearward radar EOL calibration SDK in a function call manner according to the calibration routine start service request information of the UDS diagnosis.

[0073] Example 3:

[0074] Figure 3 This is a flowchart of another diagnostic method for EOL calibration of multiple sensors for autonomous driving provided in Example 3 of the present invention.

[0075] Reference Figure 3 , the method comprises the following steps:

[0076] Step S1: The EOL calibration diagnostic device Tester sends a universal UDS diagnostic service to the autonomous driving domain controller and enters the extended session 10 03;

[0077] Step S2, the EOL calibration diagnostic device Tester sends a universal UDS diagnostic service to the autonomous driving domain controller, and a security access request seed 27 01 for the security release operation;

[0078] Step S3, the EOL calibration diagnostic device Tester sends the universal UDS diagnostic service to the autonomous driving domain controller, and the security access sending key 27 02 kk kk kk kk for the security release operation;

[0079] Step S4: The EOL calibration diagnostic device Tester sends a factory mode entry 2E DID (MM MM) to the autonomous driving domain controller;

[0080] Step S5: The EOL calibration diagnostic device Tester sends the EDID (AA AA) of the camera at the vehicle body installation position 2 to the autonomous driving domain controller;

[0081] Step S6: The EOL calibration diagnostic device Tester sends the DID (AA AA) of the camera at the vehicle body installation position to the autonomous driving domain controller for confirmation.

[0082] Step S7: The EOL calibration diagnostic device Tester sends the camera calibration plate position 2E DID (BB BB) to the autonomous driving domain controller;

[0083] Step S8: The EOL calibration diagnostic device Tester sends the camera calibration plate position 22DID (BB BB) to the autonomous driving domain controller;

[0084] Step S9: The EOL calibration diagnostic device Tester sends a start camera calibration 31 01RID (CC CC) to the autonomous driving domain controller;

[0085] Step S10, the EOL calibration diagnostic device Tester sends a request for camera calibration result status 31 03RID (CCCC) to the autonomous driving domain controller;

[0086] Step S11: The EOL calibration diagnostic device Tester sends a universal UDS diagnostic service to the autonomous driving domain controller, clearing the fault 14FF FF FF to the autonomous driving domain controller;

[0087] Step S12, the EOL calibration diagnostic device Tester sends the camera calibration result 22DID (DD DD) to the autonomous driving domain controller;

[0088] Step S13: The EOL calibration diagnostic device Tester sends the 2E DID (EEEE) of the forward radar installed at the vehicle body to the autonomous driving domain controller;

[0089] Step S14: The EOL calibration diagnostic device Tester sends the DID (EEEE) of the forward radar at the vehicle body installation position to the autonomous driving domain controller for confirmation.

[0090] Step S15: The EOL calibration diagnostic device Tester sends the EDID (FF FF) written in the forward radar calibration board position 2 to the autonomous driving domain controller.

[0091] Step S16: The EOL calibration diagnostic device Tester sends the forward radar calibration plate position 22DID (FF FF) to the autonomous driving domain controller.

[0092] Step S17: The EOL calibration diagnostic device Tester sends a forward radar calibration start 31 01RID(GG GG) to the autonomous driving domain controller;

[0093] Step S18, the EOL calibration diagnostic device Tester sends a request for forward radar calibration result status 31 03RID(GGGG) to the autonomous driving domain controller;

[0094] Step S19: The EOL calibration diagnostic device Tester sends a universal UDS diagnostic service to the autonomous driving domain controller, clearing the fault 14FF FF FF to the autonomous driving domain controller;

[0095] Step S20 , the EOL calibration diagnostic device Tester sends the forward radar calibration result 22DID (HH HH) to the autonomous driving domain controller;

[0096] Step S21, the EOL calibration diagnostic device Tester sends the written rearward radar at the vehicle body installation position 2E DID (IIII) to the autonomous driving domain controller;

[0097] Step S22: The EOL calibration diagnostic device Tester sends the DID (IIII) of the rear-facing radar at the vehicle body installation position 22 to the autonomous driving domain controller for confirmation.

[0098] Step S23, the EOL calibration diagnostic device Tester sends the write rear radar calibration board position 2 EDID (JJ JJ) to the autonomous driving domain controller;

[0099] Step S24: The EOL calibration diagnostic device Tester sends the read rearward radar calibration plate position 22DID (JJ JJ) to the autonomous driving domain controller.

[0100] Step S25, the EOL calibration diagnostic device Tester sends a message "Start rearward radar calibration 31 01RID (LL LL)" to the autonomous driving domain controller;

[0101] Step S26, the EOL calibration diagnostic device Tester sends a request and sends the radar calibration result status 31 03RID (LLLL) to the autonomous driving domain controller;

[0102] Step S27: The EOL calibration diagnostic device Tester sends a universal UDS diagnostic service to the autonomous driving domain controller, clearing the fault 14FF FF FF to the autonomous driving domain controller;

[0103] In step S28, the EOL calibration diagnostic device Tester sends the read rearward radar calibration result 22DID (NN NN) to the autonomous driving domain controller.

[0104] In the diagnostic method for EOL calibration of multiple sensors of the above-mentioned autonomous driving system, if any step from step S5 to step S12 fails, it will not affect the start of step S13; if any step from step S13 to step S20 fails, it will not affect the start of step S21.

[0105] An embodiment of the present invention provides a diagnostic system and method for EOL calibration of multiple sensors for autonomous driving, including: an EOL calibration diagnostic device, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar. The autonomous driving domain controller includes a UDS Server diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK; the camera EOL calibration SDK is used to obtain first point cloud data and camera status information from the camera; the forward radar EOL calibration SDK is used to obtain second point cloud data and status information of the forward radar from the forward radar; the rearward radar EOL calibration SDK is used to obtain third point cloud data and status information of the rearward radar from the rearward radar; the UDS The server diagnostic communication module is used to receive general UDS diagnostic service information, sensor calibration data information and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic equipment; execute the camera EOL calibration SDK, forward radar EOL calibration SDK or rear radar EOL calibration SDK in the form of function calls based on the said UDS diagnostic calibration routine start service request information; and realize EOL calibration of autonomous driving system sensors.

[0106] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the diagnostic method for EOL calibration of multiple sensors for autonomous driving provided in the above embodiment are implemented.

[0107] An embodiment of the present invention also provides a computer-readable medium having a non-volatile program code executable by a processor, wherein a computer program is stored on the computer-readable medium. When the computer program is executed by the processor, the steps of the diagnostic method for EOL calibration of multiple sensors for autonomous driving in the above embodiment are executed.

[0108] The computer program product provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. For specific implementation, please refer to the method embodiments and will not be repeated here.

[0109] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0110] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0111] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0112] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0113] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A diagnostic system for EOL calibration of multiple sensors for autonomous driving, characterized by: The system includes EOL calibration diagnostic equipment, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar. The autonomous driving domain controller includes a UDS Server diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK. The camera EOL calibration SDK is used to obtain first point cloud data and status information of the camera from the camera; The forward radar EOL calibration SDK is used to obtain second point cloud data and status information of the forward radar from the forward radar; The rearward radar EOL calibration SDK is used to obtain the third point cloud data and the status information of the rearward radar from the rearward radar; The UDS Server diagnostic communication module is configured to receive general UDS diagnostic service information, sensor calibration data information, and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic device; and execute the camera EOL calibration SDK, the forward radar EOL calibration SDK, or the rearward radar EOL calibration SDK in a function call manner according to the UDS diagnostic calibration routine start service request information; The UDS Server diagnostic communication module is configured to receive the universal UDS diagnostic service information sent by the EOL calibration diagnostic device and then enter the factory mode; The general UDS diagnostic service information includes an extended session, a security access request seed for a security release operation, and a security access sending key.

2. The diagnostic system for EOL calibration of multiple sensors for autonomous driving according to claim 1, characterized in that: The UDS Server diagnostic communication module is used to clear the fault after receiving the calibration data information of the camera sent by the EOL calibration diagnostic device; Receiving the camera calibration result sent by the EOL calibration diagnostic device; Among them, the calibration data information of the camera includes writing the camera installation position on the vehicle body, reading the camera installation position on the vehicle body, writing the camera calibration plate position, reading the camera calibration plate position, starting camera calibration and requesting camera calibration result status.

3. The diagnostic system for EOL calibration of multiple sensors for autonomous driving according to claim 1, characterized in that: The UDS Server diagnostic communication module is used to clear faults after receiving the calibration data information of the forward radar sent by the EOL calibration diagnostic device; receiving a forward radar calibration result sent by the EOL calibration diagnostic device; Among them, the calibration data information of the forward radar includes writing the forward radar installation position on the vehicle body, reading the forward radar installation position on the vehicle body, writing the forward radar calibration plate position, reading the forward radar calibration plate position, starting the forward radar calibration and requesting the forward radar calibration result status.

4. The diagnostic system for EOL calibration of multiple sensors for autonomous driving according to claim 1, characterized in that: The UDS Server diagnostic communication module is used to clear the fault after receiving the calibration data information of the rear radar sent by the EOL calibration diagnostic device; receiving a calibration result of a backward radar sent by the EOL calibration diagnostic device; Among them, the calibration data information of the rearward radar includes writing the rearward radar installation position on the vehicle body, reading the rearward radar installation position on the vehicle body, writing the rearward radar calibration plate position, reading the rearward radar calibration plate position, starting the rearward radar calibration and requesting the rearward radar calibration result status.

5. The diagnostic system for EOL calibration of multiple sensors for autonomous driving according to claim 1, characterized in that: The EOL calibration diagnostic device is a diagnostic device for end-of-production line calibration and is connected to the autonomous driving domain controller via an on-board gateway.

6. The diagnostic system for EOL calibration of multiple sensors for autonomous driving according to claim 1, characterized in that: The camera is a camera sensor within the domain of the autonomous driving domain controller, the forward radar is a forward radar sensor within the domain of the autonomous driving domain controller, and the rearward radar is a rearward radar sensor within the domain of the autonomous driving domain controller; the camera, the forward radar and the rearward radar are connected to the autonomous driving domain controller via a CAN bus.

7. A diagnostic method for EOL calibration of multiple sensors for autonomous driving, characterized in that: A diagnostic system for EOL calibration of multiple sensors for autonomous driving according to any one of claims 1 to 6, the system comprising an EOL calibration diagnostic device, an autonomous driving domain controller, a camera, a forward radar, and a rearward radar; the autonomous driving domain controller comprising a UDSServer diagnostic communication module, a camera EOL calibration SDK, a forward radar EOL calibration SDK, and a rearward radar EOL calibration SDK; the method comprising: The camera EOL calibration SDK obtains first point cloud data and status information of the camera from the camera; The forward radar EOL calibration SDK acquires second point cloud data and status information of the forward radar from the forward radar; The rearward radar EOL calibration SDK obtains third point cloud data and status information of the rearward radar from the rearward radar; The UDS Server diagnostic communication module receives general UDS diagnostic service information, sensor calibration data information, and UDS diagnostic calibration routine start service request information sent by the EOL calibration diagnostic device; Executing the camera EOL calibration SDK, the forward radar EOL calibration SDK, or the rearward radar EOL calibration SDK in a function call manner according to the calibration routine start service request information of the UDS diagnosis; The method further comprises: The UDS Server diagnostic communication module enters factory mode after receiving the universal UDS diagnostic service information sent by the EOL calibration diagnostic device; The general UDS diagnostic service information includes an extended session, a security access request seed for a security release operation, and a security access sending key.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the method according to claim 7 is implemented.

9. A computer-readable medium having a non-volatile program code executable by a processor, characterized in that The program code causes the processor to execute the method of claim 7 .

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