Vibration wave signal denoising method, vehicle, storage medium and computer product

Abstract

The invention discloses a vibration wave signal denoising method, a vehicle, a storage medium and a computer product, and relates to the technical field of vehicles, the vibration wave signal denoising method is applied to the vehicle configured with a plurality of vibration wave sensors, and specifically comprises the steps that the vehicle is detected through the plurality of vibration wave sensors to obtain a detection result; under the condition that the detection result is that the first vibration wave signal exists in the vehicle, obtaining a verification vibration wave signal corresponding to the first vibration wave signal; judging whether noise vibration wave signals exist in the first vibration wave signals or not according to the verification vibration wave signals; and if the noise vibration wave signal exists in the first vibration wave signal, performing noise reduction processing on the first vibration wave signal based on the noise vibration wave signal to generate a target vibration wave signal. According to the invention, the technical effect that the vehicle can generate the target vibration wave signal only containing effective information is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vibration wave signal denoising method, a vehicle, a storage medium and a computer program product. Background Art

[0002] With the continuous development of the automobile industry, cars have become the preferred means of transportation for more and more users in their daily travel.

[0003] In the related art, a vibration wave sensor is usually installed in the vehicle, so as to obtain the target vibration wave signal generated when the user touches the vehicle through the vibration wave sensor to determine the interactive command that the user wants to trigger. However, when the vehicle is driving, the vehicle itself and the objects in the surrounding environment will generate certain noise vibration wave signals in the vehicle.

[0004] In this way, the noise vibration wave signal will interfere with the target vibration wave signal triggered by the user, causing the vehicle to have technical problems of being unable to recognize the target vibration wave signal triggered by the user, and then causing the vehicle to be unable to accurately recognize the interactive commands that the user wants to trigger, greatly destroying the user's driving experience. Summary of the invention

[0005] The main purpose of the present application is to provide a vibration wave signal denoising method, a vehicle, a storage medium and a computer program product, aiming to solve the technical problem in the related art that the vehicle cannot recognize the target vibration wave signal triggered by the user.

[0006] To achieve the above object, the present application proposes a vibration wave signal denoising method, which is applied to a vehicle equipped with a plurality of vibration wave sensors, and comprises:

[0007] Detecting the vehicle by using a plurality of the vibration wave sensors to obtain a detection result;

[0008] When the detection result is that a first vibration wave signal is present in the vehicle, obtaining a verification vibration wave signal corresponding to the first vibration wave signal, wherein the first vibration wave signal is a vibration wave signal generated when a user touches the vehicle;

[0009] Determining whether there is a noise vibration wave signal in the first vibration wave signal according to the verification vibration wave signal;

[0010] If it is determined that the noise vibration wave signal exists in the first vibration wave signal, a noise reduction process is performed on the first vibration wave signal based on the noise vibration wave signal to generate a target vibration wave signal.

[0011] In one embodiment, the step of obtaining a verification vibration wave signal corresponding to the first vibration wave signal includes:

[0012] determining a triggering area corresponding to the first vibration wave signal, and screening a plurality of the vibration wave sensors based on the triggering area to determine a target vibration wave sensor;

[0013] Determining a target signal storage space corresponding to the target vibration wave sensor;

[0014] The target signal storage space is accessed to acquire a verification vibration wave signal corresponding to the first vibration wave signal.

[0015] In one embodiment, the step of screening the plurality of vibration wave sensors based on the trigger area to determine a target vibration wave sensor comprises:

[0016] Determining deployment position information corresponding to each of the plurality of vibration wave sensors;

[0017] Screening the plurality of deployment location information based on the trigger area to determine a target deployment location matching the trigger area;

[0018] The vibration wave sensor corresponding to the target deployment position is determined as the target vibration wave sensor.

[0019] In one embodiment, the verification vibration wave signal includes a first verification vibration wave signal and a second verification vibration wave signal;

[0020] The step of judging whether there is a noise vibration wave signal in the first vibration wave signal according to the verification vibration wave signal comprises:

[0021] performing differential processing on the first verification vibration wave signal and the second verification vibration wave signal to obtain a signal differential result;

[0022] determining whether the first verification vibration wave signal and the second verification vibration wave signal are the same based on the signal difference result;

[0023] If it is determined that the first verification vibration wave signal and the second verification vibration wave signal are different, it is determined that the noise vibration wave signal exists in the first vibration wave signal.

[0024] In one embodiment, the noise vibration wave signal includes a system noise vibration wave signal, and before the step of obtaining a verification vibration wave signal corresponding to the first vibration wave signal, the method further includes:

[0025] Acquire a preset system noise vibration wave feature, and determine whether the first vibration wave signal contains an abnormal noise vibration wave feature that matches the system noise vibration wave feature;

[0026] If it is determined that the abnormal noise vibration wave feature exists in the first vibration wave signal, it is determined that the noise vibration wave signal exists in the first vibration wave signal.

[0027] In one embodiment, before the step of detecting the vehicle by using a plurality of the vibration wave sensors to obtain a detection result, the method further includes:

[0028] Detecting the vehicle by using a plurality of the vibration wave sensors to obtain a plurality of second vibration wave signals, wherein a triggering time of the second vibration wave signal is earlier than a triggering time of the first vibration wave signal;

[0029] Determine deployment position information corresponding to each of the plurality of vibration wave sensors, and determine a signal storage space corresponding to each of the plurality of second vibration wave signals according to each of the deployment position information;

[0030] The plurality of second vibration wave signals are input into the respective corresponding signal storage spaces, so that the plurality of second vibration wave signals are respectively stored in the plurality of signal storage spaces.

[0031] In one embodiment, after the step of inputting the plurality of second vibration wave signals into the respective corresponding signal storage spaces, the method further comprises:

[0032] Determining an actual space size of the signal storage space, and comparing the actual space size with a preset space size threshold to obtain a comparison result;

[0033] When the comparison result is that the actual space size reaches the space size threshold, determining the signal acquisition time corresponding to each of the plurality of second vibration wave signals in the signal storage space;

[0034] A vibration wave signal to be deleted is determined from a plurality of second vibration wave signals based on each of the signal acquisition times, and a signal deletion operation is performed on the vibration wave signal to be deleted.

[0035] In one embodiment, after the step of performing noise reduction processing on the first vibration wave signal to generate a target vibration wave signal, the method further includes:

[0036] Extracting a vibration wave signal feature corresponding to the target vibration wave signal;

[0037] A target interaction instruction corresponding to the target vibration wave signal is determined according to the vibration wave signal characteristics, and the vehicle is controlled based on the target interaction instruction.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle, which includes: multiple vibration wave sensors, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vibration wave signal denoising method as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vibration wave signal denoising method described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the vibration wave signal denoising method as described above are implemented.

[0041] The vibration wave signal denoising method provided in the embodiment of the present application is applied to a vehicle equipped with multiple vibration wave sensors, and the vehicle is detected by the multiple vibration wave sensors to obtain a detection result; when the detection result is that a first vibration wave signal exists in the vehicle, a verification vibration wave signal corresponding to the first vibration wave signal is obtained, wherein the first vibration wave signal is a vibration wave signal generated when a user touches the vehicle; based on the verification vibration wave signal, it is determined whether there is a noise vibration wave signal in the first vibration wave signal; if it is determined that the noise vibration wave signal exists in the first vibration wave signal, the first vibration wave signal is denoised based on the noise vibration wave signal to generate a target vibration wave signal.

[0042] In this embodiment, during driving, the vehicle first detects itself through multiple vibration wave sensors configured by itself to obtain a detection result. After that, when the vehicle determines that the detection result is that there is a target vibration wave signal in the vehicle generated when a user touches the vehicle, it further obtains a verification vibration wave signal that is located in the same area as the first vibration wave signal. After that, the vehicle compares the first vibration wave signal with the verification vibration wave signal to determine whether there is a noise vibration wave signal in the first vibration wave signal. Finally, if the vehicle determines that there is a noise vibration wave signal in the first vibration wave signal, the noise vibration wave signal is used to perform dynamic convolution processing on the first vibration wave signal, thereby removing the noise vibration wave signal contained in the first vibration wave signal to generate a target vibration wave signal that only contains valid signals.

[0043] In this way, the present application solves the technical problem in the related art that the vehicle cannot recognize the target vibration wave signal triggered by the user. That is, the present application collects the verification vibration wave signal in the same area as the vibration wave signal when the user-triggered vibration wave signal is detected in the vehicle, and determines the noise vibration wave signal contained in the vibration wave signal according to the verification vibration wave signal, thereby denoising the vibration wave signal according to the noise vibration wave signal to generate a target vibration wave signal containing only valid information, thereby enabling the vehicle to recognize the noise vibration wave signal in the vibration wave signal generated when the vehicle itself or other objects in the surrounding environment touch the vehicle, and to filter and denoise the noise vibration wave signal, thereby achieving the technical effect of enabling the vehicle to generate a target vibration wave signal containing only valid information, ensuring that the vehicle can accurately identify the interactive instructions that the user wants to trigger based on the target vibration wave signal, thereby improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A schematic diagram of a flow chart of a first embodiment of a method for denoising a vibration wave signal of the present application;

[0047] Figure 2 A schematic diagram of a target vibration wave signal involved in an embodiment of a vibration wave signal denoising method of the present application;

[0048] Figure 3 A schematic diagram of a verification vibration wave signal according to an embodiment of a vibration wave signal denoising method of the present application;

[0049] Figure 4 A schematic diagram of a simplified process of the vibration wave signal denoising method of the present application;

[0050] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the vibration wave signal denoising method in the embodiment of the present application.

[0051] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0053] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0054] In this embodiment, for ease of description, a vehicle internally configured with multiple vibration wave sensors, storage modules, communication modules, VCU (Vehicle Control Uni), or a mobile terminal, data storage control terminal, PC and other terminals connected to the electronic control unit of the vehicle are used as the execution subject for explanation.

[0055] Based on the above-mentioned vehicle, the overall concept of the vibration wave signal denoising method of the present application is proposed here.

[0056] With the continuous development of the automobile industry, automobiles have become the preferred means of transportation for more and more users in their daily travel. In related technologies, a vibration wave sensor is usually installed in the vehicle, so that the target vibration wave signal generated when the user touches the vehicle is obtained through the vibration wave sensor to determine the interactive command that the user wants to trigger. However, when the vehicle is driving, the vehicle itself and the objects in the surrounding environment will generate certain noise vibration wave signals in the vehicle. In this way, the noise vibration wave signal will interfere with the target vibration wave signal triggered by the user, causing the vehicle to have a technical problem of being unable to recognize the target vibration wave signal triggered by the user, which in turn causes the vehicle to be unable to accurately recognize the interactive command that the user wants to trigger, greatly destroying the user's driving experience.

[0057] In view of the above phenomenon, the present application provides a vibration wave signal denoising method, which is applied to a vehicle equipped with multiple vibration wave sensors, and the method comprises: detecting the vehicle by using the multiple vibration wave sensors to obtain a detection result; when the detection result is that a first vibration wave signal exists in the vehicle, obtaining a verification vibration wave signal corresponding to the first vibration wave signal, wherein the first vibration wave signal is a vibration wave signal generated when a user touches the vehicle; judging whether there is a noise vibration wave signal in the first vibration wave signal according to the verification vibration wave signal; if it is judged that the noise vibration wave signal exists in the first vibration wave signal, performing noise reduction processing on the first vibration wave signal based on the noise vibration wave signal to generate a target vibration wave signal.

[0058] In this way, the present application solves the technical problem in the related art that the vehicle cannot recognize the target vibration wave signal triggered by the user. That is, the present application collects the verification vibration wave signal in the same area as the vibration wave signal when the user-triggered vibration wave signal is detected in the vehicle, and determines the noise vibration wave signal contained in the vibration wave signal according to the verification vibration wave signal, thereby denoising the vibration wave signal according to the noise vibration wave signal to generate a target vibration wave signal containing only valid information, thereby enabling the vehicle to recognize the noise vibration wave signal in the vibration wave signal generated when the vehicle itself or other objects in the surrounding environment touch the vehicle, and to filter and denoise the noise vibration wave signal, thereby achieving the technical effect of enabling the vehicle to generate a target vibration wave signal containing only valid information, ensuring that the vehicle can accurately identify the interactive instructions that the user wants to trigger based on the target vibration wave signal, thereby improving the user's driving experience.

[0059] Based on the overall concept of the vibration wave signal denoising method of the present application, the embodiment of the present application provides a vibration wave signal denoising method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vibration wave signal denoising method of the present application.

[0060] In this embodiment, the vibration wave signal denoising method is applied to a vehicle equipped with a plurality of vibration wave sensors, and the vibration wave signal denoising method comprises steps S10 to S40:

[0061] Step S10: Detecting the vehicle using a plurality of vibration wave sensors to obtain a detection result;

[0062] In this embodiment, when the target occupant touches the vehicle in the vehicle cabin in an attempt to trigger an interactive command, the vehicle controller configured in the vehicle first calls multiple vibration wave sensors configured on the vehicle to detect the interior of the vehicle to obtain a detection result.

[0063] Exemplarily, for example, when a user taps the surface of the driver's door area in the cockpit of a vehicle with a preset target gesture that can cause the vehicle to issue an interactive command, the VCU calls on multiple vibration wave sensors configured on the vehicle to detect the vehicle to obtain detection results.

[0064] Step S20: when the detection result is that there is a first vibration wave signal in the vehicle, obtaining a verification vibration wave signal corresponding to the first vibration wave signal, wherein the first vibration wave signal is a vibration wave signal generated when a user touches the vehicle;

[0065] Please note that, please refer to Figure 3 , Figure 3This is a schematic diagram of the first vibration wave signal involved in an embodiment of the vibration wave signal denoising method of the present application. The first vibration wave signal is an elastic mechanical wave signal generated and transmitted inside the vehicle when a user in the vehicle triggers a knocking event or a contact event, and is collected by the first vibration wave sensor. It can be understood that the elastic mechanical wave signal is different from the traditional mechanical wave signal in that it can be transmitted laterally along the surface of the object and can also be transmitted to the inside of the object. In addition, please refer to Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a verification vibration wave signal according to an embodiment of a vibration wave signal denoising method of the present application. Figure 3 As shown, the verification vibration wave signal is an elastic mechanical wave signal collected by multiple vibration wave sensors located in the same area as the first vibration wave sensor when the user triggers the first vibration wave signal.

[0066] In this embodiment, when the vehicle controller determines that the detection result is the presence of a first vibration wave signal in the vehicle that is generated when a user touches the vehicle, it determines the first vibration wave sensor that collects the first vibration wave signal, and determines the second vibration wave sensor and the third vibration wave sensor that are in the same area as the first vibration wave sensor. The vehicle controller then obtains the first verification vibration wave signal collected by the second vibration wave sensor and the second verification vibration wave signal collected by the third vibration wave sensor.

[0067] Exemplarily, for example, when the VCU determines that the comparison result is that there is a first vibration wave signal generated when a user touches the vehicle inside the vehicle, the VCU further determines that the first vibration wave sensor that collects the first vibration wave signal is located in the driver's door area, and the VCU further determines the second vibration wave sensor and the third vibration wave sensor that are also located in the driver's door area like the first vibration wave sensor. The VCU further reads the first verification vibration wave signal collected by the second vibration wave sensor when the user triggers the first vibration wave signal, and reads the second verification vibration wave signal collected by the third vibration wave sensor when the user triggers the first vibration wave signal.

[0068] In this way, the user can trigger the interactive command he wants to trigger by touching the surface of any solid part, and when the vehicle detects that the user has triggered the vibration wave signal, it can further query other vibration wave sensors located in the same area to obtain multiple verification vibration wave signals for verifying the vibration wave signal triggered by the user.

[0069] In a feasible implementation manner, the step of “obtaining a verification vibration wave signal corresponding to the first vibration wave signal” in the above step S20 may specifically include steps S201 to S203:

[0070] Step S201: determining a triggering area corresponding to the first vibration wave signal, and screening a plurality of the vibration wave sensors based on the triggering area to determine a target vibration wave sensor;

[0071] Step S202: determining a target signal storage space corresponding to the target vibration wave sensor;

[0072] Step S203: accessing the target signal storage space to obtain a verification vibration wave signal corresponding to the first vibration wave signal.

[0073] In this embodiment, when the vehicle controller detects the presence of a first vibration wave signal generated in the vehicle when the user touches the vehicle, the vehicle controller first determines the trigger area corresponding to the first vibration wave signal. The vehicle controller then screens multiple vibration wave sensors configured for the vehicle based on the trigger area to determine the second vibration wave sensor and the third vibration wave sensor that are within the trigger area. Thereafter, the vehicle controller determines the target signal storage space corresponding to the second vibration wave sensor and the third vibration wave sensor respectively. Finally, the vehicle controller accesses each target signal storage space to obtain the first verification vibration wave signal collected by the second vibration wave sensor, and the second verification vibration wave signal collected by the third vibration wave sensor.

[0074] Exemplarily, for example, after the VCU detects the first vibration wave signal generated when the user touches the vehicle through the first vibration wave sensor on the driver's side door area, the VCU first determines that the deployment area of ​​the first vibration wave sensor in the vehicle is the driver's side door area, and determines the driver's side door area as the trigger area corresponding to the first vibration wave signal. The VCU then screens multiple vibration wave sensors configured on the vehicle based on the trigger area to determine the second vibration wave sensor and the third vibration wave sensor configured in the driver's side door area. After that, the VCU determines the channel addresses corresponding to the second vibration wave sensor and the third vibration wave sensor respectively, and determines the first target signal storage space corresponding to the second vibration wave sensor and the second target signal storage space corresponding to the third vibration wave sensor according to each channel address. Finally, the vehicle accesses the first target signal storage space to obtain the first verification vibration wave signal collected by the second vibration wave sensor in the driver's side door area and corresponding to the first vibration wave signal. At the same time, the vehicle accesses the second target signal storage space to obtain the second verification vibration wave signal collected by the third vibration wave sensor in the driver's side door area and corresponding to the first vibration wave signal.

[0075] In this way, the user can trigger the interactive command he wants to trigger by touching the surface of any solid part, and when the vehicle detects that the user has triggered the vibration wave signal, it can further query other vibration wave sensors located in the same area to obtain multiple verification vibration wave signals for verifying the vibration wave signal triggered by the user.

[0076] In a feasible implementation manner, the step of “screening the plurality of vibration wave sensors based on the triggering area to determine a target vibration wave sensor” in the above step S201 may specifically include steps S2011 to S2013:

[0077] Step S2011: determining the deployment position information corresponding to each of the plurality of vibration wave sensors;

[0078] Step S2012: screening the plurality of deployment location information based on the trigger area to determine a target deployment location matching the trigger area;

[0079] Step S2013: determining the vibration wave sensor corresponding to the target deployment position as the target vibration wave sensor.

[0080] It should be noted that the deployment location information is location information that can indicate the location area of ​​the vibration wave sensor in the vehicle. It is understandable that due to the gaps between different areas of the vehicle (for example, the gaps between the doors and the corresponding beams), the vibration wave signals cannot be transmitted to other areas. Therefore, in the process of verifying whether there is a noise vibration wave signal, other vibration wave signals collected by the vibration wave sensor in the same area are required to be used as verification vibration wave signals.

[0081] In this embodiment, after determining the trigger area, the vehicle controller first reads the deployment position information corresponding to each of the multiple vibration wave sensors configured on the vehicle. Then, the vehicle controller filters the multiple deployment position information based on the trigger area, thereby filtering out multiple target deployment positions whose deployment position information is located within the trigger area. Finally, the vehicle controller determines the vibration wave sensors corresponding to each of the multiple target deployment positions, and determines the vibration wave sensors corresponding to each of the multiple target deployment positions as target vibration wave sensors that collect verification vibration wave signals.

[0082] Exemplarily, for example, after the VCU determines that the trigger area corresponding to the first vibration wave signal is the driver's side door area, the VCU first reads the storage module configured in the vehicle to obtain the sensor deployment position information corresponding to each vibration wave sensor configured in the vehicle. Then, the vehicle filters multiple sensor deployment position information based on the trigger area to filter out multiple target sensor deployment positions located in the driver's side door area. Finally, the vehicle determines the vibration wave sensor corresponding to the target sensor deployment position among the multiple vibration wave sensors, thereby determining the second vibration wave sensor and the third vibration wave sensor located in the driver's side door area as target vibration wave sensors that can collect verification vibration wave signals.

[0083] In this way, the user can trigger the interactive command he wants to trigger by touching the surface of any solid part, and when the vehicle detects that the user has triggered the vibration wave signal, it can further query other vibration wave sensors located in the same area to obtain multiple verification vibration wave signals for verifying the vibration wave signal triggered by the user.

[0084] Step S30: judging whether there is a noise vibration wave signal in the first vibration wave signal according to the verification vibration wave signal;

[0085] It should be noted that the noise vibration wave signal is a vibration wave signal contained in the first vibration wave signal, which interferes with the effective vibration wave signal triggered by the user. The noise vibration wave signal can specifically include two types: a system noise vibration wave signal and an environmental noise vibration wave signal. It can be understood that the system noise vibration wave signal is a vibration wave signal generated when the vehicle's own engine, suspension and other system hardware modules vibrate during driving. In addition, the environmental noise vibration wave signal is a vibration wave signal generated when other wind noise, raindrops, dust and other objects in the surrounding environment touch the vehicle during driving.

[0086] In this embodiment, after acquiring the first verification vibration wave signal and the second verification vibration wave signal, the vehicle controller compares the first verification vibration wave signal and the second verification vibration wave signal to obtain a comparison result, and the vehicle controller then determines whether the first vibration wave signal contains an environmental noise vibration wave signal and / or a system noise vibration wave signal based on the comparison result.

[0087] Exemplarily, for example, after acquiring the first verification vibration wave signal and the second verification vibration wave signal, the VCU compares the first verification vibration wave signal and the second verification vibration wave signal through the filter configured by itself to obtain a comparison result, and the VCU then determines whether there is an environmental noise vibration wave signal and / or a system noise vibration wave signal in the first vibration wave signal based on the comparison result.

[0088] In this way, the vehicle can determine whether there is an environmental noise vibration wave signal and / or a system noise vibration wave signal in the vibration wave signal triggered by the user through the extracted multiple verification vibration wave signals.

[0089] In a feasible implementation manner, in the above step S30, the verification vibration wave signal includes a first verification vibration wave signal and a second verification vibration wave signal; specifically, steps S301 to S303 may be included:

[0090] Step S301: performing differential processing on the first verification vibration wave signal and the second verification vibration wave signal to obtain a signal differential result;

[0091] Step S302: judging whether the first verification vibration wave signal and the second verification vibration wave signal are the same based on the signal difference result;

[0092] Step S303: if it is determined that the first verification vibration wave signal and the second verification vibration wave signal are different, then determining that the noise vibration wave signal exists in the first vibration wave signal.

[0093] In this embodiment, after acquiring the first verification vibration wave signal and the second verification vibration wave signal, the vehicle controller first performs frequency difference processing and time domain difference processing on the first verification vibration wave signal and the second verification vibration wave signal to obtain a signal difference result. Then, the vehicle controller determines whether the first verification vibration wave signal and the second verification vibration wave signal are completely consistent based on the signal splitting result. Finally, if the vehicle controller determines that the first verification vibration wave signal and the second verification vibration wave signal are not completely consistent, it determines the differential signal generated between the first verification vibration wave signal and the second verification vibration wave signal, and determines the differential signal as the environmental noise vibration wave signal and / or the system noise vibration wave signal contained in the first vibration wave signal.

[0094] Exemplarily, for example, after acquiring the first verification vibration wave signal and the second verification vibration wave signal, the VCU first performs frequency domain difference processing and time domain difference processing on the first verification vibration wave signal and the second verification vibration wave signal to obtain a signal difference result. Then, the VCU determines whether the first verification vibration wave signal and the second verification vibration wave signal are completely consistent based on the signal difference result. Finally, if the VCU determines that the first verification vibration wave signal and the second verification vibration wave signal are not completely consistent, it determines the differential signal generated between the first verification vibration wave signal and the second verification vibration wave signal, and determines that the differential signal is the signal loss generated by the environmental noise vibration wave signal and / or the system noise vibration wave signal in the process of propagating from the second vibration wave sensor to the third vibration wave sensor. The VCU then determines the differential signal as the environmental noise vibration wave signal and / or the system noise vibration wave signal contained in the first vibration wave signal.

[0095] It should be noted that, in this embodiment, the specific process of performing frequency domain differential processing and time domain differential processing on the first verification vibration wave signal and the second verification vibration wave signal is prior art, so it will not be described here in detail. It can be understood that the first vibration wave signal triggered by the user is obviously stronger than the noise vibration wave signal generated when the external trigger source touches the vehicle in terms of amplitude and other characteristics. Therefore, when the second sensor and the third sensor in the driver's door area receive the first vibration wave signal and the noise vibration wave signal respectively, the VCU can determine that there is no obvious differential signal between the first vibration wave signals received by the second sensor and the third sensor, and determine that there is an obvious differential signal between the noise vibration wave signals received by the second sensor and the third sensor. In this way, if the verification vibration wave signals received by the second sensor and the third sensor respectively contain a valid vibration wave signal and a noise vibration wave signal, then in the process of differentiating the verification vibration wave signals, the part containing the valid vibration wave signal will have no obvious signal difference, while the part containing the noise vibration wave signal will have an obvious signal difference. Therefore, it is possible to determine whether there is a noise vibration wave signal in the verification vibration wave signal by determining whether there is a signal difference, and the identified noise vibration wave signal can be determined as the noise vibration wave signal carried in the first vibration wave signal triggered by the user.

[0096] Step S40: if it is determined that the noise vibration wave signal exists in the first vibration wave signal, performing noise reduction processing on the first vibration wave signal to generate a target vibration wave signal;

[0097] In this embodiment, if the vehicle controller determines that there is a noise vibration wave signal in the first vibration wave signal, it calls multiple filters configured by itself to process the first vibration wave signal based on the differential signal extracted from the verification vibration wave signal, so as to denoise the noise vibration wave signal contained in the first vibration wave signal based on the differential signal, thereby generating a target vibration wave signal that only contains valid information.

[0098] For example, see Figure 2 , Figure 2This is a schematic diagram of a target vibration wave signal involved in an embodiment of a vibration wave signal denoising method of the present application. If the VCU determines that a noise vibration wave signal exists in the first vibration wave signal, the extracted differential signal is input into an IIR (Infinite Impulse Response filter) filter and a FIR (Finite Impulse Response filter) filter configured by the VCU, thereby dynamically convolving the noise vibration wave signal y(n-1) contained in the first vibration wave signal using the differential signal x(n) through the IIR filter and the FIR filter, thereby obtaining a valid signal y(n) corresponding to the noise vibration wave signal after the noise vibration wave signal is eliminated:

[0099] y(n)=ay(n-1)+bx(n);

[0100] Among them, a is the system parameter corresponding to the IIR filter, and b is the system parameter corresponding to the IIRFIR filter;

[0101] VCU will then Figure 2 As shown, the vibration wave signal including only the effective signal y(n) is determined as the target vibration wave signal.

[0102] It should be noted that, in this embodiment, the specific process of the IIR filter and the FIR filter performing filtering dynamic convolution calculation on the signal parameter value contained in the vibration wave signal based on the differential signal is already known, so it will not be described in detail here.

[0103] In this embodiment, when the target occupant touches the vehicle in the cockpit of the vehicle in an attempt to trigger an interactive command, the vehicle controller configured in the vehicle first calls multiple vibration wave sensors configured on the vehicle to detect the interior of the vehicle to obtain a detection result. Thereafter, when the vehicle controller determines that the detection result is that there is a first vibration wave signal generated when the user touches the vehicle in the vehicle, it determines the first vibration wave sensor that has collected the first vibration wave signal, and determines the second vibration wave sensor and the third vibration wave sensor that are in the same area as the first vibration wave sensor. The vehicle controller then obtains the first verification vibration wave signal collected by the second vibration wave sensor and the first verification vibration wave signal collected by the third vibration wave sensor. Second, the vehicle controller verifies the first verification vibration wave signal and the second verification vibration wave signal to obtain a comparison result. The vehicle controller then determines whether the first vibration wave signal contains an environmental noise vibration wave signal and / or a system noise vibration wave signal based on the comparison result. Finally, if the vehicle controller determines that there is a noise vibration wave signal in the first vibration wave signal, it calls multiple filters configured by itself to process the first vibration wave signal based on the differential signal extracted from the verification vibration wave signal, so as to denoise the noise vibration wave signal contained in the first vibration wave signal based on the differential signal, thereby generating a target vibration wave signal containing only valid information.

[0104] In this way, the present application solves the technical problem in the related art that the vehicle cannot recognize the target vibration wave signal triggered by the user. That is, the present application collects the verification vibration wave signal in the same area as the vibration wave signal when the user-triggered vibration wave signal is detected in the vehicle, and determines the noise vibration wave signal contained in the vibration wave signal according to the verification vibration wave signal, thereby denoising the vibration wave signal according to the noise vibration wave signal to generate a target vibration wave signal containing only valid information, thereby enabling the vehicle to recognize the noise vibration wave signal in the vibration wave signal generated when the vehicle itself or other objects in the surrounding environment touch the vehicle, and to filter and denoise the noise vibration wave signal, thereby achieving the technical effect of enabling the vehicle to generate a target vibration wave signal containing only valid information, ensuring that the vehicle can accurately identify the interactive instructions that the user wants to trigger based on the target vibration wave signal, thereby improving the user's driving experience.

[0105] Based on the first embodiment of the present application, a second embodiment of the present application is proposed. In the second embodiment of the present application, the same or similar contents as those of the first embodiment can be referred to the above description and will not be described in detail later. On this basis, before the step of "obtaining a verification vibration wave signal corresponding to the first vibration wave signal" in the above step S20, the vibration wave signal denoising method of the present application can also include steps A10 to A20:

[0106] Step A10: obtaining a preset system noise vibration wave feature, and determining whether the first vibration wave signal contains an abnormal noise vibration wave feature that matches the system noise vibration wave feature;

[0107] Step A20: If it is determined that the first vibration wave signal has the abnormal noise vibration wave feature, it is determined that the noise vibration wave signal exists in the first vibration wave signal.

[0108] It should be noted that the system noise vibration wave signal is a vibration wave signal generated when the vehicle's own engine, suspension and other system hardware modules shake during driving. It is understandable that during vehicle driving, the system noise vibration wave signal caused by the vehicle's own vibration will be different for each vehicle based on the difference in vehicle system configuration, but it often has a fixed frequency distribution. Therefore, by collecting the system noise vibration wave characteristics corresponding to the vehicle, the first vibration wave signal obtained can be directly identified to quickly determine whether the first vibration wave signal contains the system noise vibration wave signal. It is understandable that there are many specific contents and acquisition methods of the system noise vibration wave characteristics, and this application does not limit them.

[0109] In this embodiment, when the vehicle controller determines that the detection result is the presence of a first vibration wave signal in the vehicle that is generated when the user touches the vehicle, it can also read the storage module configured for the vehicle to obtain a system noise vibration wave characteristic corresponding to the vehicle. The vehicle controller compares the obtained system noise vibration wave characteristic with the first vibration wave signal to determine whether there is an abnormal noise vibration wave characteristic matching the system noise vibration wave characteristic in the first vibration wave signal. Afterwards, if the vehicle determines that there is an abnormal noise vibration wave characteristic in the first vibration wave signal, it determines that there is a system noise vibration wave signal in the first vibration wave signal.

[0110] Exemplarily, for example, when the VCU determines that the comparison result is a first vibration wave signal generated when a user touches the vehicle, the VCU further reads a storage module configured for the vehicle to obtain a system noise vibration wave feature corresponding to the vehicle. The VCU then compares the system noise vibration wave feature with the first vibration wave signal to determine whether the first vibration wave signal contains an abnormal noise vibration wave feature that matches the system noise vibration wave feature. Afterwards, if the VCU determines that the first vibration wave signal contains the abnormal noise vibration wave feature, it determines that the first vibration wave signal, in addition to the valid vibration wave signal triggered by the user, also contains the system noise vibration wave signal generated by the vehicle system during driving. Similarly, if the VCU determines that the first vibration wave signal does not contain the abnormal noise vibration wave feature, it determines that the first vibration wave signal only contains the valid vibration wave signal triggered by the user.

[0111] In this way, the vehicle can directly identify the acquired first vibration wave signal through the acquired system noise vibration wave characteristics, so as to quickly determine whether the first vibration wave signal contains the system noise vibration wave signal.

[0112] Based on the first embodiment and / or the second embodiment of the present application, a third embodiment of the present application is proposed. In the third embodiment of the present application, the same or similar contents as those of the above embodiments can be referred to the above description and will not be described in detail later. On this basis, before the above step S10, the denoising method of the vibration wave signal of the present application further includes steps B10 to B30:

[0113] Step B10: detecting the vehicle by using a plurality of the vibration wave sensors to obtain a plurality of second vibration wave signals, wherein a triggering time of the second vibration wave signal is earlier than a triggering time of the first vibration wave signal;

[0114] Step B20: determining deployment position information corresponding to each of the plurality of vibration wave sensors, and determining a signal storage space corresponding to each of the plurality of second vibration wave signals according to each of the deployment position information;

[0115] Step B30: inputting the plurality of second vibration wave signals into the respective corresponding signal storage spaces, so as to store the plurality of second vibration wave signals respectively through the plurality of signal storage spaces.

[0116] In this embodiment, before calling multiple vibration wave sensors to detect the first vibration wave signal triggered by the user, the vehicle controller first calls multiple vibration wave sensors to collect multiple second vibration wave signals generated in the vehicle and whose trigger time is earlier than the above-mentioned first vibration wave signal. After that, the vehicle controller determines the deployment position information corresponding to each of the multiple vibration wave sensors, and determines the signal storage space corresponding to each of the multiple second vibration wave signals according to each deployment position information. Finally, the vehicle inputs the collected multiple second vibration wave signals into the corresponding signal storage spaces, so that the multiple second vibration wave signals are respectively stored through different signal storage spaces.

[0117] Exemplarily, for example, before identifying the first vibration wave signal triggered by the user, the VCU first collects each second vibration wave signal generated on the vehicle and having a trigger time earlier than the above-mentioned first vibration wave signal through multiple vibration wave sensors configured on the vehicle. Afterwards, the VCU reads the above-mentioned storage module to determine the deployment position information corresponding to each of the multiple vibration wave sensors, and determines based on each deployment position information that the signal storage space corresponding to the first vibration wave sensor, the second vibration wave sensor, and the third vibration wave sensor located in the driver's side door area is storage space No. 1, and determines that the signal storage space corresponding to the fourth vibration wave sensor and the fifth vibration wave sensor located in the co-pilot side door area is storage space No. 2. Finally, the VCU controls the first vibration wave sensor, the second vibration wave sensor, and the third vibration wave sensor to input the second vibration wave signals collected by each of them into storage space No. 1, and controls the second vibration wave signals collected by the fourth vibration wave sensor and the fifth vibration wave sensor to input the second storage space No. 2, so as to ensure that the second vibration wave signals collected by the vibration wave sensors in the same area are located in the same storage space.

[0118] In this way, the vehicle can ensure that the second vibration wave signal collected by the vibration wave sensor in the same area is located in the same storage space, so that when processing the vibration wave signal triggered by the user, other verification vibration wave signals matching the vibration wave signal can be found in the first time.

[0119] Based on the various embodiments of the present application, a fourth embodiment of the present application is proposed here. In the fourth embodiment of the present application, the same or similar contents as the above embodiments can be referred to the above introduction, and will not be repeated later. On this basis, after the above step B30, the denoising method of the vibration wave signal of the present application further includes steps C10 to C30:

[0120] Step C10: determining the actual space size of the signal storage space, and comparing the actual space size with a preset space size threshold to obtain a comparison result;

[0121] Step C20: when the comparison result is that the actual space size reaches the space size threshold, determining the signal acquisition time corresponding to each of the plurality of second vibration wave signals in the signal storage space;

[0122] Step C30: determining a vibration wave signal to be deleted from a plurality of second vibration wave signals based on each of the signal acquisition times, and performing a signal deletion operation on the vibration wave signal to be deleted.

[0123] In this embodiment, after storing each second vibration wave signal in the signal storage space, the vehicle controller further reads the actual space size of the signal storage space. At the same time, the vehicle controller obtains the space size threshold corresponding to the signal storage space, and compares the actual space size with the space size threshold to obtain a comparison result. After that, when the vehicle controller determines that the comparison result is that the actual space size reaches the space size threshold, it determines the signal acquisition time corresponding to each second vibration wave signal in the signal storage space. Finally, the vehicle controller determines that the earliest acquired second vibration wave signal among each second vibration wave signal is the vibration wave signal to be deleted based on each signal acquisition time, and performs a signal deletion operation on the vibration wave signal to be deleted.

[0124] Exemplarily, for example, after the VCU instructs the first vibration wave sensor, the second vibration wave sensor, and the third vibration wave sensor to input their respective collected second vibration wave signals into storage space No. 1, the VCU further reads the actual space size of storage space No. 1. At the same time, the VCU obtains the space size threshold corresponding to storage space No. 1, and compares the actual space size with the space size threshold to obtain a comparison result. Afterwards, when the VCU determines that the comparison result is that the actual space size reaches the space size threshold, it determines that the storage space in storage space No. 1 is insufficient, and the VCU thereby obtains the signal acquisition time corresponding to each second vibration wave signal in storage space No. 1. Finally, the VCU determines that the earliest acquired second vibration wave signal among each second vibration wave signal is the vibration wave signal to be deleted based on each signal acquisition time, and performs a signal deletion operation on the vibration wave signal to be deleted.

[0125] In this way, the vehicle ensures that there is enough storage space in the signal storage space to store new vibration wave signals by deleting the vibration wave signals contained in the signal storage space when it is detected that the signal storage space is insufficient.

[0126] Based on the various embodiments of the present application, a fifty-third embodiment of the present application is proposed here. In the fifth embodiment of the present application, the same or similar contents as the above embodiments can be referred to the above introduction, and will not be repeated later. On this basis, after the above step S40, the denoising method of the vibration wave signal of the present application further includes steps D10 to D20:

[0127] Step D10: extracting vibration wave signal features corresponding to the target vibration wave signal;

[0128] Step D20: determining a target interaction instruction corresponding to the target vibration wave signal according to the vibration wave signal characteristics, and controlling the vehicle based on the target interaction instruction.

[0129] In this embodiment, after obtaining the target vibration wave signal containing only valid signals, the vehicle controller first processes the target vibration wave signal to extract the vibration wave signal characteristics corresponding to the target vibration wave signal. After that, the vehicle controller reads the above-mentioned storage module to obtain multiple preset reference signal characteristics and reference interaction instructions corresponding to each of the multiple reference signal characteristics. The vehicle controller compares the obtained vibration wave signal characteristics with the multiple reference signal characteristics respectively to determine the target signal characteristics that match the vibration wave signal characteristics among the multiple reference signal characteristics. Finally, the vehicle determines the reference interaction instruction corresponding to the target signal characteristic as the target interaction instruction to be triggered by the user, and controls the vehicle based on the target interaction instruction to enable the vehicle to satisfy the interactive function that the user wants to trigger.

[0130] Exemplarily, for example, after obtaining the target vibration wave signal, the VCU first extracts vibration wave signal features such as a target trigger timestamp, a target trigger total period, a target amplitude, a target main frequency, a target spectrum bandwidth, a target spectrum distribution, and a target oscillation period contained in the target vibration wave signal. After that, the VCU reads a storage module configured in the vehicle to obtain a plurality of reference signal features composed of a plurality of reference trigger timestamps, a plurality of reference trigger total periods, a plurality of reference amplitudes, a plurality of reference main frequencies, a plurality of reference spectrum bandwidths, a plurality of reference spectrum distributions, a plurality of reference oscillation periods, and a plurality of reference vibration wave feature parameters, and a vibration wave database of reference interaction instructions corresponding to each of the plurality of reference signal features. The VCU obtains the vibration wave database based on the reference interaction instructions. The vibration wave signal feature is used to query the vibration wave database, so as to compare the target trigger timestamp, target trigger total period, target amplitude, target main frequency, target spectrum bandwidth, target spectrum distribution, and target oscillation period contained in the vibration wave signal feature with the corresponding benchmark trigger timestamp, benchmark total period, benchmark amplitude, benchmark main frequency, benchmark spectrum bandwidth, benchmark spectrum distribution, and benchmark oscillation period, so as to determine the target signal feature that matches the vibration wave signal feature among multiple benchmark signal features, and determine the benchmark interaction instruction corresponding to the target signal feature in the vibration wave database as the first interaction instruction that the user wants to trigger, and then control the vehicle according to the first interaction instruction to start the corresponding functional module.

[0131] In this way, the vehicle can analyze the vibration wave signal to extract the signal characteristics of the vibration wave signal, and determine the touch gesture used by the user when touching the vehicle based on the signal characteristics, and then infer the interaction command that the user wants to trigger.

[0132] For example, to help understand the implementation process of the vibration wave signal denoising method obtained by combining this embodiment with the above embodiments, please refer to Figure 4 , Figure 4 A brief flow chart of a method for denoising a vibration wave signal is provided, specifically:

[0133] In this embodiment, the VCU first calls a plurality of vibration wave sensors configured on the vehicle to collect each second vibration wave signal generated on the vehicle, and then the VCU determines the signal storage space corresponding to each second vibration wave signal according to the deployment position information corresponding to each vibration wave sensor, and then the VCU controls each vibration wave sensor to input the second vibration wave signal collected by each into the corresponding signal storage space, so as to store the second vibration wave signals in different areas through the plurality of signal storage spaces;

[0134] When the user taps the surface of the driver's door area in the cockpit of the vehicle with a preset target gesture that can cause the vehicle to issue an interactive command, the VCU calls multiple vibration wave sensors configured on the vehicle to detect the vehicle to obtain a detection result. When the VCU determines that the detection result is that there is a first vibration wave signal generated when the user touches the vehicle, it further determines the trigger area corresponding to the first vibration wave signal collected, and determines the second vibration wave sensor and the third vibration wave sensor in the trigger area. The VCU then reads the first verification vibration wave signal collected by the second vibration wave sensor and the second verification vibration wave signal collected by the third vibration wave sensor, and then , the VCU performs differential processing on the first verification vibration wave signal and the second verification vibration wave signal to determine whether there is a differential signal between the first verification vibration wave signal and the second verification vibration wave signal. When the VCU determines that there is a differential signal between the first verification vibration wave signal and the second verification vibration wave signal, it determines that there is an environmental noise vibration wave signal and / or a system noise vibration wave signal in the first vibration wave signal triggered by the user. After that, the VCU calls multiple filters configured by itself to perform denoising processing on the environmental noise vibration wave signal and / or the system noise vibration wave signal contained in the first vibration wave signal based on the differential signal, thereby generating a target vibration wave signal containing only valid information;

[0135] Finally, the VCU processes the target vibration wave signal to extract the target vibration wave characteristic parameters contained in the target vibration wave signal, and determines the target interaction instructions that the user wants to trigger based on the target vibration wave characteristic parameters, and then controls each hardware module in the vehicle according to the target interaction instructions to achieve the functional parameters that the user wants to trigger.

[0136] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the denoising method of the vibration wave signal of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0137] The present application provides a vehicle, comprising: at least one processor; and a memory in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vibration wave signal denoising method in the above-mentioned embodiment 1.

[0138] Reference below Figure 5 , which shows a schematic diagram of the structure of a vehicle suitable for implementing the embodiment of the present application. The vehicle in the embodiment of the present application may include, but is not limited to, a vehicle with multiple vibration wave sensors, a storage module, a communication module, a VCU (Vehicle Control Unit) configured internally, or a mobile terminal, a data storage control terminal, a PC, and other terminals connected to the electronic control unit of the vehicle. Figure 5 The vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0139] like Figure 5 As shown, the vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for vehicle operation are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0140] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0141] The vehicle provided by the present application adopts the denoising method of the vibration wave signal in the above embodiment, which can solve the technical problem in the related art that the vehicle cannot recognize the target vibration wave signal triggered by the user. Compared with the prior art, the beneficial effects of the vehicle provided by the present application are the same as the beneficial effects of the denoising method of the vibration wave signal provided by the above embodiment, and the other technical features of the vehicle are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0142] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0143] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0144] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vibration wave signal denoising method in the above-mentioned embodiment.

[0145] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0146] The computer-readable storage medium may be included in the vehicle, or may exist independently without being installed in the vehicle.

[0147] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle, the vehicle: detects the vehicle through multiple vibration wave sensors to obtain a detection result; when the detection result is that there is a first vibration wave signal in the vehicle, obtains a verification vibration wave signal corresponding to the first vibration wave signal, wherein the first vibration wave signal is a vibration wave signal generated when a user touches the vehicle; determines whether there is a noise vibration wave signal in the first vibration wave signal according to the verification vibration wave signal; if it is determined that the first vibration wave signal contains the noise vibration wave signal, performs noise reduction processing on the first vibration wave signal based on the noise vibration wave signal to generate a target vibration wave signal.

[0148] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0149] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0150] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0151] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vibration wave signal denoising method, and can solve the technical problem in the related art that the vehicle cannot recognize the target vibration wave signal triggered by the user. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vibration wave signal denoising method provided by the above-mentioned embodiment, and will not be described in detail here.

[0152] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vibration wave signal denoising method when executed by a processor.

[0153] The computer program product provided by the present application can solve the technical problem in the related art that the vehicle cannot recognize the target vibration wave signal triggered by the user. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vibration wave signal denoising method provided by the above embodiment, which will not be described in detail here.

[0154] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for denoising a vibration wave signal, characterized in that: The vibration wave signal denoising method is applied to a vehicle equipped with a plurality of vibration wave sensors, and the method comprises: Detecting the vehicle by using a plurality of the vibration wave sensors to obtain a detection result; When the detection result is that a first vibration wave signal is present in the vehicle, obtaining a verification vibration wave signal corresponding to the first vibration wave signal, wherein the first vibration wave signal is a vibration wave signal generated when a user touches the vehicle; Determining whether there is a noise vibration wave signal in the first vibration wave signal according to the verification vibration wave signal; If it is determined that the noise vibration wave signal exists in the first vibration wave signal, a noise reduction process is performed on the first vibration wave signal to generate a target vibration wave signal.

2. The method according to claim 1, characterized in that The step of obtaining a verification vibration wave signal corresponding to the first vibration wave signal comprises: determining a triggering area corresponding to the first vibration wave signal, and screening a plurality of the vibration wave sensors based on the triggering area to determine a target vibration wave sensor; Determining a target signal storage space corresponding to the target vibration wave sensor; The target signal storage space is accessed to acquire a verification vibration wave signal corresponding to the first vibration wave signal.

3. The method according to claim 2, characterized in that The step of screening the plurality of vibration wave sensors based on the trigger area to determine a target vibration wave sensor comprises: Determining deployment position information corresponding to each of the plurality of vibration wave sensors; Screening the plurality of deployment location information based on the trigger area to determine a target deployment location matching the trigger area; The vibration wave sensor corresponding to the target deployment position is determined as the target vibration wave sensor.

4. The method according to claim 1, characterized in that The verification vibration wave signal includes a first verification vibration wave signal and a second verification vibration wave signal; The step of judging whether there is a noise vibration wave signal in the first vibration wave signal according to the verification vibration wave signal comprises: performing differential processing on the first verification vibration wave signal and the second verification vibration wave signal to obtain a signal differential result; determining whether the first verification vibration wave signal and the second verification vibration wave signal are the same based on the signal difference result; If it is determined that the first verification vibration wave signal and the second verification vibration wave signal are different, it is determined that the noise vibration wave signal exists in the first vibration wave signal.

5. The method according to claim 1, characterized in that The noise vibration wave signal includes a system noise vibration wave signal. Before the step of obtaining a verification vibration wave signal corresponding to the first vibration wave signal, the method further includes: Acquire a preset system noise vibration wave feature, and determine whether the first vibration wave signal contains an abnormal noise vibration wave feature that matches the system noise vibration wave feature; If it is determined that the abnormal noise vibration wave feature exists in the first vibration wave signal, it is determined that the noise vibration wave signal exists in the first vibration wave signal.

6. The method according to claim 1, characterized in that Before the step of detecting the vehicle by using a plurality of the vibration wave sensors to obtain a detection result, the method further includes: Detecting the vehicle by using the plurality of vibration wave sensors to obtain a plurality of second vibration wave signals, wherein the triggering time of the second vibration wave signal is earlier than the triggering time of the first vibration wave signal; Determine the deployment position information corresponding to each of the plurality of vibration wave sensors, and determine the signal storage space corresponding to each of the plurality of second vibration wave signals according to each of the deployment position information; The plurality of second vibration wave signals are input into the respective corresponding signal storage spaces, so that the plurality of second vibration wave signals are respectively stored in the plurality of signal storage spaces.

7. The method according to claim 6, characterized in that After the step of inputting the plurality of second vibration wave signals into the respective corresponding signal storage spaces, the method further comprises: Determine the actual space size of the signal storage space, and compare the actual space size with a preset space size threshold to obtain a comparison result; When the comparison result is that the actual space size reaches the space size threshold, determining the signal acquisition time corresponding to each of the plurality of second vibration wave signals in the signal storage space; A vibration wave signal to be deleted is determined from a plurality of second vibration wave signals based on each of the signal acquisition times, and a signal deletion operation is performed on the vibration wave signal to be deleted.

8. The method according to claim 1, characterized in that After the step of performing noise reduction processing on the first vibration wave signal to generate a target vibration wave signal, the method further includes: Extracting a vibration wave signal feature corresponding to the target vibration wave signal; A target interaction instruction corresponding to the target vibration wave signal is determined according to the vibration wave signal characteristics, and the vehicle is controlled based on the target interaction instruction.

9. A vehicle, characterized in that: The vehicle comprises: a plurality of shock wave sensors, a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the shock wave signal denoising method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vibration wave signal denoising method according to any one of claims 1 to 8 are implemented.

11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method for denoising a vibration wave signal according to any one of claims 1 to 8 are implemented.

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