Signal smoothing method and device

Abstract

The invention provides a signal smoothing processing method and device. The method comprises the following steps: acquiring a control signal at the current moment; determining the type of the control signal at the current moment, wherein the type of the control signal at the current moment comprises positive increase, positive decrease, negative increase and negative decrease; according to the type of the control signal at the current moment, parameters required for smoothing are configured; and smoothing the control signal at the current moment according to the parameters required for smoothing to obtain a smoothed control signal. The method can improve the signal smoothing effect.

Description

Technical Field

[0001] The present application relates to the technical field of signal processing, and in particular to a signal smoothing processing method and device. Background Art

[0002] In the control system, signal processing is the key link to ensure the stable operation and precise control of the control system. By smoothing the input signal, noise interference can be effectively reduced, and the instability of the control system caused by sudden changes in the signal can be avoided, thereby improving the overall control effect of the control system.

[0003] At present, in the field of signal smoothing, first-order low-pass filtering and rate-of-change limiting algorithms are two commonly used methods. Among them, the rate-of-change limiting smoothing scheme directly limits the rate of change of the control signal, so that the change process of the control signal changes from a step change to a linear change, thereby reducing the control system oscillation caused by sudden changes in the control signal. The first-order low-pass filtering scheme comprehensively considers the control signal at the previous moment and the current control signal, and uses the characteristics of the filter to smooth the input signal, further reducing the impact of noise and sudden changes on the control system.

[0004] However, the control signals processed by the above two signal smoothing methods are difficult to smoothly connect and the smoothing effect is poor. Summary of the invention

[0005] The present application provides a signal smoothing processing method and device to solve the problem of poor signal smoothing effect in the prior art.

[0006] In a first aspect, the present application provides a signal smoothing processing method, comprising:

[0007] Get the control signal at the current moment;

[0008] Determine the type of the control signal at the current moment, where the type of the control signal at the current moment includes positive increase, positive decrease, negative increase, and negative decrease;

[0009] According to the type of control signal at the current moment, configure the parameters required for smoothing;

[0010] The control signal at the current moment is smoothed according to the parameters required for smoothing to obtain a smoothed control signal.

[0011] In some embodiments, according to the type of the control signal at the current moment, the parameters required for smoothing are configured, including:

[0012] According to the type of control signal at the current moment, configure the parameters required to improve the smoothing in the sigmoid function.

[0013] In some embodiments, according to the type of the control signal at the current moment, the parameters required for smoothing in the improved sigmoid function are configured, including:

[0014] According to the type of control signal at the current moment, configure the parameter u in the improved sigmoid function limit , a and b;

[0015]

[0016] in, represents the smoothed control signal;

[0017] u limit Indicates the amplitude of the control signal;

[0018] a is used to control the degree of smoothness;

[0019] b is used to control the symmetrical center position of the curve corresponding to the smoothed control signal.

[0020] In some embodiments, when the type of the control signal at the current moment is positive increase or positive decrease, u limit The value of is the maximum amplitude of the control signal.

[0021] In some embodiments, when the type of the control signal at the current moment is negative increase or negative decrease, u limit The value of is the minimum amplitude of the control signal.

[0022] In some embodiments, according to the type of the control signal at the current moment, the configuration parameter a includes:

[0023] Determine the initial parameter a according to the type of the control signal at the current moment and the mapping relationship between the type of the control signal and the parameter a;

[0024] The correction coefficient is determined according to the response speed requirement of the control signal at the current moment. The response speed requirement is positively correlated with the correction coefficient.

[0025] The correction coefficient is used to correct the initial parameter a to obtain the corrected parameter a.

[0026] In a second aspect, the present application provides a signal smoothing processing device, comprising:

[0027] An acquisition module, used to acquire the control signal at the current moment;

[0028] A determination module, used to determine the type of the control signal at the current moment, where the type of the control signal at the current moment includes positive increase, positive decrease, negative increase and negative decrease;

[0029] A configuration module, used to configure the parameters required for smoothing according to the type of the control signal at the current moment;

[0030] The smoothing module is used to smooth the control signal at the current moment according to the parameters required for smoothing to obtain a smoothed control signal.

[0031] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0032] The memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the signal smoothing processing method in the first aspect and any one of the embodiments of the first aspect.

[0033] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the signal smoothing processing method in the first aspect and any one of the embodiments of the first aspect is implemented.

[0034] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the signal smoothing processing method in the first aspect and any one of the embodiments of the first aspect.

[0035] The signal smoothing method and device provided in the present application configure the parameters required for smoothing according to the type of the control signal, and use the configured parameters to smooth the control signal, thereby improving the effect of the control signal smoothing. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 It is a schematic diagram of a signal smoothing processing result in the prior art;

[0038] Figure 2 It is another schematic diagram of signal smoothing processing results in the prior art;

[0039] Figure 3 A flow chart of a signal smoothing method provided in one embodiment of the present application;

[0040] Figure 4 A schematic diagram of a sigmoid function provided in one embodiment of the present application;

[0041] Figure 5 A schematic diagram of a signal smoothing effect provided by an embodiment of the present application;

[0042] Figure 6 A schematic diagram of the structure of a signal smoothing processing device provided in one embodiment of the present application;

[0043] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In control systems, the quality of signal processing technology is directly related to the performance and reliability of the control system. For example, the control instructions of related intelligent driving functions such as Advanced Driving Assistance System (ADAS) and Navigation on Autopilot (NOA), including longitudinal control instructions such as acceleration and torque and lateral control instructions such as steering wheel angle and torque, can effectively improve the performance of the system and the comfort of intelligent driving after smoothing.

[0046] At present, there are two common methods for signal smoothing: first-order low-pass filtering and limiting the rate of change. Among them, the rate-limiting smoothing scheme directly limits the rate of change of the signal, so that the signal change process changes from step to linear change, thereby reducing the system oscillation caused by signal mutations. Its smoothing effect is as follows: Figure 1 As shown in the figure (the dotted line represents the signal before smoothing, and the solid line represents the signal after smoothing). Since the signal changes linearly, at the start and end stages, the control signal often cannot be smoothly connected with the signals in the previous and next stages, which may cause additional oscillations or instability when the system starts and stops.

[0047] The first-order low-pass filter takes into account the signal at the previous moment and the current signal, and uses the characteristics of the filter to smooth the input signal, thereby reducing the impact of noise and sudden signal on the system. The smoothing effect is as follows: Figure 2As shown in the figure (the dotted line represents the signal before smoothing, and the solid line represents the signal after smoothing). In the initial stage, the signal at the previous moment is 0, and there is a sudden change from the signal at the previous moment to the current signal. The response of the filter often takes a certain amount of time to completely stabilize, so the initial stage of the current signal is still not smooth.

[0048] In view of the above problems, the present application proposes a signal smoothing processing method and device. In the method, targeted optimization is performed according to the type of control signal, and parameters required for smoothing the signal are configured according to the type of control signal, and the control signal is smoothed according to the configured smoothing parameters, thereby improving the smoothing effect.

[0049] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0050] In the present application, the electronic device is used as the execution subject to execute the signal smoothing processing method of the following embodiment. Specifically, the execution subject can be a hardware device of the electronic device, or a software application that implements the following embodiment in the electronic device, or a computer-readable storage medium installed with the software application that implements the following embodiment, or a code that implements the software application of the following embodiment.

[0051] Figure 3 FIG. 2 is a flow chart of a signal smoothing method provided by an embodiment of the present application. Figure 3 As shown, with the electronic device as the execution subject, the method of this embodiment may include the following steps:

[0052] S101, obtaining a control signal at the current moment.

[0053] In this embodiment, the control signal may be a control instruction of the intelligent driving vehicle, such as a vehicle acceleration instruction, a steering wheel angle instruction. The electronic device may obtain the control signal through a hardware interface, a sensor or other signal source, and this embodiment does not limit the type and source of the control signal.

[0054] S102: Determine the type of the control signal at the current moment.

[0055] In this embodiment, the types of the control signal at the current moment include positive increase, positive decrease, negative increase and negative decrease.

[0056] Specifically, the electronic device can compare the control signal at the current moment with the control signal at the previous moment to determine the type of the control signal at the current moment. It can be understood that according to the positive and negative and size changes of the control signal, it can be divided into five types: positive increase, positive decrease, negative increase, negative decrease and constant. Among them, positive increase means that the control signal is in the positive direction and increasing, positive decrease means that the control signal is in the positive direction and decreasing, negative increase means that the control signal is in the negative direction and increasing, and negative decrease means that the control signal is in the negative direction and decreasing.

[0057] In addition, the type of control signal may also include the type of control signal, such as acceleration, speed, torque, etc.

[0058] S103. Configure parameters required for smoothing according to the type of the control signal at the current moment.

[0059] In this embodiment, the electronic device may select a suitable smoothing algorithm according to the type of control signal, and dynamically adjust the smoothing parameters according to different types of control signals. For example, for a fast-changing signal (such as a positive increase or a negative increase), a smaller smoothing window may be required to maintain the response speed of the signal; for a slowly changing signal (such as a positive decrease or a negative decrease), a larger smoothing window may be required to reduce noise.

[0060] In addition, the type of control signal will also affect the configuration of smoothing parameters. For example, the range of acceleration instructions in intelligent driving systems is [-5m / s 2 , 2m / s 2 ], the range of other instructions is different. This factor can also be considered when configuring parameters.

[0061] S104: Smoothing the control signal at the current moment according to the parameters required for smoothing to obtain a smoothed control signal.

[0062] In this embodiment, the electronic device smoothes the control signal at the current moment according to the selected smoothing algorithm and smoothing parameters to obtain a smoothed control signal.

[0063] The signal smoothing method provided in this embodiment configures smoothing parameters according to the type of control signal, thereby smoothing the control signal in a targeted manner, avoiding the problem of performing the same smoothing on different types of control signals, improving the smoothing effect of the control signal, and being used for smoothing control instructions at different stages of an intelligent driving vehicle, which can solve the problem of non-smooth control instructions.

[0064] In some embodiments, the specific implementation of step S103 is to configure the smoothing parameters required in the improved sigmoid function according to the type of the control signal at the current moment.

[0065] Specifically, the electronic device can select the sigmoid function as the algorithm for smoothing the control signal, and improve the sigmoid function according to the type of the control signal. By adjusting the parameters of the sigmoid function, the degree and speed of smoothing can be controlled.

[0066] In some embodiments, according to the type of the control signal at the current moment, the parameters required for smoothing in the improved sigmoid function are configured, including:

[0067] According to the type of control signal at the current moment, configure the parameter u in the improved sigmoid function limit , a and b. The improved sigmoid function is shown in formula (1).

[0068] (1)

[0069] Wherein, t represents time, and t=0 is the moment when the control signal changes;

[0070] represents the smoothed control signal;

[0071] u limit Indicates the amplitude of the control signal;

[0072] a is used to control the degree of smoothness;

[0073] b is used to control the symmetrical center position of the curve corresponding to the smoothed control signal.

[0074] Specifically, for example, the time required to smooth the control signal at the current moment is t, that is, the time from the generation to the execution of the control signal at the current moment is t, and the parameter b can be set according to t / 2, or the parameter b can be adjusted as needed. For example, if the initial stage of the smoothed control signal needs to be smoother, the parameter b can be set according to t / 3; if the final stage of the smoothed control signal needs to be smoother, the parameter b can be set according to 2t / 3. By adjusting the parameter b according to the time t, the symmetric center position of the corresponding curve of the improved sigmoid function within the time t can be adjusted.

[0075] like Figure 4 As shown in Figure 2, the image of the sigmoid function is S-shaped, and its value range is [0, 1]. The sigmoid function before improvement is shown in formula (2).

[0076] (2)

[0077] because The value of is [0, 1]. In order to adapt to the amplitude of different control signals, u limit As the amplitude adjustment factor, u limit and The product of is taken as the control signal after smoothing.

[0078] Specifically, u limit It is set according to the amplitude of the control signal, that is, the maximum and minimum values ​​of the control signal. It should be understood that when the type of control signal is determined, its maximum and minimum values ​​are also determined. For example, the range of the acceleration instruction is [-5m / s 2 , 2m / s 2 ].

[0079] Optionally, when the type of the control signal at the current moment is positive increase or positive decrease, u limit The value of is the maximum amplitude of the control signal.

[0080] For example, when the acceleration command increases or decreases in the positive direction, u limit The value is -5m / s 2 .

[0081] Optionally, when the type of the control signal at the current moment is negative increase or negative decrease, u limit The value of is the minimum amplitude of the control signal.

[0082] For example, when the acceleration command increases or decreases in the negative direction, u limit The value is 2m / s 2 .

[0083] In some embodiments, according to the type of the control signal at the current moment, the configuration parameter a includes:

[0084] S201. Determine an initial parameter a according to the type of the control signal at the current moment and the mapping relationship between the type of the control signal and the parameter a.

[0085] Specifically, a is used to control the smoothness of the curve. The closer a is to 0, the smoother the curve is, and the larger a is, the steeper the curve is.

[0086] Since different types of control signals have different response speed requirements, for example, positively increasing and negatively increasing control signals have higher response speed requirements, a with a larger value needs to be configured to increase the smoothing speed. The electronic device can pre-calibrate the mapping relationship between the control signal type and the parameter a, and select the initial parameter a according to the mapping relationship and the type of the control signal.

[0087] S202. Determine a correction coefficient according to a response speed requirement of a control signal at a current moment. The response speed requirement is positively correlated with the correction coefficient.

[0088] S203, using the correction coefficient to correct the initial parameter a to obtain the corrected parameter a.

[0089] Specifically, in addition to different response speed requirements for different types of control signals, the electronic device can also obtain vehicle perception information and determine the response speed requirements of the control signal at the current moment based on the perception information. For example, if the vehicle perception information indicates that there is an obstacle in front of the vehicle and the available time to avoid the obstacle is less than the preset time, that is, when the control signal at the current moment has a high response speed requirement, the correction coefficient needs to be used to correct the parameter a to further speed up the smoothing speed.

[0090] Optionally, the electronic device may pre-calibrate a mapping relationship between the time required to avoid an obstacle and the correction coefficient to select a suitable correction coefficient.

[0091] Optionally, the time required to smooth the control signal at the current moment is t, that is, when the time from the generation to the execution of the control signal at the current moment is t, the value of the parameter a is between [10t, 100t].

[0092] like Figure 5 As shown (the dotted line represents the signal before smoothing, and the solid line represents the signal after smoothing), the signal smoothing method of the present application is used to smooth different types of control signals of intelligent driving, and the mutations of the control signals are relatively smooth. By improving the sigmoid function and applying it to the smoothing of control instructions of intelligent driving vehicles, the smoothing effect of control instructions can be improved, the comfort experience of intelligent driving vehicles can be improved, and the problem of poor driving experience caused by mutations of control instructions can be avoided.

[0093] It should be understood that the signal smoothing method provided in the present application can also be used for smoothing control signals such as the torque and speed of the motor, and the present application does not limit the type of signal to be smoothed.

[0094] Figure 6 FIG. 2 shows a schematic diagram of the structure of a signal smoothing processing device provided by an embodiment of the present application. Figure 6 As shown, the signal smoothing processing device 10 of this embodiment is used to implement the operation corresponding to the electronic device in any of the above method embodiments. The signal smoothing processing device 10 of this embodiment includes:

[0095] An acquisition module 11 is used to acquire a control signal at a current moment;

[0096] A determination module 12, used to determine the type of the control signal at the current moment, the type of the control signal at the current moment includes positive increase, positive decrease, negative increase and negative decrease;

[0097] A configuration module 13, used to configure the parameters required for smoothing according to the type of the control signal at the current moment;

[0098] The smoothing module 14 is used to smooth the control signal at the current moment according to the parameters required for smoothing to obtain a smoothed control signal.

[0099] The signal smoothing processing device 10 provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principle and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0100] Figure 7 FIG. 1 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 20 is used to implement the operations corresponding to the electronic device in any of the above method embodiments. The electronic device 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 24.

[0101] The memory 21 is used to store computer programs. The memory 21 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk, or an optical disk.

[0102] The processor 22 is used to execute the computer program stored in the memory to implement the method in the above embodiment. For details, please refer to the relevant description in the above method embodiment. The processor 22 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0103] Optionally, the memory 21 may be independent or integrated with the processor 22 .

[0104] When the memory 21 is a device independent of the processor 22, the electronic device 20 may further include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0105] The communication interface 24 may be connected to the processor 22 via the bus 23. The processor 22 may control the communication interface 24 to implement the functions of receiving and sending signals.

[0106] The electronic device 20 provided in this embodiment can be used to execute the above-mentioned signal smoothing processing method, and its implementation method and technical effect are similar, which will not be described in detail in this embodiment.

[0107] The present application also provides a computer-readable storage medium, in which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, it is used to implement the methods provided in the various embodiments described above.

[0108] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that is convenient for transmitting a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0109] Specifically, the computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium may be any available medium that can be accessed by a general or special-purpose computer.

[0110] The present application also provides a computer program product, which includes a computer program / instruction, and the computer program / instruction is stored in a computer-readable storage medium. At least one processor of the device can read the computer program / instruction from the computer-readable storage medium, and at least one processor executes the computer program / instruction so that the device implements the methods provided in the various embodiments described above.

[0111] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0112] Among them, each module can be physically separated, for example, installed in different locations of a device, or installed on different devices, or distributed on multiple network units, or distributed on multiple processors. Each module can also be integrated together, for example, installed in the same device, or integrated in a set of codes. Each module can exist in the form of hardware, or can also exist in the form of software, or can also be implemented in the form of software plus hardware. The present application can select some or all of the modules according to actual needs to achieve the purpose of the present embodiment.

[0113] It should be understood that, although the various steps in the flowcharts in the above-described embodiments are sequentially displayed according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily to be carried out sequentially, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0114] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A signal smoothing method, characterized in that: The method comprises: Get the control signal at the current moment; Determine the type of the control signal at the current moment, where the type of the control signal at the current moment includes positive increase, positive decrease, negative increase and negative decrease; According to the type of the control signal at the current moment, configure the parameters required for smoothing; The control signal at the current moment is smoothed according to the smoothing required parameter to obtain a smoothed control signal.

2. The method according to claim 1, characterized in that According to the type of the control signal at the current moment, the parameters required for smoothing are configured, including: According to the type of the control signal at the current moment, the parameters required for smoothing in the improved sigmoid function are configured.

3. The method according to claim 2, characterized in that According to the type of the control signal at the current moment, the parameters required for smoothing in the improved sigmoid function are configured, including: According to the type of the control signal at the current moment, configure the parameter u in the improved sigmoid function limit , a and b; in, represents the smoothed control signal; u limit Indicates the amplitude of the control signal; a is used to control the degree of smoothness; b is used to control the symmetrical center position of the curve corresponding to the smoothed control signal.

4. The method according to claim 3, characterized in that When the type of the control signal at the current moment is positive increase or positive decrease, the u limit The value of is the maximum amplitude of the control signal.

5. The method according to claim 3, characterized in that: When the type of the control signal at the current moment is negative increase or negative decrease, the u limit The value of is the minimum amplitude of the control signal.

6. The method according to any one of claims 3 to 5, characterized in that: According to the type of the control signal at the current moment, the configuration parameter a includes: Determine the initial parameter a according to the type of the control signal at the current moment and the mapping relationship between the type of the control signal and the parameter a; Determine a correction coefficient according to a response speed requirement of the control signal at the current moment, wherein the response speed requirement is positively correlated with the correction coefficient; The initial parameter a is corrected using the correction coefficient to obtain the corrected parameter a.

7. A signal smoothing processing device, characterized in that: include: An acquisition module, used to acquire the control signal at the current moment; A determination module, used to determine the type of the control signal at the current moment, wherein the type of the control signal at the current moment includes positive increase, positive decrease, negative increase and negative decrease; A configuration module, used to configure the parameters required for smoothing according to the type of the control signal at the current moment; The smoothing module is used to smooth the control signal at the current moment according to the smoothing required parameters to obtain a smoothed control signal.

8. An electronic device, characterized in that: include: Memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory to implement the signal smoothing processing method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to implement the signal smoothing processing method according to any one of claims 1 to 6.

10. 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 signal smoothing processing method according to any one of claims 1 to 6 is implemented.

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