Method and system for acquiring calibration parameters of vehicle intelligent driving system

Abstract

In conclusion, according to the method and system for obtaining the calibration parameters of the vehicle intelligent driving system, the calibration file is stored in the Flash memory; after an MCU domain core program is initialized, reading the calibration file from a Flash memory, and copying the calibration file to a random access storage area; when the main domain core needs to acquire the corresponding calibration parameter, the main domain core directly reads the corresponding calibration parameter from the calibration file of the random access storage area, then the main domain core verifies the read corresponding calibration parameter, and if the verification is incorrect, the main domain core requests to acquire the correct calibration parameter from the preset MCU domain core; according to the method, one calibration file covers the calibration parameters required by each main domain core program, the number of the calibration files in the vehicle intelligent driving system is reduced, the system development period and cost are reduced, the reliability of the calibration parameters is ensured, and the development and debugging efficiency and quality of the vehicle intelligent driving system are improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method and system for obtaining calibration parameters of a vehicle intelligent driving system. Background Art

[0002] With the rapid development of automatic / assisted driving technology in the automotive field, automatic / assisted driving systems based on heterogeneous multi-core chips, such as automatic parking systems, have appeared on the market. The complexity of the control algorithms and parameters of automatic / assisted driving systems has also gradually increased. Taking the automatic parking system as an example, the main domain core programs of the current automatic parking system are parking algorithms, radar algorithms, and communication diagnosis modules. The main domain core programs of the automatic parking system based on multi-core chips are distributed on different cores of the chip. Usually, the main domain core program on each core needs to be assigned a calibration file, so the automatic parking system will have multiple calibration files, and the number is large. The parameters in these calibration files are mostly repeated. For example, the parking algorithm and the radar algorithm both require body length data. The same parameters are defined in different calibration files, resulting in repeated definitions and parameter decentralization, resulting in a waste of storage resources. Therefore, the design of the existing system leads to the problems of decentralized and repeated definitions of calibration parameters, too many calibration files, and the lack of unified management of storage areas. This shortcoming also leads to the problem of complex calibration file version management and high maintenance costs during development or production. For example, when the automatic / assisted driving system needs to be compatible with multiple vehicle models, modifying a large number of calibration files will prolong the development cycle and increase the development cost. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides a method for obtaining calibration parameters by separating the calibration file from the application software.

[0004] In a first aspect, the present application provides a method for obtaining calibration parameters of vehicle intelligent driving, the method specifically comprising the following steps: S1, during the program initialization phase, the preset MCU domain core copies the calibration file from the Flash memory to a random access storage area accessible to each main domain core.

[0005] S2, when the main domain core is running, it directly reads target calibration parameters from the calibration file in the random access storage area; wherein the target calibration parameters include calibration parameters required for the main domain core to run.

[0006] When the vehicle intelligent driving system needs to perform a certain vehicle function, such as automatic parking, assisted driving or driving path planning, the vehicle can obtain the calibration parameters required for the desired function through the above steps, avoiding the need to allocate a calibration file for each functional module and saving system storage resources.

[0007] Furthermore, the method further comprises the steps of: S3, the main domain core verifies the target calibration parameters.

[0008] If the verification is correct, the calibration parameters are obtained.

[0009] If the verification is incorrect, the target calibration parameters are corrected based on the calibration file in the Flash memory.

[0010] The read calibration parameters may be erroneous during the reading process, or may be erroneous during the copying process from the Flash memory to the random access storage area, so the accuracy of the target calibration parameters is ensured by verifying the target calibration parameters.

[0011] Further, the target calibration parameters are corrected based on the calibration file in the Flash memory, specifically: The main domain core sends a request to the preset MCU domain core to obtain correct target calibration parameters.

[0012] The preset MCU domain core responds to the request and updates the calibration file in the random access storage area with the calibration file in the Flash memory.

[0013] The preset MCU domain core reads the target calibration parameters from the Flash memory and directly transmits them to the main domain core, or the main domain core reads the target calibration parameters from the updated calibration file in the random access storage area.

[0014] Within a preset time period for the MCU domain core to respond to the request, the calibration file in the random access storage area has not been updated, and the preset MCU domain core reads the target calibration parameters from the Flash memory and directly transmits them to the main domain core.

[0015] After a preset time period in which the MCU domain core responds to the request, the calibration file in the random access storage area has also been updated, and the main domain core can read the target calibration parameters from the updated calibration file in the random access storage area.

[0016] Furthermore, the calibration file includes at least three partitions: a function switch area for storing an application function switch flag, a driving parameter area for storing calibration parameters corresponding to an intelligent driving algorithm, and a radar parameter area for storing calibration parameters corresponding to a radar algorithm; the function switch area, the driving parameter area, and the radar parameter area each include multiple calibration parameter blocks, and each calibration parameter block includes: a start flag byte, a version number, a corresponding calibration parameter, and a checksum value.

[0017] The vehicle calibration parameters include various types, such as body data, real-time road conditions or driving restrictions. Different functional modules have different intelligent driving algorithms for executing functions, and the required calibration parameters are also different. The calibration file is divided into three partitions: function switches, automatic parking parameters and radar parameters, which can meet the calibration and debugging function needs of various functional modules of the vehicle intelligent driving system.

[0018] Furthermore, in S3, when the main domain core verifies the read calibration parameters, it verifies according to the start flag byte and the check value.

[0019] The main domain core program on each core of the vehicle intelligent driving system obtains the corresponding calibration parameter block from the DDR as needed, and checks whether the flag byte and Checksum value of the parameter block are correct. If the calibration parameter block is found to be incorrect, it is considered that the calibration file in the DDR may have been tampered with, and then requests the preset MCU domain core to obtain a new calibration parameter block.

[0020] Furthermore, the driving parameter area and the radar parameter area each include a plurality of reserved areas for adding corresponding calibration parameter blocks.

[0021] The vehicle intelligent driving system may be jointly developed by the OEM and multiple suppliers. Each software module may require a set of calibration parameters. In this case, the calibration parameters of all parties need to be merged into the calibration file, and a reserved area should be set to store the newly added calibration parameters.

[0022] Furthermore, the S2 is specifically: S21: Each primary domain core accesses the corresponding partition as needed.

[0023] S22: Each main domain core further obtains at least one calibration parameter block from the corresponding partition as needed.

[0024] The parameters and types of parameters required by a main domain core program may be more than one or one type. Therefore, a main domain core program may access multiple parameter partitions or calibration parameter blocks when obtaining calibration parameters. Through steps 21 and 22, it can be ensured that the vehicle obtains all the required calibration parameters when executing the vehicle program.

[0025] In a second aspect, the present application proposes a system for acquiring calibration parameters of a vehicle intelligent driving system, comprising: The Flash memory is used to store a calibration file including target calibration parameters.

[0026] Multiple master domain cores.

[0027] A random access storage area directly accessible to the plurality of master domain cores; and A plurality of MCU domain cores, including a preset MCU domain core.

[0028] Among them, the preset MCU domain core is used to copy the calibration file from the Flash memory to the random access storage area during the program initialization phase, so that when the multiple main domain cores need to obtain the target calibration parameters, they can directly read the target calibration parameters from the calibration file in the random access storage area.

[0029] The target calibration parameters include calibration parameters required when the main domain core is running.

[0030] Furthermore, the main domain core is also used to verify the read calibration parameters to obtain verification results, and obtain target calibration parameters according to the verification results.

[0031] The main domain core verifies the target calibration parameters, If the verification is correct, the calibration parameters are obtained.

[0032] If the verification is incorrect, the target calibration parameters are corrected based on the calibration file in the Flash memory.

[0033] In the embodiment of the present invention, optionally, the target calibration parameters are corrected based on the calibration file in the Flash memory, specifically: The main domain core sends a request to the preset MCU domain core to obtain correct target calibration parameters.

[0034] The preset MCU domain core responds to the request and updates the calibration file in the random access storage area with the calibration file in the Flash memory.

[0035] The preset MCU domain core reads the target calibration parameters from the Flash memory and directly transmits them to the main domain core, or the main domain core reads the target calibration parameters from the updated calibration file in the random access storage area.

[0036] In the third aspect, the present application proposes a vehicle-mounted electronic device, characterized in that the vehicle-mounted electronic device includes the calibration parameter acquisition system of the vehicle intelligent driving system described in the second aspect, a processor and a memory, the memory storing at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the calibration parameter acquisition method of the vehicle intelligent driving system as described in the first aspect.

[0037] In a fourth aspect, the present application proposes a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the method for obtaining calibration parameters of the vehicle intelligent driving system as described in the first aspect when running.

[0038] It should be noted that since the computer-readable storage medium in this embodiment and the method for obtaining calibration parameters in the above embodiment are based on the same inventive concept, the corresponding contents in the method embodiment are also applicable to the system embodiment and will not be described in detail here.

[0039] In summary, the present application proposes a method and system for obtaining calibration parameters of a vehicle intelligent driving system. The present application stores a calibration file in a Flash memory; after the MCU domain core program is initialized, the calibration file is read from the Flash memory and copied to a random access storage area; when the main domain core needs to obtain the corresponding calibration parameters, it directly reads the corresponding calibration parameters from the calibration file in the random access storage area, and then the main domain core verifies the corresponding calibration parameters read. If the verification is incorrect, it requests the preset MCU domain core to obtain the correct calibration parameters.

[0040] Compared with the prior art, this application has at least the following beneficial effects: The present application provides a method and system for acquiring calibration parameters of a vehicle intelligent driving system. The present application implements a calibration file that covers the calibration parameters required by core programs of each main domain, reduces the number of calibration files in the vehicle intelligent driving system, and reduces the system development cycle and cost; at the same time, by adding a calibration parameter judgment link in the process of acquiring the calibration parameters and when the calibration parameters are wrong, the reliability of the calibration parameters is guaranteed, thereby improving the development and debugging efficiency and quality of the vehicle intelligent driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flow chart of a method for obtaining calibration parameters of a vehicle intelligent driving system shown in an embodiment of the present invention.

[0042] Figure 2 It is a storage area workflow diagram shown in an embodiment of the present invention.

[0043] Figure 3 It is a parameter data diagram required for various main domain core programs shown in an embodiment of the present invention.

[0044] Figure 4 It is a schematic diagram of a vehicle intelligent driving system shown in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] Embodiment 1: As attached Figure 1 As shown, the present application provides a system for acquiring calibration parameters of a vehicle intelligent driving system. In an embodiment of the present invention, it mainly includes: The Flash memory is used to store a calibration file including target calibration parameters.

[0047] Multiple master domain cores.

[0048] A random access storage area directly accessible to the plurality of master domain cores; and A plurality of MCU domain cores, including a preset MCU domain core.

[0049] Among them, the preset MCU domain core is used to copy the calibration file from the Flash memory to the random access storage area during the program initialization phase, so that when the multiple main domain cores need to obtain the target calibration parameters, they can directly read the target calibration parameters from the calibration file in the random access storage area.

[0050] The target calibration parameters include calibration parameters required when the main domain core is running.

[0051] The Flash memory may be one of NOR Flash or NAND Flash, but is not limited thereto. The calibration file includes a function switch area for storing an application function switch flag, a driving parameter area for storing calibration parameters of a vehicle intelligent driving system, and a radar parameter area for storing calibration parameters of a radar algorithm.

[0052] The multiple main domain cores can directly access the random access storage area. The random access storage area can be a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM) or a double data rate random access memory (DDR). In the embodiment of the present invention, the double data rate random access memory (DDR) is optionally used.

[0053] The multiple MCU domain cores include a preset MCU domain core, which is started first in the system (before the attached Figure 1 The remaining area in the random access storage area is used to copy the calibration file from the Flash memory to the random access storage area during the program initialization phase, so that when the multiple main domain cores need to obtain calibration parameters, they can directly read the calibration parameters from the calibration file in the random access storage area.

[0054] Each main domain core corresponds to an algorithm of a vehicle program. In an embodiment of the present invention, optionally, the intelligent driving algorithm of the vehicle program corresponding to the main domain core includes: one or more of a parking algorithm, a radar algorithm, a vision algorithm and a communication diagnosis, but is not limited thereto.

[0055] Furthermore, the main domain core is also used to verify the read calibration parameters, so as to ensure the accuracy of the calibration program.

[0056] The main domain core verifies the target calibration parameters, If the verification is correct, the calibration parameters are obtained.

[0057] If the verification is incorrect, the target calibration parameters are corrected based on the calibration file in the Flash memory.

[0058] In the embodiment of the present invention, optionally, the target calibration parameters are corrected based on the calibration file in the Flash memory, specifically: The main domain core sends a request to the preset MCU domain core to obtain correct target calibration parameters.

[0059] The preset MCU domain core responds to the request and updates the calibration file in the random access storage area with the calibration file in the Flash memory.

[0060] The preset MCU domain core reads the target calibration parameters from the Flash memory and directly transmits them to the main domain core, or the main domain core reads the target calibration parameters from the updated calibration file in the random access storage area.

[0061] Embodiment 2: The vehicle intelligent driving system needs to obtain calibration parameters during operation. The method for obtaining the calibration parameters mainly includes the following steps: S1, during the program initialization phase, the preset MCU domain core copies the calibration file from the Flash memory to a random access storage area accessible to each main domain core.

[0062] S2, when the main domain core is running, it directly reads target calibration parameters from the calibration file in the random access storage area; wherein the target calibration parameters include calibration parameters required for the main domain core to run.

[0063] Furthermore, the method further comprises the steps of: S3, the main domain core verifies the target calibration parameters.

[0064] If the verification is correct, the calibration parameters are obtained.

[0065] If the verification is incorrect, the target calibration parameters are corrected based on the calibration file in the Flash memory.

[0066] In the embodiment of the present invention, the calibration parameters read may optionally be erroneous during the reading process, or may be erroneous during the copying process from the Flash memory to the random access storage area, so that they differ from the preset calibration parameters, resulting in unsuccessful verification.

[0067] The target calibration parameters are at least a portion of the preset calibration parameters.

[0068] In the embodiment of the present invention, optionally, further, the target calibration parameters are corrected based on the calibration file in the Flash memory, specifically: The main domain core sends a request to the preset MCU domain core to obtain correct target calibration parameters.

[0069] The preset MCU domain core responds to the request and updates the calibration file in the random access storage area with the calibration file in the Flash memory.

[0070] The preset MCU domain core reads the target calibration parameters from the Flash memory and directly transmits them to the main domain core, or the main domain core reads the target calibration parameters from the updated calibration file in the random access storage area.

[0071] Within a preset time period for the MCU domain core to respond to the request, the calibration file in the random access storage area has not been updated, and the preset MCU domain core reads the target calibration parameters from the Flash memory and directly transmits them to the main domain core.

[0072] After a preset time period in which the MCU domain core responds to the request, the calibration file in the random access storage area has also been updated, and the main domain core can read the target calibration parameters from the updated calibration file in the random access storage area.

[0073] In an embodiment of the present invention, optionally, the calibration file includes at least three partitions: a function switch area for storing an application function switch flag, a driving parameter area for storing calibration parameters corresponding to an intelligent driving algorithm, and a radar parameter area for storing calibration parameters corresponding to a radar algorithm; the function switch area, the driving parameter area, and the radar parameter area each include multiple calibration parameter blocks, each calibration parameter block includes: a start flag byte, a version number, a corresponding calibration parameter, and a checksum value.

[0074] The vehicle calibration parameters include various types, such as body data, real-time road conditions or driving restrictions. Different functional modules have different intelligent driving algorithms for executing functions, and the required calibration parameters are also different. The calibration file is divided into three partitions: function switches, automatic parking parameters and radar parameters, which can meet the calibration and debugging function needs of various functional modules of the vehicle intelligent driving system.

[0075] In the embodiment of the present invention, optionally, as shown in the attached Figure 2 As shown, the calibration parameters required for parking algorithm, radar algorithm, vision algorithm and communication diagnosis are given, including: vehicle length, vehicle width, wheelbase, camera installation position, radar installation position, parking entry limit planning step number, parking exit limit planning step number and parking space length, width and depth value, but the algorithm for executing the vehicle program is not limited to this, and the calibration parameters are not limited to this.

[0076] In this embodiment, optionally, in step 3, when the main domain core verifies the read calibration parameters, the verification is performed based on the start flag byte and the check value.

[0077] In this embodiment, optionally, the functional modules on each core of the vehicle intelligent driving system obtain the corresponding calibration parameter block from the random access storage area as needed, and check whether the flag byte and Checksum value of the parameter block are correct. If it is found that the calibration parameter block check is incorrect, the module can directly send a request to the preset MCU domain core to obtain the corresponding parameter block data.

[0078] It should be noted that the Flash memory can only be accessed by the MCU domain core, and other main domain core programs have no access permissions. The random access storage area is an area that can be accessed by each core in a heterogeneous multi-core chip. The preset MCU domain core copies the calibration file to the random access storage area during the program initialization phase, so that each core can directly read the calibration parameters.

[0079] In this embodiment, optionally, the driving parameter area and the radar parameter area both include a plurality of reserved areas for adding corresponding calibration parameter blocks.

[0080] In this embodiment, optional algorithms such as parking algorithms, radar algorithms, vision algorithms and communication diagnosis are functions that the vehicle originally has, and the reserved area is used to store new calibration parameters required for the intelligent driving algorithms of the vehicle's newly added functions.

[0081] It should be noted that the calibration file can be updated to the vehicle's intelligent driving system by flashing it on the OEM production line or by OTA upgrading.

[0082] In this embodiment, S2 may include the following steps: S21: Each primary domain core accesses the corresponding partition as needed.

[0083] S22: Each main domain core further obtains at least one calibration parameter block from the corresponding partition as needed.

[0084] In an embodiment of the present invention, optionally, the parameters and parameter types required by a main domain core program may be more than one or one, so a main domain core program may access multiple parameter partitions or calibration parameter blocks when obtaining calibration parameters.

[0085] In the embodiment of the present invention, optionally, as shown in the attached Figure 3 As shown in the figure, the Flash memory uses NorFlash, and the random access storage area uses DDR (double data rate random access memory). When each storage area is working, the following steps are performed in sequence: MCU domain core program initialization.

[0086] The MCU domain core program copies the calibration file from NorFlash.

[0087] The MCU domain core program copies the calibration file to DDR.

[0088] The main domain core program obtains the calibration parameter block from the DDR according to the requirements.

[0089] The main domain core program verifies the calibration parameter block. If the verification is correct, the process ends. If the verification is incorrect, it goes to step 6.

[0090] The main domain core program requests to obtain the calibration parameter block.

[0091] The MCU domain core program copies the calibration file from NorFlash.

[0092] The MCU domain core program copies the calibration file to DDR.

[0093] The MCU domain core program inter-core communication transmits the calibration parameter block to the main domain core program.

[0094] In the embodiment of the present invention, optionally, the vehicle program algorithm includes several of the main domain core program algorithms such as parking algorithm, radar algorithm or communication diagnosis, but is not limited thereto.

[0095] In the embodiment of the present invention, optionally, as shown in the attached Figure 4 As shown, taking the automatic parking of a vehicle as an example, when the vehicle needs to execute the automatic parking procedure, the parking algorithm, radar algorithm, visual algorithm and communication diagnosis need to be executed, wherein the execution process of the parking algorithm is the following steps: The core program of the parking algorithm main domain accesses the automatic parking parameter partition of the calibration file in DDR and obtains the calibration parameter block: vehicle length parameter, vehicle width parameter, wheelbase parameter, parking entry limit planning step number parameter and parking exit limit planning step number parameter.

[0096] The core program of the main domain of the parking algorithm verifies each calibration parameter block. If the verification is correct, the calibration parameters in each calibration parameter block are used to perform automatic parking. If the verification is incorrect, enter 3.

[0097] The core program of the main domain of the parking algorithm requests to obtain the calibration parameter block: vehicle length parameter, vehicle width parameter, wheelbase parameter, parking entry limit planning step number parameter and parking exit limit planning step number parameter.

[0098] The MCU domain core program copies the calibration file from NorFlash.

[0099] The MCU domain core program copies the calibration file to DDR.

[0100] The MCU domain core program communicates with each other to transmit calibration parameter blocks: vehicle length parameters, vehicle width parameters, wheelbase parameters, parking entry limit planning step number parameters and parking exit limit planning step number parameters are sent to the main domain core program.

[0101] It should be noted that the steps of the radar algorithm, visual algorithm and communication diagnosis execution process are similar to those of the parking algorithm. Only the parameter partitions accessed, the calibration parameter blocks obtained and the calibration parameters used are different, so they will not be elaborated here.

[0102] Embodiment three: The present application proposes a vehicle-mounted electronic device, characterized in that the vehicle-mounted electronic device includes a calibration parameter acquisition system for a vehicle intelligent driving system as described in Example 1, a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the calibration parameter acquisition method for the vehicle intelligent driving system as described in Example 2.

[0103] Embodiment 4: The present application proposes a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the method for obtaining calibration parameters of a vehicle intelligent driving system as described in the first aspect when running.

[0104] It should be noted that since the computer-readable storage medium in this embodiment and the method for obtaining calibration parameters in the above embodiment are based on the same inventive concept, the corresponding contents in the method embodiment are also applicable to the system embodiment and will not be described in detail here.

[0105] In summary, the present application proposes a method and system for obtaining calibration parameters of a vehicle intelligent driving system. The present application stores a calibration file in a Flash memory; after the MCU domain core program is initialized, the calibration file is read from the Flash memory and copied to a random access storage area; when the main domain core needs to obtain the corresponding calibration parameters, it directly reads the corresponding calibration parameters from the calibration file in the random access storage area, and then the main domain core verifies the corresponding calibration parameters read. If the verification is incorrect, it requests the preset MCU domain core to obtain the correct calibration parameters.

[0106] The present application provides a method and system for acquiring calibration parameters of a vehicle intelligent driving system. The present application implements a calibration file that covers the calibration parameters required by core programs of each main domain, thereby reducing the number of calibration files in the vehicle intelligent driving system and reducing the system development cycle and cost. At the same time, during the process of acquiring the calibration parameters, a calibration parameter judgment link is added, and the calibration file is updated when an error occurs in the calibration parameters. These measures ensure the reliability of the calibration parameters and improve the development and debugging efficiency and quality of the vehicle intelligent driving system.

[0107] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0108] If the function is implemented in the form of a software main domain core program and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, 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, including several instructions for an electronic device to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0109] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for obtaining calibration parameters of a vehicle intelligent driving system, wherein the calibration file is stored in a Flash memory, It is characterized in that The acquisition method comprises the following steps: S1, the preset MCU domain core copies the calibration file from the Flash memory to a random access storage area accessible to each main domain core during the program initialization phase; S2, when the main domain core is running, it directly reads target calibration parameters from the calibration file in the random access storage area; wherein the target calibration parameters include calibration parameters required for the main domain core to run.

2. The acquisition method according to claim 1, Its special feature is that The acquisition method further includes: S3, the main domain core verifies the target calibration parameters; If the verification is correct, the calibration parameters are obtained; If the verification is incorrect, the target calibration parameters are corrected based on the calibration file in the Flash memory.

3. The acquisition method according to claim 2, wherein the target calibration parameters are corrected based on the calibration file in the Flash memory, specifically: The main domain core sends a request to the preset MCU domain core to obtain correct target calibration parameters; The preset MCU domain core responds to the request and updates the calibration file in the random access storage area with the calibration file in the Flash memory; The preset MCU domain core reads the target calibration parameters from the Flash memory and directly transmits them to the main domain core, or the main domain core reads the target calibration parameters from the updated calibration file in the random access storage area.

4. The acquisition method according to claim 1, It is characterized in that The calibration file includes at least three partitions: a function switch area for storing an application function switch flag, a driving parameter area for storing calibration parameters corresponding to an intelligent driving algorithm, and a radar parameter area for storing calibration parameters corresponding to a radar algorithm; the function switch area, the driving parameter area, and the radar parameter area each include multiple calibration parameter blocks, each calibration parameter block includes: a start flag byte, a version number, a corresponding calibration parameter, and a checksum value.

5. The acquisition method according to claim 4, It is characterized in that In step S3, when the main domain core verifies the read calibration parameters, it verifies according to the start flag byte and the check value.

6. The acquisition method according to claim 4, It is characterized in that The driving parameter area and the radar parameter area both include a plurality of reserved areas for adding corresponding calibration parameter blocks.

7. The acquisition method according to claim 4, It is characterized in that The step S2 is specifically: S21: Each primary domain core accesses the corresponding partition as needed; S22: Each main domain core further obtains at least one calibration parameter block from the corresponding partition as needed.

8. A system for obtaining calibration parameters of a vehicle intelligent driving system, It is characterized in that include: Flash memory, which is used to store calibration files including target calibration parameters; Multiple main domain cores; A random access storage area directly accessible to the plurality of master domain cores; as well as A plurality of MCU domain cores, including a preset MCU domain core; The preset MCU domain core is used to copy the calibration file from the Flash memory to the random access storage area during the program initialization phase, so that when the multiple main domain cores need to obtain the target calibration parameters, they can directly read the target calibration parameters from the calibration file in the random access storage area; The target calibration parameters include calibration parameters required when the main domain core is running.

9. A vehicle-mounted electronic device, It is characterized in that The on-board electronic device includes a system for acquiring calibration parameters of a vehicle intelligent driving system as described in claim 8, a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement a method for acquiring calibration parameters of a vehicle intelligent driving system as described in any one of claims 1 to 7.

10. A storage medium, It is characterized in that The storage medium stores a computer program, wherein the computer program is configured to execute the method for obtaining calibration parameters of a vehicle intelligent driving system as described in any one of claims 1 to 7 when running.

Images