CN115664592A - Message timestamp alignment method, electronic equipment and vehicle - Google Patents
Message timestamp alignment method, electronic equipment and vehicle Download PDFInfo
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Abstract
The invention discloses a message timestamp alignment method, electronic equipment and a vehicle, wherein when a target message which meets a preset analysis condition is detected to be transmitted on a bus, the target message is analyzed to obtain target data; acquiring a preset target period; and when the sending period of the target message and the target period meet a preset alignment condition, performing data supplementation on the target message according to the target data. The data of different sending periods can be aligned on the same time axis, so that messages of different sending periods have the same data volume, and can be in one-to-one correspondence on the same time axis, and the obtained data can not be staggered and can be effective.
Description
Technical Field
The invention relates to the field of vehicle communication, in particular to a message timestamp alignment method, electronic equipment and a vehicle.
Background
The CAN is a short name of a Controller Area Network (CAN), is one of the most widely used modern buses internationally, and has the characteristics of high accuracy, high speed, large information amount and the like. The current CAN messages CAN be communicated with each other through different ECUs (Electronic Control units), and the ECUs periodically send messages to the CAN line bus, and the common periods are 10ms, 20ms, 50ms, 100ms and the like. In the actual communication process, the message information to be acquired is sent in different periods, for example: the vehicle speed is 10ms in period, the vehicle charging state message is 10ms in period, the environment temperature information is 100ms in period, and different data volumes can be acquired in the same time period (the longer the period is, the smaller the data volume is), and data malposition is easily caused.
Disclosure of Invention
The embodiment of the invention aims to provide a message timestamp alignment method, electronic equipment and a vehicle, which can ensure that data in different sending periods are aligned on the same time axis, so that messages in different sending periods have the same data volume and can be in one-to-one correspondence on the same time axis, and the obtained data is not misplaced and is effective.
To achieve the above object, an embodiment of the present invention provides a method for aligning a timestamp of a packet, including:
when a target message which meets a preset analysis condition is detected to be transmitted on a bus, analyzing the target message to obtain target data;
acquiring a preset target period;
and when the sending period of the target message and the target period meet a preset alignment condition, performing data supplementation on the target message according to the target data.
As an improvement of the above scheme, the alignment condition is:
the sending period of the target message is greater than the target period; or the like, or, alternatively,
and the sending period of the target message is less than the target period, and the target period is a multiple of the sending period of the non-target message.
As an improvement of the above scheme, before performing data supplementation on the target packet according to the target data, the method further includes:
classifying all target messages according to the sending period of the target messages so as to divide the target messages with the same period into the same category; then, the performing data supplementation on the target packet according to the target data includes:
and respectively performing data supplement on the target messages of different cycle categories according to the target data.
As an improvement of the above scheme, the performing data supplementation on the target packet according to the target data includes:
acquiring target data sent by the vehicle-mounted unit for the previous N times as data sent by the vehicle-mounted unit in the current target period; wherein N is an integer greater than 1.
As an improvement of the above scheme, the performing data supplementation on the target packet according to the target data includes:
acquiring target data sent by the vehicle-mounted unit in the previous M times, fitting the M target data to obtain an M-1 th-order polynomial, and acquiring data needing to be supplemented by the vehicle-mounted unit in the current target period according to the M-1 th-order polynomial; wherein M is an integer greater than 2.
As an improvement of the above scheme, the performing data supplementation on the target packet according to the target data includes:
and acquiring target data sent by the vehicle-mounted unit twice continuously, carrying out linearization according to time to construct a linear function, and obtaining data which needs to be supplemented by the vehicle-mounted unit in the current target period according to the linear function.
As an improvement of the above scheme, after the data supplementation is performed on the target packet according to the target data, the method further includes:
and verifying the supplemented data, and storing the supplemented data after the verification is passed.
As an improvement of the above scheme, the verifying the supplemented data includes at least one of the following verification methods:
verifying the integrity of the supplemented data according to the target period; each target period corresponds to one supplemented data;
comparing the supplemented data with a preset standard rule to find out data which does not conform to the standard rule;
calculating the change rate of a plurality of continuous supplemented data to find out mutation data;
and carrying out character string form verification on the supplemented data so as to screen out the data which does not conform to the set format.
To achieve the above object, an embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the processor implements the message timestamp alignment method according to any of the above embodiments.
In order to achieve the above object, an embodiment of the present invention further provides a vehicle, which includes a vehicle body and the electronic device described in the above embodiment.
Compared with the prior art, according to the message timestamp alignment method, the electronic device and the vehicle disclosed by the embodiment of the invention, when the target message meeting the preset analysis condition is detected to be transmitted on the bus, the target message is analyzed to obtain the target data; acquiring a preset target period; and when the sending period of the target message and the target period meet a preset alignment condition, performing data supplementation on the target message according to the target data. The data of different sending periods can be aligned on the same time axis, so that the messages of different sending periods have the same data volume, and can be in one-to-one correspondence on the same time axis, and the obtained data can not be staggered and is effective.
Drawings
Fig. 1 is a flowchart of a message timestamp alignment method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of message data provided in the embodiment of the present invention before padding;
fig. 3 is a schematic diagram of the message data provided in the embodiment of the present invention after being filled;
FIG. 4 is a schematic diagram of interpolation of a nonlinear adaptive interpolation method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of interpolation of a linear interpolation method according to an embodiment of the present invention;
fig. 6 is a flowchart of another message timestamp alignment method according to an embodiment of the present invention;
fig. 7 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a message timestamp alignment method according to an embodiment of the present invention, where the message timestamp alignment method is implemented by an electronic device, and the message timestamp alignment method includes:
s1, when a target message which meets a preset analysis condition is detected to be transmitted on a bus, analyzing the target message to obtain target data;
s2, acquiring a preset target period;
and S3, when the sending period of the target message and the target period meet a preset alignment condition, performing data supplement on the target message according to the target data.
Specifically, in step S1, the bus is a CAN bus, and the on-board unit periodically sends a signal to the electronic device, where the signal is transmitted in the form of a message on the CAN bus, for example, the on-board unit is an ECU. The electronic device supports online CAN data input, offline CAN data playback and other time data types such as CAVASERS, and the data is continuous data which is periodic on a time axis.
Illustratively, the parsing condition is: the signal sequence of certain bit x-bit y under a certain single or a plurality of I D messages is the target message. Analyzing the target message to obtain target data, for example, sending a temperature signal to an electronic device by a vehicle-mounted air conditioner, wherein the target data is an in-vehicle temperature value if the target message is a temperature information message sent by the vehicle-mounted air conditioner; for example, the battery management system sends an electric quantity signal to the electronic device, at this time, the target message is a battery charging state message sent by the battery management system, and the target data is the electric quantity of the battery.
Further, while analyzing the target packet, the sending period of the target packet may be analyzed, for example, the sending period of the target packet is a predetermined periodic numerical value, and at this time, the electronic device knows the sending period of the target packet in advance; or the sending period of the target message can be determined by rounding the time interval of two continuous frames.
Specifically, in step S2, the target period is a timestamp for aligning messages sent by different vehicle-mounted units, and the target period may be a maximum value or a minimum value in the sending periods of the target messages that need to be aligned, or a set value. For example, there are 6 target messages to be aligned at this time, as shown in fig. 2, the 6 target messages are message1 to message6, the transmission periods of message1 and message2 are 10ms, the transmission periods of message3 and message4 are 20ms, the transmission periods of message5 and message6 are 30ms, and the black dots in fig. 2 are target data analyzed from the target messages transmitted by the on-board unit. The target period may be 10ms, 30ms, or the remaining value (e.g., 5 ms).
Specifically, in step S3, the alignment condition is:
the sending period of the target message is greater than the target period; or the like, or, alternatively,
the sending period of the target message is less than the target period, and the target period is a multiple of the sending period of the non-target message.
For example, after obtaining the sending period of the target message, comparing the sending period of the target message with the target period, and when the sending period and the target period meet a preset alignment condition, indicating that the vehicle-mounted unit does not send a message in the target period, the electronic device has no way to obtain data of the vehicle-mounted unit at a time corresponding to the current target period. For example, when the target period is 10ms, if the periods of the messages 3 to 6 are all greater than the target period, data needs to be supplemented at the time corresponding to the target period, if the periods of the messages 3 to 4 are 20ms, one data needs to be supplemented in two adjacent target data, if the periods of the messages 5 to 6 are 30ms, two data needs to be supplemented in two adjacent target data, as shown in fig. 3, white dots represent supplemented data, and at this time, for each message, the electronic device can collect corresponding data when the target period is 10 ms. For another example: when the target period is 15ms, the sending period (10 ms) of the message 1-2 is less than the target period, and the sending period is a multiple of the non-target period, and one data needs to be supplemented in two adjacent target data (between 10ms and 20 ms).
For example, when the sending period of the target message is equal to the target period, which indicates that the electronic device wants the on-board unit to send the message at the moment to be exactly the period of sending the message currently used by the on-board unit, data supplementation is not required to be performed on the message sent by the on-board unit, for example, message 1-2. Or the sending period of the target message is less than the target period, and the target period is a multiple of the sending period; for example, when the target period is 20ms, and the target period is a multiple of the period (10 ms) of the message 1-2, the data of the message 1-2 in 20ms, 40ms, and 60ms can be directly acquired, and at this time, the original sequence is maintained without data supplementation.
Specifically, before performing data supplementation on the target packet according to the target data, the method further includes:
classifying all target messages according to the sending period of the target messages so as to divide the target messages with the same period into the same category; then, the performing data supplementation on the target packet according to the target data includes:
and respectively performing data supplement on the target messages of different cycle categories according to the target data.
For example, after obtaining the sending period of the target message, all the target messages are classified according to the sending period of the target message, for example, the period of the message1 and the message2 is 10ms, the period of the messages classified as bag _3_10, the period of the messages classified as bag 3 _3and the period of the messages classified as bag 4 is 20ms, the period of the messages classified as bag _3_20, the period of the messages classified as bag 5 and the period of the messages classified as bag _3 _30are 30 ms. When the target period is 10ms, it is necessary to supplement data at 10ms, 30ms, and 50ms at the same time for the message3 and the message4 in the same bag _3 \20category.
In the embodiment of the invention, the messages are classified according to the sending period of the target message, when the data is supplemented subsequently, the electronic equipment can know the time when the data needs to be supplemented to the other signals belonging to the same period category, and the time when the data needs to be added to the other signals belonging to the same period category can be known, so that the time for supplementing the data is not required to be calculated for each signal one by one, and the efficiency of data alignment is improved.
Specifically, in the embodiment of the present invention, the data supplementation for the target packet according to the target data includes three ways, which are respectively a delay interpolation, a nonlinear adaptive interpolation, and a linear interpolation.
(1) Delay interpolation: acquiring target data sent by the vehicle-mounted unit for the previous N times as data sent by the vehicle-mounted unit in the current target period; wherein N is an integer greater than 1.
For example, when the target period is 10ms, the message3 needs to supplement data at 30ms, and the data can be supplemented by using the target data acquired last time (20 ms), that is, the position of the target interpolation is equal to the data at the last time; the message3 needs to be supplemented with data at 50ms, and can be supplemented with target data acquired at the previous time (40 ms) or the previous two times (20 ms).
(2) Nonlinear adaptive interpolation: acquiring target data sent by a previous M-degree (continuous) vehicle-mounted unit, fitting M target data to obtain an M-1-degree polynomial, and obtaining data needing to be supplemented by the vehicle-mounted unit in a current target period according to the M-1-degree polynomial; wherein M is an integer greater than 2.
For example, when the target period is 10ms, referring to fig. 4, three points a (x 0, y 0), B (x 1, y 1), and C (x 2, y 2) in fig. 4 respectively represent target data of the acquired message3 in 20ms, 40ms, and 60ms, a univariate quadratic polynomial may be constructed by taking the A, B, C three-point coordinates, for example, y = ax ^2+ bx + C, and then the x coordinates (respectively 10ms, 30ms, and 50 ms) corresponding to a, B, and C are respectively substituted according to the univariate quadratic polynomial, and the obtained y value is data that needs to be supplemented when 10ms, 30ms, and 50 ms. It is understood that when four target data are acquired, a one-dimensional cubic polynomial is constructed at this time.
(3) Linear interpolation: and acquiring target data sent by the vehicle-mounted unit twice continuously, carrying out linearization according to time to construct a linear function, and obtaining data which needs to be supplemented by the vehicle-mounted unit in the current target period according to the linear function.
For example, when the target period is 10ms, referring to fig. 5, D (x 3, y 3), E (x 4, y 5) in fig. 5 respectively represent target data of the message3 at 20ms and 40ms, and a linear equation is constructed by using the two target data, for example, the linear equation is a two-point linear equation:
and then substituting the x coordinate (30 ms) corresponding to the d point into a two-point linear equation to obtain a y value which is the data which needs to be supplemented correspondingly when the y value is 30 ms.
In the embodiment of the invention, the data supplement is carried out on the signals sent by the vehicle-mounted unit by adopting the interpolation modes, so that the data of different sending periods can be ensured to be aligned on the same time axis, the messages of different sending periods have the same data volume, and can be in one-to-one correspondence on the same time axis, and the obtained data can not be dislocated and is effective.
Specifically, after performing data supplementation on the target packet according to the target data, the method further includes: and verifying the supplemented data, and storing the supplemented data after the verification is passed. For example, the alignment data is saved to a Text document, a document in other formats such as mat, CSV and the like, or the alignment data is stored to a file in an excel/CSV/Text format and the like and is stored to a specified address.
Specifically, the verifying the supplemented data includes at least one of the following verification methods:
a. verifying the integrity of the supplemented data according to the target period; each target period corresponds to one supplemented data. Illustratively, the continuity of the data needs to be in accordance with the actual target period, the data does not have blank or NA fields (scrambling codes), and if blank data or scrambling codes are encountered, interpolation calculation is performed again to obtain supplementary data.
b. And comparing the supplemented data with a preset standard rule to find out the data which does not conform to the standard rule. Illustratively, according to the physical significance of different data, a value with a non-physical significance should not appear, for example, a wheel speed pulse should not appear a value less than 0, a switching signal should not appear a value other than 0 or 1, a check rule needs to be determined according to actual conditions, and if data which does not meet a standard rule is encountered, interpolation calculation is performed again to obtain supplementary data.
c. And calculating the change rate of the continuous supplemented data to find out mutation data. In the aspect of interpolation data change, the curvature of normal continuous data is generally continuous, no large change occurs, and if abrupt change data is encountered, interpolation calculation is carried out again to obtain supplementary data.
d. And carrying out character string form verification on the supplemented data so as to screen out the data which does not conform to the set format. Typically, the alignment data is, for example, numeric data such as Float, int, etc.
In the embodiment of the invention, after the data is supplemented, the data in the signal of the supplemented data is verified to ensure the integrity of the supplemented data and improve the accuracy of the supplemented data.
Further, the above process may refer to fig. 6.
Compared with the prior art, the message timestamp alignment method disclosed by the embodiment of the invention has the advantages that when the target message which meets the preset analysis condition is detected to be transmitted on the bus, the target message is analyzed to obtain the target data; acquiring a preset target period; and when the sending period of the target message and the target period meet a preset alignment condition, performing data supplementation on the target message according to the target data. The data of different sending periods can be aligned on the same time axis, so that the messages of different sending periods have the same data volume, and can be in one-to-one correspondence on the same time axis, and the obtained data can not be staggered and is effective.
Referring to fig. 7, fig. 7 is a block diagram of an electronic device 10 according to an embodiment of the present invention, where the electronic device 10 includes a processor 11, a memory 12, and a computer program stored in the memory 12 and executable on the processor 11. The processor 11 implements the steps, such as steps S1 to S3, in the above embodiments of the message timestamp alignment method when executing the computer program. Alternatively, the processor 11 implements the functions of the modules/units in the above-described device embodiments when executing the computer program.
Illustratively, the computer program may be divided into one or more modules/units, which are stored in the memory 12 and executed by the processor 11 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the electronic device 10.
The electronic device 10 may include, but is not limited to, a processor 11, a memory 12. Those skilled in the art will appreciate that the diagram is merely an example of the electronic device 10 and does not constitute a limitation of the electronic device 10 and may include more or less components than those shown, or some components may be combined, or different components, for example, the electronic device 10 may also include input-output devices, network access devices, buses, etc.
The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 11 is a control center of the electronic device 10 and connects various parts of the whole electronic device 10 by various interfaces and lines.
The memory 12 may be used for storing the computer programs and/or modules, and the processor 11 implements various functions of the electronic device 10 by running or executing the computer programs and/or modules stored in the memory 12 and calling data stored in the memory 12. The memory 12 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 12 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the integrated module/unit of the electronic device 10 can be stored in a computer readable storage medium if it is implemented in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by the processor 11 to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Compared with the prior art, the electronic device 10 disclosed in the embodiment of the present invention analyzes a target packet to obtain target data when detecting that the target packet conforming to a preset analysis condition is transmitted on a bus; acquiring a preset target period; and when the sending period of the target message and the target period meet a preset alignment condition, performing data supplementation on the target message according to the target data. The data of different sending periods can be aligned on the same time axis, so that the messages of different sending periods have the same data volume, and can be in one-to-one correspondence on the same time axis, and the obtained data can not be staggered and is effective.
Furthermore, the embodiment of the invention also provides a vehicle, which comprises a vehicle body and the electronic device in the embodiment.
Compared with the prior art, the vehicle disclosed by the embodiment of the invention analyzes the target message to obtain the target data when the target message which meets the preset analysis condition is detected to be transmitted on the bus; acquiring a preset target period; and when the sending period of the target message and the target period meet a preset alignment condition, performing data supplementation on the target message according to the target data. The data of different sending periods can be aligned on the same time axis, so that the messages of different sending periods have the same data volume, and can be in one-to-one correspondence on the same time axis, and the obtained data can not be staggered and is effective.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A message timestamp alignment method is characterized by comprising the following steps:
when a target message which meets a preset analysis condition is transmitted on a bus, analyzing the target message to obtain target data;
acquiring a preset target period;
and when the sending period of the target message and the target period meet a preset alignment condition, performing data supplementation on the target message according to the target data.
2. The message timestamp alignment method of claim 1, wherein the alignment condition is:
the sending period of the target message is greater than the target period; or the like, or, alternatively,
the sending period of the target message is less than the target period, and the target period is a multiple of the sending period of the non-target message.
3. The message timestamp alignment method of claim 1, wherein before performing data supplementation on the target message according to the target data, further comprising:
classifying all target messages according to the sending period of the target messages so as to divide the target messages with the same period into the same category; then, the performing data supplementation on the target packet according to the target data includes:
and respectively performing data supplement on the target messages of different cycle categories according to the target data.
4. The message timestamp alignment method of claim 1, wherein the data supplementing the target message according to the target data comprises:
acquiring target data sent by the vehicle-mounted unit for the previous N times as data sent by the vehicle-mounted unit in the current target period; wherein N is an integer greater than 1.
5. The message timestamp alignment method of claim 1, wherein the data supplementing the target message according to the target data comprises:
acquiring target data sent by the vehicle-mounted unit in the previous M times, fitting the M target data to obtain an M-1 th-order polynomial, and acquiring data needing to be supplemented by the vehicle-mounted unit in the current target period according to the M-1 th-order polynomial; wherein M is an integer greater than 2.
6. The message timestamp alignment method of claim 1, wherein the data supplementing the target message according to the target data comprises:
and acquiring target data sent by the vehicle-mounted unit twice continuously, carrying out linearization according to time to construct a linear function, and obtaining data which needs to be supplemented by the vehicle-mounted unit in the current target period according to the linear function.
7. The message timestamp alignment method of claim 1, wherein after the data supplementation of the target message according to the target data, further comprising:
and verifying the supplemented data, and storing the supplemented data after the verification is passed.
8. The message timestamp alignment method according to claim 7, wherein the checking the supplemented data includes at least one of the following checking methods:
verifying the integrity of the supplemented data according to the target period; each target period corresponds to one supplemented data;
comparing the supplemented data with a preset standard rule to find out data which does not conform to the standard rule;
calculating the change rate of a plurality of continuous supplemented data to find out mutation data;
and carrying out character string type verification on the supplemented data so as to screen out the data which does not conform to the set format.
9. An electronic device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the message timestamp alignment method of any of claims 1 to 8 when executing the computer program.
10. A vehicle characterized by comprising a vehicle body and the electronic apparatus of claim 9 above.
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