CN112067874A - Filtering method and device suitable for vehicle sensor signal and storage medium - Google Patents
Filtering method and device suitable for vehicle sensor signal and storage medium Download PDFInfo
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- CN112067874A CN112067874A CN201910504587.2A CN201910504587A CN112067874A CN 112067874 A CN112067874 A CN 112067874A CN 201910504587 A CN201910504587 A CN 201910504587A CN 112067874 A CN112067874 A CN 112067874A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0084—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring voltage only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
- G01R23/16—Spectrum analysis; Fourier analysis
- G01R23/165—Spectrum analysis; Fourier analysis using filters
Abstract
The invention provides a filtering method and a device suitable for a vehicle sensor signal, wherein the method comprises the steps of obtaining a voltage sampling signal of a vehicle sensor; calculating the frequency of the voltage sampling signal according to the voltage sampling signal; selecting a filter for filtering the voltage sampling signal according to the corresponding relation between the frequency of the voltage sampling signal and a preset frequency range and each filter; and inputting the voltage sampling signal into a selected filter for filtering, and outputting a filtering signal. The invention solves the problems that the voltage sampling signal processing efficiency of the existing vehicle-mounted sensor is too low, the control is difficult and the filtered result lacks a correction mechanism.
Description
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a filtering method, device, and storage medium for a vehicle sensor signal.
Background
The method for measuring the voltage sampling signals acquired by the vehicle-mounted sensors by various countries and automobile companies mostly adopts a solidified filtering processing algorithm, namely, a certain filtering algorithm is established in a targeted manner according to the existing data, and the method has the following defects: firstly, because the vehicle-mounted sensors are numerous and the frequency range is wide, the processing efficiency of a certain filtering algorithm on the voltage sampling signals of the vehicle-mounted sensors is too low; secondly, the method has another disadvantage that under part of special working conditions, the frequency characteristics of the signals are often not processed before, and the same algorithm is still used for processing the part of signals, so that the precision and the bandwidth of the signals have defects, and the control is difficult; and thirdly, a correction mechanism is lacked for the result after the voltage sampling signal is filtered.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a filtering method, device and storage medium suitable for vehicle sensor signals, to improve the voltage sampling signal processing efficiency of the vehicle sensor, improve the voltage sampling signal control capability, and correct the result after voltage sampling signal filtering.
The invention provides a filtering method suitable for a vehicle sensor signal, which comprises the following steps:
acquiring a voltage sampling signal of a vehicle sensor;
calculating the frequency of the voltage sampling signal according to the voltage sampling signal;
selecting a filter for filtering the voltage sampling signal according to the corresponding relation between the frequency of the voltage sampling signal and a preset frequency range and each filter;
and inputting the voltage sampling signal into a selected filter for filtering, and outputting a filtering signal.
Further, calculating the frequency of the voltage sampling signal according to the voltage sampling signal specifically includes:
and according to the voltage sampling signal, calculating by utilizing fast Fourier transform and taking an integer upwards to obtain the frequency of the voltage sampling signal.
Further, according to the voltage sampling signal, calculating a specific formula by using fast Fourier transform as
X (w) is the frequency of the voltage sampling signal before rounding, x (t) is the voltage sampling signal, e-jwtIs a imaginary exponential signal where e equals 2.71828, j is the imaginary sign in the complex number, w is the frequency variable, and t is the time variable.
Further, the method further comprises:
determining the sampling times according to the corresponding relation among the frequency of the voltage sampling signal, a preset frequency range and the sampling times;
and inputting each voltage sampling signal in the sampling times into the selected filter, calculating the average value of the voltage sampling signals in the sampling times, filtering the average value of the voltage sampling signals, and outputting a filtering signal.
Further, the correspondence between the preset frequency range and the sampling frequency is specifically:
when the frequency is greater than or equal to 3HZ, the sampling times are 30 times; when the frequency is less than 3HZ, the number of sampling is 10.
Further, inputting each voltage sampling signal in the sampling times into the selected filter, and obtaining the average value of the voltage sampling signals in the sampling times specifically includes:
when the number of the input voltage sampling signals does not reach the sampling times, delaying and storing one voltage sampling signal input each time;
and when the number of the input voltage sampling signals reaches the sampling times, calculating the average value of the voltage sampling signals in the sampling times.
Further, the method further comprises:
when the frequency of the voltage sampling signal is less than 5, selecting a band-pass filter;
when the frequency of the voltage sampling signal is greater than or equal to 5 and less than 10, selecting a median filter;
when the frequency of the voltage sampling signal is greater than or equal to 10 and less than 15, selecting a high-pass filter;
when the voltage sampling signal frequency is greater than or equal to 15, a low-pass filter is selected.
Further, the method further comprises:
carrying out fast Fourier transform on an output filtering signal to obtain the frequency of the output filtering signal;
and when the frequency of the output filtering signal is not in the preset filtering signal frequency range, adjusting the relation between the preset frequency range and the sampling times.
Further, when the frequency of the output filtering signal is not within the preset filtering signal frequency range, adjusting the relationship between the preset frequency range and the sampling frequency specifically includes:
when the frequency of the output filtering signal is greater than the maximum value of the frequency range of the preset filtering signal, gradually increasing the sampling times until the frequency of the output filtering signal is less than or equal to the maximum value of the frequency range of the preset filtering signal;
and when the frequency of the output filtering signal is smaller than the minimum value of the frequency range of the preset filtering signal, gradually reducing the sampling times until the frequency of the output filtering signal is larger than or equal to the minimum value of the frequency range of the preset filtering signal.
The invention provides a filtering device suitable for vehicle sensor signals, which comprises:
the acquisition unit is used for acquiring a voltage sampling signal of a vehicle sensor;
the calculating unit is used for calculating the frequency of the voltage sampling signal according to the voltage sampling signal;
the control unit is used for selecting a filter for filtering the voltage sampling signal according to the frequency of the voltage sampling signal, the corresponding relation between a preset frequency range and each filter;
and the filtering unit is used for inputting the voltage sampling signal into the selected filter for filtering and outputting a filtering signal.
Further, the calculating unit is specifically configured to calculate and obtain the frequency of the voltage sampling signal by taking an integer upward by using fast fourier transform according to the voltage sampling signal.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
The implementation of the invention has the following beneficial effects:
according to the invention, voltage sampling signals of the vehicle-mounted sensor in different frequency ranges are filtered by different filters according to the frequency ranges, so that the load of the filters is reduced, and the processing efficiency of the filters is improved; for voltage sampling signals with different frequencies, the average value of the voltage sampling signals is obtained by using multiple times of sampling, and the average value of the voltage sampling signals is filtered to obtain a better filtering effect; and correcting the filtering result in a mode of adjusting the sampling times when the filtering result is not in a reasonable range; the problems that the voltage sampling signal processing efficiency of the existing vehicle-mounted sensor is too low, the control is difficult, and the filtered result lacks a correction mechanism are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a filtering method applied to a vehicle sensor signal according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a selected filter provided by an embodiment of the invention.
Fig. 3 is a schematic diagram of an implementation manner of obtaining an average value of voltage sampling signals within sampling times according to an embodiment of the present invention.
Fig. 4 is a block diagram of a filtering apparatus for vehicle sensor signals according to an embodiment of the present invention.
Detailed Description
The core content of this patent is to select a filter according to a signal frequency, set a sampling frequency according to the signal frequency, and correct a filtering result, and the following describes the specific implementation way in further detail with reference to the accompanying drawings and embodiments.
An embodiment of the filtering method for vehicle sensor signals provided by the present invention will be described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a filtering method for a vehicle sensor signal, the method including:
and S11, acquiring a voltage sampling signal of the vehicle sensor.
The number and the variety of the vehicle sensors are large, such as an acceleration sensor, a steering wheel angle sensor, a fuel level sensor, a liquid level sensor, and the like; the voltage sampling signal of the vehicle sensor is acquired by using the high-speed NI-DAQ voltage acquisition board card, so that the accuracy of the acquired original signal data is ensured.
And S12, calculating the frequency of the voltage sampling signal according to the voltage sampling signal.
It should be noted that, according to the voltage sampling signal, the utilization rate is fastFast Fourier transform calculation and upward integer taking are carried out to obtain the frequency of the voltage sampling signal; specifically, according to the voltage sampling signal, a specific formula is calculated by using fast Fourier transform
X (w) is the frequency of the voltage sampling signal before rounding, x (t) is the voltage sampling signal, e-jwtThe voltage sampling signal x (t) is multiplied by an imaginary exponential signal and integrated, and the frequency of the voltage sampling signal is obtained by taking an integer upwards.
And S13, selecting a filter for filtering the voltage sampling signal according to the frequency of the voltage sampling signal, the corresponding relation between a preset frequency range and each filter.
Referring to fig. 2, a corresponding relationship between a frequency range and each filter is preset, and a filter corresponding to the frequency range is selected according to the frequency range to which the frequency of the voltage sampling signal belongs.
It should be noted that the filter in this document is to be understood in a broad sense, and may be a filter function implemented by software or a filter in hardware.
And S14, inputting the voltage sampling signal into a selected filter for filtering, and outputting a filtering signal.
In order to enable the filtering effect to be better, for voltage sampling signals with different frequencies, the average value of the voltage sampling signals is obtained by multiple times of sampling, the sampling times are different for the voltage sampling signals with different frequencies, the optimal sampling times can be determined in an experimental mode, and the experimental result can be set to be the corresponding relation between the preset frequency range and the sampling times.
Further, the method further comprises:
determining the sampling times according to the corresponding relation among the frequency of the voltage sampling signal, a preset frequency range and the sampling times;
and inputting each voltage sampling signal in the sampling times into the selected filter, calculating the average value of the voltage sampling signals in the sampling times, filtering the average value of the voltage sampling signals, and outputting a filtering signal.
In practice, the preset frequency range and the corresponding relation of the sampling times are specifically that when the frequency is greater than or equal to 3HZ, the sampling times are 30 times; when the frequency is less than 3HZ, the sampling frequency is 10 times, and the output filtering signal is ideal.
It should be noted that, referring to fig. 3, the average value of the voltage sampling signal within the sampling number is obtained.
Further, the method further comprises:
carrying out fast Fourier transform on an output filtering signal to obtain the frequency of the output filtering signal;
and when the frequency of the output filtering signal is not in the preset filtering signal frequency range, adjusting the relation between the preset frequency range and the sampling times.
The steps are to verify the effect of the output filtering signal and the relief way when the effect does not meet the requirement, and the larger the sampling frequency is, the higher the possibility that the filter filters the high-frequency signal is; the smaller the number of samples, the more likely the filter will filter out low frequency signals.
It should be noted that the output filtered signal is subjected to the fast fourier transform, which is the same as the fast fourier transform formula specifically used in the foregoing step S12.
Further, when the frequency of the output filtering signal is greater than the maximum value of the frequency range of the preset filtering signal, gradually increasing the sampling times until the frequency of the output filtering signal is less than or equal to the maximum value of the frequency range of the preset filtering signal;
and when the frequency of the output filtering signal is smaller than the minimum value of the frequency range of the preset filtering signal, gradually reducing the sampling times until the frequency of the output filtering signal is larger than or equal to the minimum value of the frequency range of the preset filtering signal.
It should be noted that, the step length for increasing the sampling times or decreasing the sampling times may be 1 time each time or may be multiple times; the method belongs to a filtering correction mode, so that the output filtering signal meets the requirement, and the clutter is controlled within a reasonable range.
As shown in fig. 2, an embodiment of the present invention provides a rule for selecting a filter for filtering a voltage sampling signal, specifically, the obtained voltage sampling signal of a vehicle sensor is subjected to fourier transform and corresponding operation to obtain a frequency of the voltage sampling signal, a selected band-pass filter with a signal frequency of less than 5, a selected median filter with a signal frequency of greater than or equal to 5 and less than 10, a selected high-pass filter with a signal frequency of greater than or equal to 10 and less than 15, and a selected low-pass filter with a signal frequency of greater than or equal to 15.
As shown in fig. 3, the embodiment of the present invention provides an implementation manner of obtaining an average value of voltage sampling signals within sampling times, specifically, through a delay module z-1Will save each voltage sample signal for one cycle, the final delay module z-1The number of the voltage sampling signals depends on the sampling frequency, the sampling frequency is 5 in the embodiment, and after 5 voltage sampling signals are aligned, the average value of the 5 voltage sampling signals is obtained.
As shown in fig. 4, an embodiment of the present invention provides a filtering apparatus for a vehicle sensor signal, the apparatus including:
an acquisition unit 41 for acquiring a voltage sampling signal of a vehicle sensor;
a calculating unit 42, configured to calculate a frequency of the voltage sampling signal according to the voltage sampling signal;
a control unit 43, configured to select a filter for filtering the voltage sampling signal according to a corresponding relationship between the frequency of the voltage sampling signal and a preset frequency range and each filter;
and the filtering unit 44 is used for inputting the voltage sampling signal into a selected filter for filtering and outputting a filtered signal.
Further, the calculating unit 42 is specifically configured to calculate and obtain the frequency of the voltage sampling signal by taking an integer up according to the voltage sampling signal by using fast fourier transform.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a voltage sampling signal of a vehicle sensor; calculating the frequency of the voltage sampling signal according to the voltage sampling signal; selecting a filter for filtering the voltage sampling signal according to the corresponding relation between the frequency of the voltage sampling signal and a preset frequency range and each filter; and inputting the voltage sampling signal into a selected filter for filtering, and outputting a filtering signal.
For a specific understanding of the above steps, reference may be made to the description of the foregoing embodiments, which are not repeated herein.
The implementation of the invention has the following beneficial effects:
according to the invention, voltage sampling signals of the vehicle-mounted sensor in different frequency ranges are filtered by different filters according to the frequency ranges, so that the load of the filters is reduced, and the processing efficiency of the filters is improved; for voltage sampling signals with different frequencies, the average value of the voltage sampling signals is obtained by using multiple times of sampling, and the average value of the voltage sampling signals is filtered to obtain a better filtering effect; and correcting the filtering result in a mode of adjusting the sampling times when the filtering result is not in a reasonable range; the problems that the voltage sampling signal processing efficiency of the existing vehicle-mounted sensor is too low, the control is difficult, and the filtered result lacks a correction mechanism are solved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A method of filtering a vehicle sensor signal, the method comprising:
s11, acquiring a voltage sampling signal of a vehicle sensor;
s12, calculating the frequency of the voltage sampling signal according to the voltage sampling signal;
s13, selecting a filter for filtering the voltage sampling signal according to the frequency of the voltage sampling signal, the corresponding relation between a preset frequency range and each filter;
and S14, inputting the voltage sampling signal into a selected filter for filtering, and outputting a filtering signal.
2. The method according to claim 1, wherein the step S12 specifically includes:
according to the voltage sampling signal, calculating by utilizing fast Fourier transform and taking an integer upwards to obtain the frequency of the voltage sampling signal;
wherein the fast Fourier transform calculation formula is
X (w) is the frequency of the voltage sampling signal before rounding, x (t) is the voltage sampling signal, e-jwtIs a imaginary exponential signal where e equals 2.71828, j is the imaginary sign in the complex number, w is the frequency variable, and t is the time variable.
3. The method of claim 2, wherein the step S14 further comprises:
determining the sampling times according to the corresponding relation among the frequency of the voltage sampling signal, a preset frequency range and the sampling times;
and inputting each voltage sampling signal in the sampling times into the selected filter, calculating the average value of the voltage sampling signals in the sampling times, filtering the average value of the voltage sampling signals, and outputting a filtering signal.
4. The method according to claim 3, wherein the correspondence between the preset frequency range and the sampling times is specifically:
when the frequency is greater than or equal to 3HZ, the sampling times are 30 times; when the frequency is less than 3HZ, the number of sampling is 10.
5. The method of claim 3, wherein each voltage sample signal within the number of samples is input to the selected filter, and wherein averaging the voltage sample signals within the number of samples comprises:
when the number of the input voltage sampling signals does not reach the sampling times, delaying and storing one voltage sampling signal input each time;
and when the number of the input voltage sampling signals reaches the sampling times, calculating the average value of the voltage sampling signals in the sampling times.
6. The method according to claim 1, wherein the step S13 further includes:
when the frequency of the voltage sampling signal is less than 5, selecting a band-pass filter;
when the frequency of the voltage sampling signal is greater than or equal to 5 and less than 10, selecting a median filter;
when the frequency of the voltage sampling signal is greater than or equal to 10 and less than 15, selecting a high-pass filter;
when the voltage sampling signal frequency is greater than or equal to 15, a low-pass filter is selected.
7. The method of any one of claims 1 to 6, further comprising:
carrying out fast Fourier transform on an output filtering signal to obtain the frequency of the output filtering signal;
and when the frequency of the output filtering signal is not in the preset filtering signal frequency range, adjusting the relation between the preset frequency range and the sampling times.
8. The method of claim 7, wherein when the frequency of the output filtered signal is not within the predetermined filtered signal frequency range, adjusting the relationship between the predetermined frequency range and the number of samples comprises:
when the frequency of the output filtering signal is greater than the maximum value of the frequency range of the preset filtering signal, gradually increasing the sampling times until the frequency of the output filtering signal is less than or equal to the maximum value of the frequency range of the preset filtering signal;
and when the frequency of the output filtering signal is smaller than the minimum value of the frequency range of the preset filtering signal, gradually reducing the sampling times until the frequency of the output filtering signal is larger than or equal to the minimum value of the frequency range of the preset filtering signal.
9. A filtering device adapted for use with a vehicle sensor signal, the device comprising:
the acquisition unit is used for acquiring a voltage sampling signal of a vehicle sensor;
the calculating unit is used for calculating the frequency of the voltage sampling signal according to the voltage sampling signal;
the control unit is used for selecting a filter for filtering the voltage sampling signal according to the frequency of the voltage sampling signal, the corresponding relation between a preset frequency range and each filter;
and the filtering unit is used for inputting the voltage sampling signal into the selected filter for filtering and outputting a filtering signal.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
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