Intelligent driving system optimization calibration design method and system

Abstract

The invention relates to the technical field of vehicles, and provides an intelligent driving system optimization calibration design method and system. The method comprises the following steps: S1, confirming that a domain controller has entered a factory privilege mode; s2, executing an intelligent driving system configuration information writing step at a read-write station; s3, executing EOL calibration at the calibration station; and S4, generating a test calibration report based on the EOL calibration result. S2, executing a step of writing the configuration information of the intelligent driving system at the read-write station, specifically comprising the following steps: S201, writing and confirming basic configuration information; and S202, a service account authorization writing step. And S3, quitting the factory privilege mode. According to the invention, the production problem that the existing calibration process cannot meet the mass production rhythm is solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method and system for optimizing and calibrating intelligent driving systems. Background Technology

[0002] In autonomous driving and advanced driver assistance systems (ADAS), various sensors (such as cameras, LiDAR, and millimeter-wave radar) are integrated into the vehicle to perceive the surrounding environment. The installation position and orientation of these sensors on the vehicle are usually determined based on theoretical design, forming what is known as the "vehicle coordinate system." Theoretically, the actual installation pose of the sensors should be completely consistent with the design value to ensure the accurate representation of the perceived data in the vehicle coordinate system.

[0003] However, in the actual manufacturing and assembly process, due to limitations such as installation accuracy, component tolerances and assembly technology, the actual installation position of the sensor will inevitably deviate from the theoretical design value.

[0004] These deviations can cause errors in the position and orientation of the data collected by the sensors in the vehicle coordinate system, leading to the following problems:

[0005] 1. Target detection position deviation: The perception algorithm detects the position and motion state of targets (such as vehicles, pedestrians, and obstacles) based on sensor data. If there are errors in the sensor extrinsic parameters, the coordinates of the detection result in the vehicle coordinate system will be inaccurate, affecting subsequent decision-making and control.

[0006] 2. Multi-sensor fusion field-of-view stitching deviation: When fusing data from multiple sensors (such as fusion of LiDAR point clouds and camera images), the fields of view of each sensor need to be aligned using extrinsic parameters. Deviation in extrinsic parameters can cause misalignment of point cloud, image, and other data during stitching, reducing the fusion effect and even leading to misjudgments.

[0007] To eliminate the aforementioned deviations and improve the accuracy and reliability of the sensing system, extrinsic parameter calibration is required after sensor installation. End-of-Line Calibration (EOL) is a crucial step in calibrating the actual installation pose of the sensors in the vehicle coordinate system before they leave the vehicle production line. EOL calibration accurately identifies the deviations between the actual values ​​and theoretical design values ​​of the sensor's extrinsic parameters—specifically, the six parameters (Δx, Δy, Δz, Δroll, Δpitch, Δyaw)—and represents them in the EOL reference coordinate system. Specifically, deviations in the rotational direction (Δroll, Δpitch, Δyaw) and the translational direction (Δx, Δy, Δz) need to be calibrated to ensure the system's scalability and robustness.

[0008] In summary, offline calibration, by correcting sensor installation deviations, effectively improves the positioning accuracy of perception algorithms and the collaborative performance of multi-sensor fusion, and is an important technical means to ensure the safe and reliable operation of autonomous driving systems. Summary of the Invention

[0009] The purpose of this invention is to provide a method and system for optimizing and calibrating intelligent driving systems, solving the production problem that existing calibration processes cannot meet mass production cycle times. The specific solution is as follows:

[0010] A method for optimizing and calibrating an intelligent driving system, the method comprising the following steps:

[0011] S1: Steps to confirm that the domain controller has entered factory privilege mode;

[0012] S2: Perform the intelligent driving system configuration information writing step at the read / write workstation;

[0013] S3: Perform the EOL calibration procedure at the calibration station;

[0014] S4: Generate a test calibration report based on the EOL calibration results.

[0015] Optionally, step S1, which verifies that the domain controller has entered factory privilege mode, specifically includes:

[0016] S101: The CANoe system sends a factory privilege mode diagnostic command to the domain controller;

[0017] S102: When the domain controller enters the factory privilege mode based on the acquired factory privilege mode diagnostic command, a mode status feedback value is generated according to the factory privilege mode diagnostic command.

[0018] S103: In response to the mode read command sent by the CANoe system, the domain controller returns the mode status feedback value to the CANoe system for verification;

[0019] S104: If the mode status feedback value obtained by the CANoe system is consistent with the preset verification value, the domain controller is confirmed to have entered the factory privilege mode; if they are inconsistent, the mode switching is determined to have failed, and a retry or alarm process is triggered.

[0020] Optionally, step S2 involves performing the intelligent driving system configuration information writing step at the read / write station, specifically including:

[0021] S201: Steps for writing and confirming basic configuration information;

[0022] S202: Service account authorization writing steps.

[0023] Optionally, step S201 specifically includes:

[0024] The CANoe system retrieves the preset parameters for the corresponding vehicle model and writes them into the domain controller's storage module via a diagnostic write service command. The preset parameters include the sensor's basic configuration and the calibration target's theoretical parameters.

[0025] The CANoe system then sends a diagnostic read service command to the domain controller to read the sensor basic configuration and calibration target theoretical parameters that have been written into the storage module, and compares them with the standard parameters in the preset parameter library;

[0026] If the comparison results are consistent, the parameter configuration is deemed valid.

[0027] If the comparison results are inconsistent, the parameter rewriting process is triggered. If the number of rewrites exceeds the threshold, a production line alarm is triggered.

[0028] Optional, step 202: Service account authorization writing step, specifically including:

[0029] If the parameter configuration is deemed valid, the corresponding service account authorization information will be written to the domain controller according to the intelligent driving function configured in the vehicle model.

[0030] The CANoe system records the preset parameters, verification results, and service account authorization information written this time, and generates a production data archive, which is synchronized to the production line management system for subsequent EOL calibration station retrieval.

[0031] Optionally, step S3 involves performing EOL calibration at the calibration station, specifically including:

[0032] In response to the calibration start command, the CANoe system reconfirms that the domain controller has entered factory privilege mode through factory privilege mode diagnostic commands and mode read commands;

[0033] Based on the reconfirmed factory privilege mode, the domain controller triggers the internally preset EOL calibration routine based on the routine control service sent by the CANoe system, in order to control the corresponding sensors to collect data from the arranged calibration target and obtain the real-time data of the calibration target.

[0034] The difference between real-time data and preset parameters is calculated, and the difference is used as the deviation between the actual installation position and the theoretical installation position of each sensor. The deviation is then used as the compensation parameter for each sensor and stored in the storage module of the domain controller.

[0035] Optionally, step S3 may also include a factory privilege mode exit step;

[0036] The steps for exiting the factory privileged mode specifically include:

[0037] The CANoe system sends a factory privilege mode exit diagnostic command to the domain controller;

[0038] When the domain controller exits the diagnostic command based on the acquired factory privilege mode and successfully exits the factory privilege mode, the domain controller generates an end status feedback value according to the factory privilege mode exit diagnostic command.

[0039] In response to the diagnostic read command sent by the CANoe system, the domain controller returns the end status feedback value to the CANoe system for confirmation;

[0040] After the CANoe system confirms that the domain controller has exited factory privilege mode and returned to normal operation, it triggers the CANoe system to generate a test calibration report to record the calibration time, VIN code, and calibration success status information.

[0041] A system for optimizing and calibrating intelligent driving systems, the system comprising:

[0042] The confirmation module is configured to confirm that the domain controller has entered factory privilege mode.

[0043] The write module is configured to perform the intelligent driving system configuration information writing step at the read / write workstation;

[0044] The offline calibration module is configured to perform the EOL calibration step at the calibration station.

[0045] The generation module is configured to generate a test calibration report based on the EOL calibration results.

[0046] An electronic device includes: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method.

[0047] A computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method described herein.

[0048] A simulation platform, comprising:

[0049] An electronic device for implementing the steps of the method described herein;

[0050] A processor that runs a program, and when the program runs, it executes the steps of the method from data output by the electronic device.

[0051] A storage medium for storing a program that, when run, executes the steps of the method on data output from an electronic device.

[0052] The above solution achieves the following beneficial technical effects:

[0053] This application employs a factory privileged access control system to strictly limit the read and write operations of key parameters, effectively mitigating the risk of misoperation in production and after-sales processes and enhancing the security of system calibration. It separates the configuration writing at the read / write station from the EOL calibration at the calibration station into two independent processes, achieving process standardization and decoupling, optimizing production line layout, and improving operational efficiency. Through the generation and archiving of test calibration reports, it achieves full-process data traceability based on VIN codes, thus providing data support for production management in the mass production stage and fully adapting to the mass production calibration requirements of the intelligent driving system. Attached Figure Description

[0054] Figure 1 A flowchart illustrating a method for optimizing and calibrating an intelligent driving system. Detailed Implementation

[0055] To make the purpose, technical solution, and advantages of this application clearer, the following will be described in conjunction with the appendix. Figure 1 This application will be described in further detail. It is obvious that the described embodiments are merely some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments described herein without inventive effort are within the scope of protection of this application.

[0056] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0057] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0058] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0059] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0060] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0061] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0062] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0063] Figure 1 The method for optimizing and calibrating an intelligent driving system, as shown, includes the following steps:

[0064] S1: Steps to confirm that the domain controller has entered factory privilege mode;

[0065] S2: Perform the intelligent driving system configuration information writing step at the read / write workstation;

[0066] S3: Perform the EOL calibration procedure at the calibration station;

[0067] S4: Generate a test calibration report based on the EOL calibration results.

[0068] Specifically, this embodiment strictly restricts the read and write operations of key parameters through the permission control of the factory privilege mode, effectively avoiding the risk of misoperation in the production and after-sales process and improving the security of system calibration; the configuration writing of the read and write station and the EOL calibration of the calibration station are separated into two independent processes, realizing the standardization and decoupling of the process, optimizing the production line layout and improving the efficiency of operation; through the generation and archiving of test calibration reports, the entire process of data traceability based on VIN code is realized, thereby providing data support for production management in the mass production stage and fully adapting to the mass production calibration requirements of the intelligent driving system.

[0069] Furthermore, prior to step S1, the following steps are also included:

[0070] Ensure the surrounding environment meets the calibration requirements;

[0071] Ensure the sensor is installed correctly in its position;

[0072] Make sure the wiring is correct.

[0073] One step, determining that the surrounding environment meets the calibration conditions, includes:

[0074] The static calibration site requires an open indoor space that is 17 meters long, 8 meters wide, and 4.5 meters high.

[0075] The calibration site must be an open environment, free from satellite signal obstruction.

[0076] Lighting conditions can affect the shooting results of the calibration target, which in turn affects the calibration results based on the calibration target. Therefore, it is necessary to select a calibration site that meets the lighting requirements for calibration.

[0077] In the above scheme, a rigorous EOL calibration procedure is crucial to ensure the accuracy and reliability of the calibration results. This procedure not only requires performing the sensor calibration calculations themselves, but also necessitates rigorous verification of the calibration environment and equipment before calibration begins. This includes confirming that the dimensions, openness, and lighting conditions of the calibration site meet the specifications; and verifying that the sensor's installation position and wiring are correct. Only after all these prerequisites are met can the final calibration algorithm be executed.

[0078] Further, step S1, confirming that the domain controller has entered factory privilege mode, specifically includes:

[0079] S101: The CANoe system sends a factory privilege mode diagnostic command to the domain controller;

[0080] S102: When the domain controller enters the factory privilege mode based on the acquired factory privilege mode diagnostic command, a mode status feedback value is generated according to the factory privilege mode diagnostic command.

[0081] S103: In response to the mode read command sent by the CANoe system, the domain controller returns the mode status feedback value to the CANoe system for verification;

[0082] S104: If the mode status feedback value obtained by the CANoe system is consistent with the preset verification value, the domain controller is confirmed to have entered the factory privilege mode; if they are inconsistent, the mode switching is determined to have failed, and a retry or alarm process is triggered.

[0083] It's understandable that factory privileged mode management requires the domain controller to enter privileged mode before performing critical operations such as reading and writing external parameters. The specific process is as follows:

[0084] The CANoe system sends a diagnostic command 2E [Factory Privilege Mode DID], writes data 0x01, and requests to enter factory privilege mode.

[0085] Then send the 22 [Factory Privilege Mode DID] command to read the data, confirm the successful return value, and ensure that the domain controller has entered factory privilege mode.

[0086] In factory privileged mode, the CANoe system writes the above theoretical extrinsic parameters into the domain controller through the corresponding DID.

[0087] For example: Factory privileged mode DID is 0xF123, and the default checksum is 0x01:

[0088] The CANoe system sends the command 2E 0xF123 0x01 (factory privilege mode diagnostic command) to the domain controller;

[0089] After receiving the instruction, the domain controller switches to factory privilege mode and generates a status feedback value of 0x01.

[0090] The CANoe system sends a read command 22 0xF123, and the domain controller responds by sending the feedback value 0x01 back to CANoe.

[0091] CANoe compares the feedback value 0x01 with the preset check value 0x01, determines that they are consistent, and confirms entry into the factory privilege mode.

[0092] If the domain controller returns 0x00 (not in mode), it is considered a failure and a 3-retry process is triggered. If the retry fails, the production line will alarm.

[0093] Mass production optimization solution: Since the theoretical external parameters of sensors and calibration targets for the same vehicle model are fixed, this step can be optimized to complete the initial writing at the component supplier's production line. Subsequent read / write stations on the vehicle production line only need to perform read confirmation operations, which shortens the operation time of the vehicle production line and thus improves the production cycle.

[0094] Understandably, before optimization: each vehicle had to go through the "enter factory privilege mode, write external parameters, and read confirmation" process at the vehicle production line read / write station, which took about 2 minutes.

[0095] After optimization: When the camera supplier produces the camera, it writes the theoretical external parameters of the camera for the vehicle model into the camera's storage module in advance; after the vehicle arrives at the vehicle production line, the read / write station only needs to read the camera's external parameters, compare them with the standard external parameters of the vehicle model, and confirm that they are consistent, which reduces the time to 30 seconds.

[0096] Further, in step S2, the intelligent driving system configuration information is written at the read / write station, specifically including:

[0097] S201: Steps for writing and confirming basic configuration information;

[0098] S202: Service account authorization writing steps.

[0099] Understandably, the vehicle first enters the read / write station, where all the basic configurations and theoretical parameters required for calibration are prepared.

[0100] Specifically, the standardization and modularization of the configuration process are achieved through two steps: basic configuration confirmation and service account authorization writing. This avoids operational errors caused by writing multiple types of parameters in a mixed manner and ensures that different parameters are configured in an orderly manner according to priority. The writing and confirmation of basic configuration information can detect parameter transmission faults in advance, ensuring data accuracy from the source. The service account authorization step can accurately match the intelligent driving functions selected by the vehicle model and achieve fine-grained control of permissions. Overall, this greatly improves the work efficiency and data reliability of the read and write station, laying a solid foundation for efficient calibration in the mass production stage.

[0101] Further, step S201 specifically includes:

[0102] The CANoe system retrieves the preset parameters for the corresponding vehicle model and writes them into the domain controller's storage module via a diagnostic write service command. The preset parameters include the sensor's basic configuration and the calibration target's theoretical parameters.

[0103] The CANoe system then sends a diagnostic read service command to the domain controller to read the sensor basic configuration and calibration target theoretical parameters that have been written into the storage module, and compares them with the standard parameters in the preset parameter library;

[0104] If the comparison results are consistent, the parameter configuration is deemed valid.

[0105] If the comparison results are inconsistent, the parameter rewriting process is triggered. If the number of rewrites exceeds the threshold, a production line alarm is triggered.

[0106] Specifically, this embodiment uses a write-before-read and comparison verification strategy to ensure that preset data such as sensor basic configuration and calibration target theoretical parameters are accurately written to the domain controller, effectively avoiding subsequent calibration deviations caused by parameter transmission errors and write failures. At the same time, by setting a rewrite mechanism and an over-threshold alarm mechanism, error correction space is provided for parameter configuration, and persistent abnormal problems can be intercepted in a timely manner to prevent unqualified parameters from flowing into the calibration process. The design of archiving the configuration results to the production line management system realizes the traceability of the entire parameter writing process.

[0107] It is understood that the production line diagnostic instrument (i.e., the CANoe diagnostic system integrating the functions of this invention) establishes a communication connection with the vehicle domain controller through the UDS diagnostic service interface.

[0108] The CANoe diagnostic system uses the 2E diagnostic write service in the Unified Diagnostic Service (UDS) to write preset basic configuration information to the domain controller and various intelligent driving sensors (such as the ARS408 millimeter-wave radar, H2PU ultrasonic sensing processing unit, camera, and lidar). After writing, it immediately reads the written information through the 22 diagnostic read service to verify that each piece of hardware is correctly identified and configured by the domain controller.

[0109] It should be noted that the steps of writing and confirming preset parameters (theoretical extrinsic parameters) are crucial for preparing for subsequent EOL calibration. The CANoe system uses diagnostic commands to pre-write two types of "theoretical extrinsic parameters" into the domain controller's non-volatile memory.

[0110] Theoretical installation extrinsic parameters for calibration targets: This parameter is derived from the precise measurement results of the calibration targets actually placed at the EOL workstation on the production line. It defines the fixed position and orientation of the calibration targets in the vehicle coordinate system.

[0111] Sensor Theoretical Installation External Parameters (Sensor Basic Configuration): This parameter is derived from the theoretical design value of the vehicle's overall layout by the OEM, defining the ideal installation position and orientation of the sensor in the vehicle coordinate system.

[0112] Further, step 202: the service account authorization writing step, specifically includes:

[0113] If the parameter configuration is deemed valid, the corresponding service account authorization information will be written to the domain controller according to the intelligent driving function configured in the vehicle model.

[0114] The CANoe system records the preset parameters, verification results, and service account authorization information written this time, and generates a production data archive, which is synchronized to the production line management system for subsequent EOL calibration station retrieval.

[0115] Specifically, this application only allows the activation of functional permissions for vehicles with qualified parameter configurations. This design avoids the risk of vehicles with incorrect parameters being granted intelligent driving function authorization. At the same time, it matches the corresponding authorization information according to the intelligent driving functions selected for different models, achieving precise control of permissions. Furthermore, the preset parameters, verification results, and authorization information are integrated, archived, and synchronized to the production line management system. This not only provides traceable and complete data support for subsequent EOL calibration workstations but also improves the standardization of production line data management, ensuring that the data is verifiable.

[0116] For example, CANoe retrieves preset parameters such as the field of view and target side length of the LiDAR of the target vehicle and writes them to the domain controller via 2E commands;

[0117] Send command 22 to read the stored parameters, compare them with the preset parameter library, and if they match, the configuration is valid.

[0118] Since it is a high-end model, it comes with NOA function. Next, the service account authorization information corresponding to NOA is written.

[0119] Archive the parameters, verification results, and authorization information, and synchronize them to subsequent EOL calibration stations as calibration benchmarks.

[0120] Further, step S3, performing the EOL calibration at the calibration station, specifically includes:

[0121] In response to the calibration start command, the CANoe system reconfirms that the domain controller has entered factory privilege mode through factory privilege mode diagnostic commands and mode read commands;

[0122] Based on the reconfirmed factory privilege mode, the domain controller triggers the internally preset EOL calibration routine based on the routine control service sent by the CANoe system, in order to control the corresponding sensors to collect data from the arranged calibration target and obtain the real-time data of the calibration target.

[0123] The difference between real-time data and preset parameters is calculated, and the difference is used as the deviation between the actual installation position and the theoretical installation position of each sensor. The deviation is then used as the compensation parameter for each sensor and stored in the storage module of the domain controller.

[0124] Specifically, this application further strengthens the security level of permissions by reconfirming the factory privilege mode of the domain controller before calibration, avoiding parameter disorder caused by starting calibration in an unauthorized state; it automates and standardizes the calibration process by triggering the preset EOL calibration routine through routine control service; it calculates the deviation based on the difference between the real-time collected calibration target data and the preset parameters, and directly stores it as a compensation parameter in the domain controller, thereby ensuring the accuracy of deviation calculation and providing a reliable basis for the online correction of subsequent perception algorithms. The overall process is efficient and controllable, and is suitable for the calibration requirements of intelligent driving systems in mass production scenarios.

[0125] It is understandable that the EOL calibration station is used for actual deviation measurement and compensation.

[0126] After the read / write station process is completed and the vehicle enters the EOL calibration station, the core calibration process is initiated.

[0127] The operator triggers the calibration start command through the MES system or CANoe interface.

[0128] Execute the EOL calibration routine:

[0129] After receiving the trigger signal, the CANoe system first ensures that the domain controller enters factory privilege mode again through the 2E and 22 services.

[0130] Subsequently, the CANoe system triggers the pre-built EOL calibration routine within the domain controller via diagnostic services (e.g., using the 31 routine control service).

[0131] Once the domain controller is triggered, it controls the corresponding sensors (such as forward-looking cameras) to collect data (such as taking images) from the set-up calibration targets.

[0132] The domain controller uses the theoretical extrinsic parameters of the calibration target and the theoretical extrinsic parameters of the sensor written in the first stage, i.e., the preset parameters, and combines them with the acquired real-time data (such as target features in an image) to run an internal calibration algorithm. This algorithm calculates (for example, using a PnP solver) the deviation between the actual installation position and the theoretical installation position of the sensor, i.e., Δx, Δy, Δz, Δroll, Δpitch, Δyaw (or some of these parameters).

[0133] The calculated deviation will be used as a compensation parameter for the sensor and stored in the domain controller's storage module. During vehicle operation, the perception algorithm will retrieve this deviation in real time to perform online correction and compensation on the raw data collected by the sensor, ensuring the accuracy of the perception results.

[0134] Furthermore, step S3 also includes a factory privilege mode exit step;

[0135] The steps for exiting the factory privileged mode specifically include:

[0136] The CANoe system sends a factory privilege mode exit diagnostic command to the domain controller;

[0137] When the domain controller exits the diagnostic command based on the acquired factory privilege mode and successfully exits the factory privilege mode, the domain controller generates an end status feedback value according to the factory privilege mode exit diagnostic command.

[0138] In response to the diagnostic read command sent by the CANoe system, the domain controller returns the end status feedback value to the CANoe system for confirmation;

[0139] After the CANoe system confirms that the domain controller has exited factory privilege mode and returned to normal operation, it triggers the CANoe system to generate a test calibration report to record the calibration time, VIN code, and calibration success status information.

[0140] It is understood that in this embodiment, in order to ensure that the domain controller can exit the factory privilege mode safely and reliably and avoid the risk of misoperation of key parameters due to the failure to revoke permissions; at the same time, the factory privilege mode exit confirmation is associated with the generation of test calibration report, realizing the integrity verification of the entire calibration process, ensuring that the calibration records of each vehicle (such as time, VIN code, success status) can be accurately traced, and further improving the security and manageability of mass production calibration of intelligent driving system.

[0141] In summary, the advantages of this invention as manifested in this embodiment are mainly in the following aspects:

[0142] Process standardization and decoupling: Separating parameter preparation (read / write station) from calibration calculation (EOL station) makes the production line layout more reasonable and the process clearer.

[0143] Data-driven and traceable: All theoretical parameters and calibration results are digitized through diagnostic services, ensuring the uniqueness of the data source and the traceability of the entire process.

[0144] Safe and controllable: The "factory privilege mode" entry and exit mechanism strictly limits the read and write permissions of key parameters, preventing misoperation during production and after-sales processes and improving system security.

[0145] Adaptable to mass production: The proposed solution of pre-writing theoretical parameters and confirming them online fully considers the needs of mass production cycle time and has high practicality and feasibility.

[0146] On the other hand, this application provides an intelligent driving system optimization calibration design system, the system comprising:

[0147] The confirmation module is configured to confirm that the domain controller has entered factory privilege mode.

[0148] The write module is configured to perform the intelligent driving system configuration information writing step at the read / write workstation;

[0149] The offline calibration module is configured to perform the EOL calibration step at the calibration station.

[0150] The generation module is configured to generate a test calibration report based on the EOL calibration results.

[0151] On the other hand, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method.

[0152] On the other hand, this application provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method described herein.

[0153] On the other hand, this application provides a simulation platform, including:

[0154] An electronic device for implementing the steps of the method described herein;

[0155] A processor that runs a program, and when the program runs, it executes the steps of the method from data output by the electronic device.

[0156] A storage medium for storing a program that, when run, executes the steps of the method on data output from an electronic device.

[0157] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for optimizing and calibrating an intelligent driving system, characterized in that, The method includes the following steps: S1: Steps to confirm that the domain controller has entered factory privilege mode; S2: Perform the intelligent driving system configuration information writing step at the read / write workstation; S3: Perform the EOL calibration procedure at the calibration station; S4: Generate a test calibration report based on the EOL calibration results.

2. The method according to claim 1, characterized in that, Step S1, confirming that the domain controller has entered factory privilege mode, specifically includes: S101: The CANoe system sends a factory privilege mode diagnostic command to the domain controller; S102: When the domain controller enters the factory privilege mode based on the acquired factory privilege mode diagnostic command, a mode status feedback value is generated according to the factory privilege mode diagnostic command. S103: In response to the mode read command sent by the CANoe system, the domain controller returns the mode status feedback value to the CANoe system for verification; S104: If the mode status feedback value obtained by the CANoe system is consistent with the preset verification value, the domain controller is confirmed to have entered the factory privilege mode; if they are inconsistent, the mode switching is determined to have failed, and a retry or alarm process is triggered.

3. The method according to claim 2, characterized in that, Step S2 involves writing the intelligent driving system configuration information at the read / write station, specifically including: S201: Steps for writing and confirming basic configuration information; S202: Service account authorization writing steps.

4. The method according to claim 3, characterized in that, Step S201 specifically includes: The CANoe system retrieves the preset parameters for the corresponding vehicle model and writes them into the domain controller's storage module via a diagnostic write service command. The preset parameters include the sensor's basic configuration and the calibration target's theoretical parameters. The CANoe system then sends a diagnostic read service command to the domain controller to read the sensor basic configuration and calibration target theoretical parameters that have been written into the storage module, and compares them with the standard parameters in the preset parameter library; If the comparison results are consistent, the parameter configuration is deemed valid. If the comparison results are inconsistent, the parameter rewriting process is triggered. If the number of rewrites exceeds the threshold, a production line alarm is triggered.

5. The method according to claim 4, characterized in that, Step 202: Service account authorization writing steps, specifically including: If the parameter configuration is deemed valid, the corresponding service account authorization information will be written to the domain controller according to the intelligent driving function configured in the vehicle model. The CANoe system records the preset parameters, verification results, and service account authorization information written this time, and generates a production data archive, which is synchronized to the production line management system for subsequent EOL calibration station retrieval.

6. The method according to claim 5, characterized in that, Step S3 involves performing the EOL calibration procedure at the calibration station, specifically including: In response to the calibration start command, the CANoe system reconfirms that the domain controller has entered factory privilege mode through factory privilege mode diagnostic commands and mode read commands; Based on the reconfirmed factory privilege mode, the domain controller triggers the internally preset EOL calibration routine based on the routine control service sent by the CANoe system, in order to control the corresponding sensors to collect data from the arranged calibration target and obtain the real-time data of the calibration target. The difference between real-time data and preset parameters is calculated, and the difference is used as the deviation between the actual installation position and the theoretical installation position of each sensor. The deviation is then used as the compensation parameter for each sensor and stored in the storage module of the domain controller.

7. The method according to claim 6, characterized in that, Step S3 also includes the factory privilege mode exit step; The steps for exiting the factory privileged mode specifically include: The CANoe system sends a factory privilege mode exit diagnostic command to the domain controller; When the domain controller exits the diagnostic command based on the acquired factory privilege mode and successfully exits the factory privilege mode, the domain controller generates an end status feedback value according to the factory privilege mode exit diagnostic command. In response to the diagnostic read command sent by the CANoe system, the domain controller returns the end status feedback value to the CANoe system for confirmation; After the CANoe system confirms that the domain controller has exited factory privilege mode and returned to normal operation, it triggers the CANoe system to generate a test calibration report to record the calibration time, VIN code, and calibration success status information.

8. A system for optimizing and calibrating an intelligent driving system, characterized in that, The system includes: The confirmation module is configured to confirm that the domain controller has entered factory privilege mode. The write module is configured to perform the intelligent driving system configuration information writing step at the read / write workstation; The offline calibration module is configured to perform the EOL calibration step at the calibration station. The generation module is configured to generate a test calibration report based on the EOL calibration results.

9. An electronic device, comprising: The system comprises a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; characterized in that the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The device stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method as described in any one of claims 1 to 7.

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