Signal data processing method and device and storage medium

Abstract

The invention provides a signal data processing method and device and a storage medium, and the method comprises the steps: determining whether initial signal data contains a transmission timestamp or not, and obtaining a first determination result, the transmission timestamp being the time when a traffic signal controller transmits the initial signal data to a road side unit; performing at least one time of time compensation on the initial signal data according to the first determination result to obtain first signal data, the time compensation being used for reducing the time delay of the initial signal data; processing the first signal data to obtain second signal data; and transmitting the initial signal data or the second signal data. According to the invention, the time delay of signal data acquisition can be effectively reduced, and the reliability of signal data acquisition is improved.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a signal data processing method, apparatus, and storage medium. Background Art

[0002] Vehicle to Infrastructure (V2I) communication is an important wireless communication technology in the intelligent connected transportation system, an important communication link to break through single-vehicle intelligence, and an important technical support for connecting intelligent vehicles and intelligent roads. Traffic lights are important information in the intelligent connected transportation system and key information that can improve vehicle passing efficiency. Summary of the Invention

[0003] This application aims to at least partly solve one of the technical problems in the related art that in the process of analyzing the required signal data based on the initial signal data, a certain delay will be introduced, resulting in low reliability of signal data acquisition.

[0004] To this end, this application proposes a signal data processing method, apparatus, and processor-readable storage medium, which can effectively reduce the time delay of signal data acquisition and improve the reliability of signal data acquisition.

[0005] The signal data processing method proposed in the first aspect embodiment of this application is executed by a roadside unit and includes: determining whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit; performing at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data; processing the first signal data to obtain second signal data; and sending the initial signal data or the second signal data.

[0006] The signal data processing method proposed in the second aspect embodiment of this application is executed by an on-vehicle unit and includes: receiving the initial signal data and determining whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit; performing at least one time compensation on the initial signal data according to the first determination result to obtain first signal data; determining second signal data according to the first signal data; or receiving second signal data; determining whether there is partial signal data with a periodic change rule in the second signal data to obtain a second determination result, where the second determination result is used to determine the operating mode; and providing the second signal data based on the operating mode.

[0007] The signal data processing device provided in the third aspect embodiment of the present application includes: a first determination unit, configured to determine whether the initial signal data contains a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit; a first compensation unit, configured to perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data; a processing unit, configured to process the first signal data to obtain second signal data; and a sending unit, configured to send the initial signal data or the second signal data.

[0008] The signal data processing device provided in the fourth aspect embodiment of the present application includes: a receiving unit, configured to receive the initial signal data and determine whether the initial signal data contains a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit; a second compensation unit, configured to perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data; a second determination unit, configured to determine second signal data according to the first signal data; or the receiving unit receives the second signal data; a third determination unit, configured to determine whether there is partial signal data with a periodic change rule in the second signal data, and obtain a second determination result, where the second determination result is used to determine the operation mode; and a providing unit, configured to provide the second signal data based on the operation mode.

[0009] The signal data processing device provided in the fifth aspect embodiment of the present application includes: a memory, a transceiver, and a processor: the memory is configured to store a computer program; the transceiver is configured to send and receive data under the control of the processor; the processor is configured to read the computer program in the memory and perform the following operations: determine whether the initial signal data contains a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit; perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data; process the first signal data to obtain second signal data; and send the initial signal data or the second signal data.

[0010] The signal data processing device provided by the sixth aspect embodiment of the present application includes: a memory, a transceiver, and a processor. The memory is used to store computer programs. The transceiver is used to transmit and receive data under the control of the processor. The processor is used to read the computer programs in the memory and perform the following operations: receiving initial signal data, and determining whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit; performing at least one time compensation on the initial signal data according to the first determination result to obtain first signal data; determining second signal data according to the first signal data; or receiving second signal data; determining whether there is partial signal data with a periodic change pattern in the second signal data to obtain a second determination result, where the second determination result is used to determine the operating mode; and providing the second signal data based on the operating mode.

[0011] The processor-readable storage medium provided by the seventh aspect embodiment of the present application is characterized in that the processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the signal data processing method provided by the first aspect embodiment of the present application, or execute the signal data processing method provided by the second aspect embodiment of the present application.

[0012] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0014] Figure 1 is the framework structure diagram of signal data processing in the embodiments of the present application;

[0015] Figure 2 is the flowchart of the signal data processing method proposed in an embodiment of the present application;

[0016] Figure 3 is the flowchart of the signal data processing method proposed in another embodiment of the present application;

[0017] Figure 4 is the flowchart of the signal data processing method proposed in another embodiment of the present application;

[0018] Figure 5 is the flowchart of the signal data processing method proposed in yet another embodiment of the present application;

[0019] Figure 6 is the flowchart of the signal data processing method proposed in still another embodiment of the present application;

[0020] Figure 7 It is a flowchart of the signal calibration module in an embodiment of the present application;

[0021] Figure 8 It is a schematic diagram of the signal completion module in an embodiment of the present application;

[0022] Figure 9 It is a schematic flowchart of the virtual signal machine module in an embodiment of the present application;

[0023] Figure 10 It is a schematic structural diagram of a signal data processing device proposed in an embodiment of the present application;

[0024] Figure 11 It is a schematic structural diagram of a signal data processing device proposed in another embodiment of the present application;

[0025] Figure 12 It is a schematic structural diagram of a signal data processing device proposed in another embodiment of the present application. Detailed implementation manners

[0026] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application. On the contrary, the embodiments of the present application include all changes, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0027] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0028] In the embodiments of the present application, the term "plurality" means two or more, and other quantifiers are similar thereto.

[0029] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0030] In the related art, the method for obtaining traffic signal information based on V2I is as follows: The Road Side Unit (RSU) associates the initial signal data (including traffic signal information) obtained from the traffic signal controller with the intersection map information, and then broadcasts and sends it through the V2I communication link. The On Board Unit (OBU) obtains the initial signal data and intersection map information broadcast by the RSU through the V2I link, combines its own positioning information to parse out the required signal data, and finally presents it to the driver of the intelligent connected vehicle through the display terminal to provide reference suggestions for vehicle driving.

[0031] In this way, a certain delay will be introduced in the process of analyzing the required signal data based on the initial signal data, resulting in low reliability of signal data acquisition.

[0032] In the embodiments of the present application, by determining whether the initial signal data contains a transmission timestamp, a first determination result is obtained, where the transmission timestamp is the time when the traffic signal controller sends the initial signal data to the RSU, and at least one time compensation is performed on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data, process the first signal data to obtain second signal data, and send the initial signal data or the second signal data, which can effectively solve the technical problem in the related art that a certain delay is introduced in the process of analyzing the required signal data based on the initial signal data, resulting in low reliability of signal data acquisition. It can effectively reduce the time delay of signal data acquisition and improve the reliability of signal data acquisition.

[0033] See Figure 1 , Figure 1 is the framework structure diagram of signal data processing in the embodiments of the present application. In the embodiments of the present application, by designing software modules, the time delay of signal data acquisition is reduced. Through a series of processes on traffic signals by software modules, the time delay and jitter of data are minimized as much as possible to help in-vehicle devices obtain traffic signal data with higher accuracy. In the embodiments of the present application, a complete traffic signal data is defined for traffic signal transmission between the RSU and the OBU. This data can include the light group number, light color, remaining time, light color change sequence, and light color duration of each light group. Among them, the light group number can have a mapping relationship with the lane number in the electronic map data.

[0034] In the embodiments of the present application, the protocol adaptation and conversion module can parse and process the traffic signal data received by the RSU and convert it into the format of complete traffic signal data. The signal calibration module can perform time calibration on the processed complete traffic signal data, compensate for the time delay, and smooth the jitter. The signal completion module can verify whether the data items of the received traffic signal data are complete and perform completion and verification. On the OBU side, for the traffic signal data received through the wireless link, the signal calibration module will also calibrate the data. The calibrated traffic signal data is used to start or update the virtual signal machine. The virtual signal machine is responsible for outputting the complete traffic signal data.

[0035] In the embodiments of the present application, the traffic signal data can also be referred to as the initial signal data, and the calibrated traffic signal data can also be referred to as the second signal data, without any limitation in this regard.

[0036] Figure 2 It is a schematic flowchart of the signal data processing method proposed in an embodiment of the present application.

[0037] It should be noted that the execution subject of the signal data processing method in this embodiment is the signal data processing device, which can be implemented in software and / or hardware, and this device can be configured in the RSU, and the RSU can be deployed in the roadside system.

[0038] As Figure 2 shown, the signal data processing method includes:

[0039] S201: Determine whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit.

[0040] Among them, the signal data sent by the traffic signal machine to the roadside unit can be referred to as the initial signal data. The initial signal data can also be, for example, traffic signal data, and the initial signal data can include some traffic signal information to support the driving operation of the in-vehicle system to assist the driver.

[0041] In the embodiments of the present application, after the roadside unit receives the initial signal data sent by the traffic signal machine, it can determine whether the initial signal data contains a transmission timestamp. The transmission timestamp represents the time when the traffic signal machine sends the initial signal data to the roadside unit, obtain a first determination result, and based on the first determination result, guide the local process of time compensation for the initial signal data.

[0042] S202: Perform at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data, where the time compensation is used to reduce the time delay of the initial signal data.

[0043] In some embodiments, the roadside unit may select a time compensation scheme for the initial signal data by referring to whether the initial signal data contains a transmission timestamp. For example, multiple time compensation schemes may be preset in advance. If the first determination result indicates that the initial signal data contains a transmission timestamp, the initial signal data may be time-compensated based on the transmission timestamp. If the initial signal data does not contain a transmission timestamp, other schemes may be selected to time-compensate the initial signal.

[0044] In some embodiments, performing one or more time compensations on the initial signal data with reference to the first determination result can effectively reduce the latency of signal data acquisition and improve the reliability of signal data acquisition.

[0045] In some embodiments, the transmission timestamp and the local timestamp of the roadside unit may be referred to determine the latency introduced during the transmission of the initial signal data to the roadside unit, and then the initial signal data may be calibrated based on the latency, thereby completing one time compensation for the initial signal data. Subsequently, any other possible method may be adopted to perform time compensation on the initial signal data again, such as based on artificial intelligence methods, data algorithm methods, etc., which are not limited herein.

[0046] In some embodiments, during the process of performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data, it may be to perform at least one time compensation on the first part of the signal data in the initial signal data according to the first determination result to obtain the first signal data, where the real-time performance of the first part of the signal data meets the real-time condition. Since the time compensation is performed on the first part of the signal data in the initial signal data whose real-time performance meets the real-time condition, the accuracy of time compensation can be effectively improved, the occupation of excessive computing resources by time compensation can be avoided, and the time compensation efficiency and compensation effect can be improved.

[0047] Among them, the implementation condition may be preset and may be a threshold condition indicating a relatively high real-time requirement for the signal data. If the real-time performance of the first part of the signal data meets the real-time condition, it means that the real-time requirement for the first part of the signal data is relatively high. Then, in the embodiments of the present application, the time compensation may be focused on the first part of the signal data.

[0048] S203: Process the first signal data to obtain the second signal data.

[0049] After performing at least one time compensation on the initial signal data to obtain the first signal data, the first signal data can be further optimized. For example, it can be detected whether there is a missing part in the first signal data. If there is a missing part, the first signal data can be completed to obtain the second signal data, or the first signal data can be denoised to obtain the second signal data, or the first signal data can be optimized in any other possible way to obtain the second signal data.

[0050] S204: Transmit the initial signal data or the second signal data.

[0051] After obtaining the second signal data, the initial signal data or the second signal data can be sent to the on-vehicle unit. That is to say, in the embodiments of the present application, it is supported to locally process the initial signal data in the roadside unit to obtain the second signal data, and then send the second signal data to the on-vehicle unit. It is also supported to directly send the initial signal data to the on-vehicle unit, and the on-vehicle unit performs time compensation on the initial signal data and other signal data processing processes. Thus, the flexibility of signal data processing can be effectively improved, and it can be effectively applied to personalized communication scenarios and expand the application range of signal data processing.

[0052] In this embodiment, by determining whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit, and performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data, where the time compensation is used to reduce the time delay of the initial signal data, processing the first signal data to obtain the second signal data; and transmitting the initial signal data or the second signal data, the time delay of signal data acquisition can be effectively reduced, and the reliability of signal data acquisition can be improved.

[0053] Figure 3 It is a schematic flowchart of a signal data processing method proposed in another embodiment of the present application.

[0054] It should be noted that the execution subject of the signal data processing method in this embodiment is a signal data processing device, which can be implemented in a software and / or hardware manner, and this device can be configured in the RSU, and the RSU can be deployed in the roadside system.

[0055] As Figure 3 shown, the signal data processing method includes:

[0056] S301: Determine whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit.

[0057] S302: If the first determination result indicates that the initial signal data includes a transmission timestamp, obtain the local timestamp of the roadside unit.

[0058] In some embodiments, if the initial signal data includes a transmission timestamp, it can trigger the acquisition of the local timestamp of the roadside unit to perform the first time compensation on the initial signal data with reference to the transmission timestamp and the local timestamp. The signal data obtained from the first time compensation can be referred to as intermediate signal data.

[0059] S303: Perform time compensation on the initial signal data according to the transmission timestamp and the local timestamp to obtain intermediate signal data.

[0060] In some embodiments, it can be determined the time difference between the transmission timestamp and the local timestamp, indicating the time delay with a time difference after the initial signal data is received by the roadside unit. Then, the initial signal data can be time calibrated based on the time difference to obtain intermediate signal data.

[0061] In some embodiments, with reference to the time difference, the first part of the signal data in the initial signal data can be time calibrated to obtain intermediate signal data.

[0062] S304: Perform time compensation on the intermediate signal data based on the reference compensation method to obtain the first signal data.

[0063] After performing the first time compensation on the initial signal data as described above, it can also trigger further time compensation for the intermediate signal data. Then, the compensation method used for the second time compensation can be referred to as the reference compensation method.

[0064] S305: If the first determination result indicates that the initial signal data does not include a transmission timestamp, perform time compensation on the initial signal data based on the reference compensation method to obtain the first signal data.

[0065] In some embodiments, if the initial signal data does not include a transmission timestamp, the reference compensation method can be used to perform time compensation on the initial signal data to obtain the first signal data.

[0066] In some embodiments, the reference compensation method can be, for example, based on an artificial intelligence method, a data algorithm method, etc. For example, the intermediate signal data or the initial signal data can be input into a delay compensation model, and the signal data output by the delay compensation model can be used as the compensated signal data. The delay compensation model can be pre-trained and can have learned the mapping relationship between the initial signal data or the intermediate signal data and the first signal data. Or it can also perform time compensation on the initial signal data or the intermediate signal data based on a mathematical algorithm capable of performing delay compensation, and no limitation is imposed thereon.

[0067] In some embodiments, in the process of performing time compensation on intermediate signal data or initial signal data based on the reference compensation method to obtain the first signal data, at least one reference signal data may be obtained, where the reference signal data has a corresponding reference reception time, and the jitter time difference of the roadside unit's current reception of the initial signal data is determined according to multiple reference reception times and the protocol data frequency, and the intermediate signal data or the initial signal data is time-compensated according to the jitter time difference to obtain the first signal data. Thereby effectively improving the accuracy of time compensation and largely ensuring the real-time nature of the initial signal data.

[0068] Among them, the jitter time difference refers to the possible time deviation of the reception time of the roadside unit's current reception of the initial signal data. The reference signal data may be the initial signal data that the traffic signal controller has sent to the roadside unit in previous times. The number of reference signal data may be one or more. The jitter time difference may be modeled and analyzed in advance based on one or more reference signal data that the traffic signal controller has sent to the roadside unit in history. The protocol data frequency represents the transmission data frequency specified by the communication protocol when the traffic signal controller and the roadside unit interact and transmit signal data. Exemplarily, some signal processing models and signal processing analysis models may be used to process one or more reference signal data sent in previous times and the protocol data frequency to determine the jitter time difference of the roadside unit's current reception of the initial signal data. Specifically, for example, frequency domain transformation processing is performed on each reference signal data, and the jitter time difference is obtained by parsing from the frequency domain transformation processing result based on the protocol data frequency. There is no limitation to this.

[0069] In some embodiments, after determining the jitter time difference of the roadside unit's current reception of the initial signal data, the corresponding time delay calibration processing may be performed on the currently received initial signal data or intermediate signal data with reference to the jitter time difference, and the signal data obtained from the time delay calibration processing is used as the first signal data.

[0070] The embodiments of the present application also provide another time compensation method. In the process of performing time compensation on intermediate signal data or initial signal data based on the reference compensation method to obtain the first signal data, a time balance value may also be obtained, where the time balance value is determined in advance based on multiple reception time error values respectively corresponding to multiple reference signal data, and the intermediate signal data or the initial signal data is time-compensated according to the time balance value to obtain the first signal data. Thereby effectively improving the accuracy of time compensation and largely ensuring the real-time nature of the initial signal data.

[0071] Among them, the reference signal data can be the initial signal data sent by the traffic signal to the roadside unit. Each time the roadside unit receives the initial signal data sent by the traffic signal, there will be an error in the receiving time. The numerical value describing the error in the receiving time can be called the receiving time error value. Multiple receiving time error values ​​can be analyzed to determine the time balance value, and the time balance value refers to the time used to balance the delay of the initial signal data or the intermediate signal data. For example, multiple receiving time error values ​​can be averaged and the average processing result value can be used as the time balance value, or multiple receiving time error values ​​can be processed based on any other possible method to determine the time balance value.

[0072] In some embodiments, after determining the time balance value, the initial signal data or the intermediate signal data received this time may be subjected to corresponding delay calibration processing with reference to the time balance value, and the signal data obtained by the delay calibration processing may be used as the first signal data.

[0073] S306: Process the first signal data to obtain second signal data.

[0074] S307: Send initial signal data or second signal data.

[0075] In this embodiment, the delay of signal data acquisition can be effectively reduced and the reliability of signal data acquisition can be improved. In the process of performing time compensation on the intermediate signal data or the initial signal data based on the reference compensation method to obtain the first signal data, at least one reference signal data can be obtained, wherein the reference signal data has a corresponding reference receiving time, and the jitter time difference of the initial signal data received by the roadside unit this time is determined according to multiple reference receiving times and protocol data frequencies, and the intermediate signal data or the initial signal data is time compensated according to the jitter time difference to obtain the first signal data. Thereby, the accuracy of time compensation is effectively improved, and the real-time performance of the initial signal data is guaranteed to a large extent. A time balance value can also be obtained, wherein the time balance value is pre-determined based on multiple receiving time error values ​​corresponding to multiple reference signal data, and the intermediate signal data or the initial signal data is time compensated according to the time balance value to obtain the first signal data. Thereby, the accuracy of time compensation is effectively improved, and the real-time performance of the initial signal data is guaranteed to a large extent.

[0076] Figure 4 It is a flowchart of a signal data processing method proposed in another embodiment of the present application.

[0077] It should be noted that the executor of the signal data processing method of this embodiment is a signal data processing device, which can be implemented by software and / or hardware. The device can be configured in the RSU, and the RSU can be deployed in the roadside system.

[0078] As Figure 4 shown, the signal data processing method includes:

[0079] S401: Determine whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit.

[0080] S402: Perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data.

[0081] S403: Determine whether the first signal data contains second part signal data with a periodic change pattern to obtain a second determination result.

[0082] Among them, the part of the signal data with a periodic change pattern in the first signal data can be called the first part of the signal data. For example, the display states of red lights, green lights, and yellow lights have a periodic change pattern, and the display durations of red lights, green lights, and yellow lights have a periodic change pattern, etc.

[0083] In the embodiments of the present application, corresponding signal data completion processing schemes can be adopted by referring to whether the first signal data contains the first part of the signal data. The completion processing can be, for example, to complete the part of the signal data with a periodic change pattern.

[0084] S404: If the second determination result indicates that the first signal data contains the second part of the signal data, then use the first signal data as the second signal data.

[0085] In some embodiments, considering that there is usually a part of the traffic signal information with a periodic change pattern, if it is determined that the first signal data contains the second part of the signal data, it means that the first signal data normally carries the part with a periodic change pattern. At this time, the completion processing of the first signal data can be not triggered, and the first signal data can be directly used as the second signal data.

[0086] S405: Extract the current cycle data item from the second part of the signal data and update the reference cycle data item of the roadside unit to the current cycle data item.

[0087] In some embodiments, in order to support the completion process for the first signal data obtained next time, the current cycle data item can be extracted from the second part of the signal data, and the reference cycle data item of the roadside unit can be updated to the current cycle data item. The parts with the same cycle change pattern in the first signal data obtained in two adjacent times are more similar. Therefore, when the current cycle data item is extracted from the first part of the signal data to guide the completion process for the first signal data obtained next time, the accuracy of the completion process for each obtained first signal data can be effectively improved.

[0088] In some embodiments, the cycle data item pre-stored locally in the roadside unit can be referred to as the reference cycle data item. The current cycle data item can be extracted from the second part of the signal data in a timely manner, and the reference cycle data item of the roadside unit can be updated to the current cycle data item to guide the completion process for the first signal data obtained next time, which can effectively improve the accuracy of the completion process for each obtained first signal data.

[0089] S406: If the second determination result indicates that the first signal data does not include the second part of the signal data, obtain the reference cycle data item of the roadside unit.

[0090] S407: Complete the first signal data according to the reference cycle change pattern of the reference cycle data item to obtain the second signal data.

[0091] In some embodiments, if it is determined that the first signal data does not include the second part of the signal data, it means that the part with the cycle change pattern is not normally carried in the first signal data. At this time, the reference cycle data item of the roadside unit can be obtained to trigger the completion process for the first signal data based on the reference cycle data item, so that the first signal data can normally carry the part with the cycle change pattern.

[0092] S408: Transmit the initial signal data or the second signal data.

[0093] In this embodiment, the latency of signal data acquisition can be effectively reduced, and the reliability of signal data acquisition can be improved. Extract the current cycle data items from the second part of the signal data, and update the reference cycle data items of the roadside unit to the current cycle data items. The parts with periodic change rules in the first signal data obtained twice in succession are more similar. Therefore, when extracting the current cycle data items from the first part of the signal data to guide the complementation process of the first signal data obtained next time, the accuracy of the complementation process for each obtained first signal data can be effectively improved. If it is determined that the first signal data does not contain the second part of the signal data, it means that the part with periodic change rules is not normally carried in the first signal data. At this time, the reference cycle data items of the roadside unit can be obtained to trigger the complementation process of the first signal data based on the reference cycle data items, so that the first signal data can normally carry the part with periodic change rules.

[0094] Figure 5 It is a schematic flowchart of a signal data processing method proposed in another embodiment of the present application.

[0095] It should be noted that the execution subject of the signal data processing method in this embodiment is a signal data processing device, which can be implemented in software and / or hardware, and the device can be configured in the OBU, and the OBU can be deployed in the vehicle system.

[0096] As Figure 5 shown, the signal data processing method includes:

[0097] S501: Receive the initial signal data, and determine whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit.

[0098] In some embodiments, the OBU can also implement the time compensation process and other processing schemes for the initial signal data. Then, the roadside unit can send the initial signal data to the OBU, and the OBU can perform at least one time compensation process on the initial signal data in the same or corresponding implementation manner as the roadside unit to obtain the first signal data.

[0099] S502: Perform at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data.

[0100] In some embodiments of the present application, performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data includes: performing at least one time compensation on the first part of the signal data in the initial signal data according to the first determination result to obtain the first signal data, where the real-time performance of the first part of the signal data meets the real-time performance condition.

[0101] In some embodiments of the present application, at least one time compensation is performed on the initial signal data according to the first determination result to obtain the first signal data, including: if the first determination result indicates that the initial signal data includes a transmission timestamp, obtaining the local timestamp of the on-vehicle unit; performing time compensation on the initial signal data according to the transmission timestamp and the local timestamp to obtain intermediate signal data; and performing time compensation on the intermediate signal data based on a reference compensation method to obtain the first signal data.

[0102] In some embodiments of the present application, at least one time compensation is performed on the initial signal data according to the first determination result to obtain the first signal data, including: if the first determination result indicates that the initial signal data does not include a transmission timestamp, performing time compensation on the initial signal data based on a reference compensation method to obtain the first signal data.

[0103] In some embodiments of the present application, time compensation is performed on the intermediate signal data or the initial signal data based on a reference compensation method to obtain the first signal data, including: obtaining at least one reference signal data, where the reference signal data has a corresponding reference reception time; determining the jitter time difference of the on-vehicle unit's current reception of the initial signal data according to multiple reference reception times and the protocol data frequency; and performing time compensation on the intermediate signal data or the initial signal data according to the jitter time difference to obtain the first signal data.

[0104] In some embodiments of the present application, time compensation is performed on the intermediate signal data or the initial signal data based on a reference compensation method to obtain the first signal data, including: obtaining a time balance value, where the time balance value is pre-determined based on multiple reception time error values respectively corresponding to multiple reference signal data; and performing time compensation on the intermediate signal data or the initial signal data according to the time balance value to obtain the first signal data.

[0105] Regarding receiving the initial signal data and determining whether the initial signal data contains a transmission timestamp to obtain the first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit, and the specific implementation manners of performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data can refer to the above embodiments and will not be elaborated here.

[0106] S503: Determine the second signal data according to the first signal data.

[0107] After the above OBU performs time compensation processing on the initial signal data to obtain the first signal data, it can also perform completion processing on the first signal data to obtain the second signal data, or directly use the first signal data as the second signal data. The specific implementation manners of the completion processing can refer to the above embodiments and will not be elaborated here.

[0108] S504: Determine whether there is partial signal data with a periodic change pattern in the second signal data to obtain a second determination result, where the second determination result is used to determine the operating mode.

[0109] In some embodiments, after obtaining the second signal data, the providing method of the second signal data can also be determined according to whether there is partial signal data with a periodic change pattern in the second signal data. The providing method refers to the way in which the OBU provides the second signal data to the in-vehicle display terminal. For example, the operating mode of the OBU can be determined based on the second determination result, and the OBU provides the second signal data to the in-vehicle display terminal in the corresponding operating mode.

[0110] S505: Provide the second signal data based on the operating mode.

[0111] In some embodiments, the operating mode is the first operating mode or the second operating mode, where the first operating mode is a mode of providing the second signal data within a timing duration, and the second operating mode is a mode of providing the second signal data within each operating cycle. Thus, providing the second signal data to the in-vehicle display terminal based on the providing method corresponding to the operating mode can effectively improve the flexibility of providing the second signal data and is effectively applicable to personalized signal data processing scenarios.

[0112] In this embodiment, by receiving the initial signal data and determining whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit, and performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data, determining the second signal data according to the first signal data, and determining whether there is partial signal data with a periodic change pattern in the second signal data to obtain a second determination result, where the second determination result is used to determine the operating mode, and providing the second signal data based on the operating mode. It can effectively reduce the latency of signal data acquisition and improve the reliability of signal data acquisition. Providing the second signal data to the in-vehicle display terminal based on the providing method corresponding to the operating mode can effectively improve the flexibility of providing the second signal data and is effectively applicable to personalized signal data processing scenarios.

[0113] Figure 6 It is a schematic flowchart of the signal data processing method proposed in another embodiment of the present application.

[0114] It should be noted that the execution subject of the signal data processing method in this embodiment is a signal data processing device, which can be implemented in a software and / or hardware manner, and the device can be configured in the OBU, and the OBU can be deployed in the vehicle system.

[0115] As Figure 6 shown, the signal data processing method includes:

[0116] S601: Receive the second signal data.

[0117] In this embodiment, the OBU can directly receive the second signal data sent by the RSU. In this case, operations such as time compensation and complementation of the initial signal data can be performed by the RSU.

[0118] S602: Determine whether there is a partial signal data with a periodic change pattern in the second signal data, and obtain a second determination result, where the second determination result is used to determine the operating mode.

[0119] In some embodiments, after receiving the second signal data sent by the RSU, the OBU can decide the operating mode by referring to whether there is a partial signal data with a periodic change pattern in the second signal data, so that the operating mode can be adapted to the situation of whether there is a partial signal data with a periodic change pattern in the second signal data, making the operation of the OBU more flexible.

[0120] S603: Determine that the operating mode is the first operating mode, where the first operating mode is a mode of providing the second signal data within a timing duration.

[0121] S604: Provide the second signal data to the display device within the timing duration.

[0122] In some embodiments, if there is no partial signal data with a periodic change pattern in the second signal data, it can operate in an aperiodic manner and provide the second signal data in an aperiodic manner, that is, provide the second signal data to the display device within the timing duration. This effectively saves the operating resources of the OBU while ensuring the accuracy of the provision of the second signal data.

[0123] S605: Determine that the operating mode is the second operating mode, where the second operating mode is a mode of providing the second signal data in each operating cycle.

[0124] S606: Provide the second signal data to the display device in each operating cycle.

[0125] In some embodiments, if there is a partial signal data with a periodic change pattern in the second signal data, it can operate in a periodic manner and provide the second signal data in a periodic manner, that is, provide the second signal data to the display device in each operating cycle. This effectively ensures the accuracy of the provision of the second signal data.

[0126] In some embodiments, the OBU can also receive a signal data query request and provide the second signal data according to the signal data query request.

[0127] In some embodiments, the OBU may also receive a signal data subscription request and, according to the signal data subscription request, periodically publish second signal data.

[0128] In some embodiments, the OBU may determine the publishing frequency of the second signal data according to the signal data subscription request; and periodically publish the second signal data according to the publishing frequency.

[0129] Thereby, the function of the OBU is extended, the application scope of the signal data processing method is effectively expanded, and the signal data processing effect is improved.

[0130] In this embodiment, the latency of signal data acquisition can be effectively reduced, and the reliability of signal data acquisition can be improved. Implementing the provision of the second signal data to the in-vehicle display terminal based on the provision method corresponding to the operating mode can effectively improve the flexibility of the provision of the second signal data and is effectively applicable to personalized signal data processing scenarios.

[0131] The following is an example illustration for the above embodiments:

[0132] As Figure 7 shown, Figure 7 is the flowchart of the signal calibration module in the embodiment of the present application. In the embodiment of the present application, the initial signal data is taken as traffic signal data for example. Both the light color and the remaining time in the traffic signal data are real-time data. These two pieces of data are accurate when sent by the traffic signal machine. If the local time of the traffic signal machine and the roadside unit or the in-vehicle unit is completely synchronized, the roadside unit or the in-vehicle unit can perform latency compensation for the traffic signal data by comparing the sending timestamp and the receiving timestamp. However, in the actual process, the traffic signal data may not carry the sending timestamp. Therefore, general jitter processing can be performed on the latency of the traffic signal data. According to the protocol data frequency and the historical receiving time of the traffic signal data, the traffic signal data is smoothed to improve the stability of the traffic signal data. Due to problems such as timestamps and time synchronization, after the above processing, there will be a relatively stable receiving time error value between the traffic signal data and the real signal data. This receiving time error value can be obtained through multiple comparison tests of actual projects. This observed receiving time error value can be used to perform another time compensation on the traffic signal data. After the above processing, the traffic signal data can ensure stability and accuracy to a certain extent.

[0133] In the embodiment of the present application, the signal calibration module can perform three-time time compensation on traffic signal data. Depending on the specific data information and local configuration, one to three compensations may be achieved. The first-time time compensation is achieved through timestamps. Using the difference between the transmission timestamp and the local timestamp, the first-time time compensation is performed on the signal timing data. If the transmission timestamp does not exist, the first-time time compensation is not performed. The second-time time compensation is achieved by recording the jitter time of multiple historical data. Using the reception time of the previous N times of historical data and the protocol data frequency, the jitter time difference of this time can be predicted. The jitter time difference of this time is used to perform the second-time time compensation on the current traffic signal data. The third-time time compensation is the time balance value set through the configuration file. Due to other reasons, after the data compensated in the previous two times, there may be a stable difference from the actual data. In actual engineering, this time balance value can be estimated through actual observations to perform the third-time time compensation on the signal data. After the above three-time time compensations, the accuracy of the traffic signal data has been improved to a considerable extent.

[0134] It can be understood that in the complete traffic signal data, some signal data with periodic change rules can be, for example, the lamp color change sequence and the lamp color duration. Some signal data with periodic change rules can be obtained by periodically recording basic traffic signal data such as lamp group numbers, lamp colors, and remaining times. If the original traffic signal data carries some signal data with periodic change rules, then comparison and verification can be performed. If not, data supplementation can be performed. As Figure 8 shown, Figure 8 is a schematic diagram of the signal completion module in the embodiment of the present application. The specific implementation steps are as follows:

[0135] (1) Record the received complete traffic signal data.

[0136] (2) Check and update the local reference cycle data item according to the current traffic signal data and historical traffic signal data.

[0137] (3) Check whether there is a reference cycle data item locally. If there is, execute step (4); if not, execute step (5).

[0138] (4) Verify and fuse the cycle data item of the currently received signal data with the local reference cycle data item.

[0139] (5) Check whether the received traffic signal data carries a cycle data item. If it exists, package the complete traffic signal data and send it out; if not, do not process it.

[0140] In some embodiments, the traffic signal controller generally sends traffic signal data outward at a frequency of 1 Hz (Hertz). Based on the characteristics of the traffic signal data and the efficiency of communication, in V2I wireless communication, the data frequency of this item of data is also basically 1 Hz. However, in actual situations, the application programs in the vehicle-mounted system may require signal data of different frequencies. The virtual signal controller module can be regarded as a virtual mapping module of a roadside traffic signal controller, which is driven by an internal clock to update the local traffic signal data (an optional example of the second signal data) in a timely manner. Therefore, the virtual signal controller module can regularly publish the latest traffic signal data at different frequencies according to specific subscription information. In addition, the virtual signal controller also supports signal query and can return the latest traffic signal data at any time. The traffic signal data received by the virtual signal controller module is data after signal calibration, which is relatively accurate and stable. Therefore, the virtual signal controller module does not need to calibrate the signal anymore. The virtual signal module can configure the clock accuracy and the initial operating mode before receiving traffic data. Before receiving complete traffic signal data, the virtual signal controller is in a waiting-to-be-activated state. When receiving traffic signal data for the first time, the virtual signal controller configures the basic data and the operating mode, checks the local subscription information, receives new subscription and query information, and publishes the latest traffic signal data. Every time traffic signal data is received later, the virtual signal controller will update the local basic data to keep in sync with the real traffic signal data provided by the traffic signal controller of the roadside unit. The processing procedures of different traffic signal data are described as follows (see also Figure 9 , Figure 9 which is the schematic diagram of the virtual signal controller module process in the embodiments of the present application):

[0141] After receiving traffic signal data (an optional example of the second signal data), the virtual signal controller will first check the integrity of the traffic signal data, and then adjust the operating mode of the next stage according to the integrity. If the traffic signal data does not contain periodic data items, the simple operating mode (an optional example of the first operating mode) is adopted and stops after the timing duration reaches the maximum duration threshold. If the traffic signal data contains periodic data items, the periodic operating mode (an optional example of the second operating mode) is adopted and operates periodically according to the period configuration of the traffic signal data. At the same time, the local basic data items can be updated and the operation is maintained based on the latest data. When the virtual signal controller receives a signal data query request, if the virtual signal controller is in an activated state, it will immediately return the current latest traffic signal data. When the virtual signal controller receives a signal data subscription request, it will record the information contained in the signal data subscription request. And regularly publish the latest traffic signal data at the frequency specified in the information.

[0142] In the embodiments of the present application, the signal calibration module can calibrate traffic signal data, reducing data delay and jitter caused by communication and improving the real-time performance and reliability of the data. The signal completion module can achieve self-learning completion and verification of traffic signal data. Moreover, the cost of deploying this module on the RSU can be basically ignored. The virtual signal machine module basically realizes the virtual mapping of real signal machines in the roadside system and can meet the various requirements of autonomous or non-autonomous vehicles for traffic signal data.

[0143] In the embodiments of the present application, a complete solution for obtaining traffic signal lamp information based on V2I is provided. By combining the signal calibration module, the signal completion module, and the virtual signal machine module, stable and high-precision transmission of traffic signal data is achieved, greatly reducing the delay of signal data and realizing cost reduction and efficiency improvement. The above modules can be temporarily combined into different traffic signal acquisition solutions according to project needs to achieve different effects.

[0144] In the embodiments of the present application, the traffic signal data is calibrated at the millisecond level, improving the accuracy of the traffic signal data to the millisecond level. In addition, the jitter of the traffic signal data is also processed, controlling the error of the traffic signal data within an acceptable range. Moreover, the design of the virtual signal machine ensures the continuity of traffic signal data, so that small-probability data packet loss will not affect normal services. The signal data processing method in the embodiments of the present application can be implemented only by upgrading and optimizing the software part, which is very convenient.

[0145] Figure 10 It is a schematic structural diagram of a signal data processing device proposed in an embodiment of the present application.

[0146] As Figure 10 shown, the signal data processing device 100 includes:

[0147] A first determination unit 1001, configured to determine whether the initial signal data includes a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit.

[0148] A first compensation unit 1002, configured to perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the delay of the initial signal data.

[0149] A processing unit 1003, configured to process the first signal data to obtain second signal data.

[0150] A sending unit 1004, configured to send the initial signal data or the second signal data.

[0151] It should be noted that the division of units in the embodiments of the present application is illustrative. It is only a logical function division, and there may be other division methods in actual implementation. In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0152] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium.

[0153] Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in the embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0154] It should be noted here that the above device provided in the embodiments of the present application can implement all the method steps implemented in the above method embodiments and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0155] In this embodiment, by determining whether the initial signal data contains a transmission timestamp, a first determination result is obtained, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit, and at least one time compensation is performed on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data, process the first signal data to obtain second signal data; and sending the initial signal data or the second signal data can effectively reduce the time delay of signal data acquisition and improve the reliability of signal data acquisition.

[0156] Figure 11 It is a schematic structural diagram of a signal data processing device proposed in another embodiment of the present application.

[0157] As Figure 11 shown, the signal data processing device 110 includes:

[0158] A receiving unit 1101, configured to receive initial signal data and determine whether the initial signal data contains a transmission timestamp, to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit.

[0159] A second compensation unit 1102, configured to perform at least one time compensation on the initial signal data according to the first determination result, to obtain first signal data.

[0160] A second determination unit 1103, configured to determine second signal data according to the first signal data; or the receiving unit receives the second signal data.

[0161] A third determination unit 1104, configured to determine whether there is partial signal data with a periodic change rule in the second signal data, to obtain a second determination result, where the second determination result is used to determine the operation mode.

[0162] A providing unit 1105, configured to provide the second signal data based on the operation mode.

[0163] It should be noted that the division of units in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation. In addition, in each embodiment of the present application, each functional unit may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above integrated units may be implemented in the form of hardware or in the form of software functional units.

[0164] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a processor-readable storage medium.

[0165] Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in the embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0166] It should be noted here that the above device provided by the embodiments of the present application can implement all the method steps implemented by the above method embodiments and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described herein again.

[0167] In this embodiment, by receiving the initial signal data and determining whether the initial signal data contains a transmission timestamp, a first determination result is obtained, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit, and at least one time compensation is performed on the initial signal data according to the first determination result to obtain the first signal data. According to the first signal data, the second signal data is determined, and it is determined whether there is a periodically changing part of the signal data in the second signal data to obtain a second determination result, where the second determination result is used to determine the operation mode, and the second signal data is provided based on the operation mode. It can effectively reduce the delay of signal data acquisition and improve the reliability of signal data acquisition. By providing the second signal data to the in-vehicle display terminal based on the providing method corresponding to the operation mode, the flexibility of providing the second signal data can be effectively improved, and it is effectively applicable to personalized signal data processing scenarios.

[0168] Figure 12 It is a schematic structural diagram of a signal data processing device proposed in another embodiment of the present application.

[0169] See Figure 12 , the signal data processing device 120 includes a memory 1201, a transceiver 1202, a processor 1203 and a user interface 1204: The memory 1201 is used to store computer programs; the transceiver 1202 is used to send and receive data under the control of the processor 1203; the processor 1203 is used to read the computer programs in the memory 1201 and perform the following operations:

[0170] Determine whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit;

[0171] Perform at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data, where the time compensation is used to reduce the delay of the initial signal data;

[0172] Process the first signal data to obtain the second signal data; and

[0173] Send the initial signal data or the second signal data.

[0174] In some embodiments of the present application, the processor 1203 is further used for:

[0175] According to the first determination result, time compensation is performed at least once on the first part of the signal data in the initial signal data to obtain first signal data, wherein the real-time performance of the first part of the signal data meets the real-time condition.

[0176] In some embodiments of the present application, the processor 1203 is further configured to:

[0177] If the first determination result indicates that the initial signal data includes a sending timestamp, acquiring a local timestamp of the roadside unit;

[0178] Perform time compensation on the initial signal data according to the sending timestamp and the local timestamp to obtain the intermediate signal data;

[0179] The intermediate signal data is time compensated based on the reference compensation method to obtain the first signal data.

[0180] In some embodiments of the present application, the processor 1203 is further configured to:

[0181] If the first determination result indicates that the initial signal data does not include a sending timestamp, time compensation is performed on the initial signal data based on a reference compensation method to obtain first signal data.

[0182] In some embodiments of the present application, the processor 1203 is further configured to:

[0183] Acquire at least one reference signal data, wherein the reference signal data has a corresponding reference receiving time;

[0184] Determine the jitter time difference of the initial signal data received by the roadside unit this time according to multiple reference receiving times and protocol data frequencies;

[0185] Time compensation is performed on the intermediate signal data or the initial signal data according to the jitter time difference to obtain the first signal data.

[0186] In some embodiments of the present application, the processor 1203 is further configured to:

[0187] Acquire a time balance value, wherein the time balance value is predetermined based on a plurality of receiving time error values ​​respectively corresponding to a plurality of reference signal data;

[0188] The intermediate signal data or the initial signal data is time compensated according to the time balance value to obtain the first signal data.

[0189] In some embodiments of the present application, the processor 1203 is further configured to:

[0190] Determine whether the first signal data contains a second portion of signal data having a periodic variation rule, and obtain a second determination result;

[0191] Process the first signal data and the second signal data according to the second determination result.

[0192] In some embodiments of the present application, the processor 1203 is further configured to:

[0193] If the second determination result indicates that the first signal data contains the second part of signal data, then use the first signal data as the second signal data;

[0194] The method further includes:

[0195] Extract the current cycle data item from the second part of signal data;

[0196] Update the reference cycle data item of the roadside unit to the current cycle data item.

[0197] In some embodiments of the present application, the processor 1203 is further configured to:

[0198] If the second determination result indicates that the first signal data does not contain the second part of signal data, then obtain the reference cycle data item of the roadside unit;

[0199] Complete the first signal data according to the reference cycle change rule of the reference cycle data item to obtain the second signal data.

[0200] In this embodiment, by determining whether the initial signal data contains a transmission timestamp, a first determination result is obtained, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit, and at least one time compensation is performed on the initial signal data according to the first determination result to obtain the first signal data, where the time compensation is used to reduce the time delay of the initial signal data, process the first signal data to obtain the second signal data; and send the initial signal data or the second signal data, which can effectively reduce the time delay of signal data acquisition and improve the reliability of signal data acquisition.

[0201] Or the processor 1203 is configured to read the computer program in the memory 1201 and perform the following operations:

[0202] Receive the initial signal data, and determine whether the initial signal data contains a transmission timestamp to obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit;

[0203] Perform at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data;

[0204] Determine the second signal data according to the first signal data; or receive the second signal data;

[0205] Determine whether there is a partial signal data with a periodic change pattern in the second signal data, and obtain a second determination result, where the second determination result is used to determine the operating mode;

[0206] Provide the second signal data based on the operating mode.

[0207] In some embodiments of the present application, the processor 1203 is further configured to:

[0208] Perform at least one time compensation on the first partial signal data in the initial signal data according to the first determination result to obtain the first signal data, where the real-time performance of the first partial signal data meets the real-time condition.

[0209] In some embodiments of the present application, the processor 1203 is further configured to:

[0210] If the first determination result indicates that the initial signal data includes a transmission timestamp, obtain the local timestamp of the on-vehicle unit;

[0211] Perform time compensation on the initial signal data according to the transmission timestamp and the local timestamp to obtain intermediate signal data;

[0212] Perform time compensation on the intermediate signal data based on the reference compensation method to obtain the first signal data.

[0213] In some embodiments of the present application, the processor 1203 is further configured to:

[0214] If the first determination result indicates that the initial signal data does not include a transmission timestamp, perform time compensation on the initial signal data based on the reference compensation method to obtain the first signal data.

[0215] In some embodiments of the present application, the processor 1203 is further configured to:

[0216] Obtain at least one reference signal data, where the reference signal data has a corresponding reference reception time;

[0217] Determine the jitter time difference of the on-vehicle unit's current reception of the initial signal data according to multiple reference reception times and the protocol data frequency;

[0218] Perform time compensation on the intermediate signal data or the initial signal data according to the jitter time difference to obtain the first signal data.

[0219] In some embodiments of the present application, the processor 1203 is further configured to:

[0220] Obtain a time balance value, where the time balance value is determined in advance based on multiple reception time error values corresponding to multiple reference signal data respectively;

[0221] Perform time compensation on the intermediate signal data or the initial signal data according to the time balance value to obtain the first signal data.

[0222] In some embodiments of the present application, the operating mode is the first operating mode or the second operating mode, wherein the first operating mode is a mode of providing the second signal data within a timing duration, and the second operating mode is a mode of providing the second signal data within each operating cycle.

[0223] In some embodiments of the present application, the processor 1203 is further configured to:

[0224] Provide the second signal data to the display device within the timing duration.

[0225] In some embodiments of the present application, the processor 1203 is further configured to:

[0226] Provide the second signal data to the display device within each operating cycle.

[0227] In some embodiments of the present application, the processor 1203 is further configured to:

[0228] Provide the second signal data according to the signal data query request;

[0229] Timely publish the second signal data according to the signal data subscription request.

[0230] In some embodiments of the present application, the processor 1203 is further configured to:

[0231] Determine the publishing frequency of the second signal data according to the signal data subscription request;

[0232] Timely publish the second signal data according to the publishing frequency.

[0233] In this embodiment, by receiving the initial signal data and determining whether the initial signal data contains a transmission timestamp, a first determination result is obtained, where the transmission timestamp is the time when the traffic signal machine sends the initial signal data to the roadside unit, and at least one time compensation is performed on the initial signal data according to the first determination result to obtain the first signal data. According to the first signal data, the second signal data is determined, and it is determined whether there is a part of the signal data with a periodic change rule in the second signal data to obtain a second determination result, where the second determination result is used to determine the operating mode, and the second signal data is provided based on the operating mode. It can effectively reduce the delay of signal data acquisition and improve the reliability of signal data acquisition. Realize providing the second signal data to the in-vehicle display terminal based on the providing method corresponding to the operating mode, which can effectively improve the flexibility of providing the second signal data and is effectively applicable to personalized signal data processing scenarios.

[0234] Among them, in Figure 12Among them, the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors represented by processor 1203 and memory represented by memory 1201 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 1202 can be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on the transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables and other transmission mediums. For different user devices, the user interface 1204 can also be an interface capable of externally connecting and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

[0235] The processor 1203 is responsible for managing the bus architecture and general processing, and the memory 1201 can store the data used by the processor 1203 when executing operations.

[0236] Optionally, the processor 1203 can be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device), and the processor can also adopt a multi-core architecture.

[0237] The processor is used to execute any method provided by the embodiments of the present application according to the obtained executable instructions by calling the computer program stored in the memory. The processor and the memory can also be physically separated.

[0238] It should be noted here that the above-mentioned device provided by the embodiments of the present application can implement all the method steps implemented by the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0239] In order to implement the above embodiments, the embodiments of the present application propose a processor-readable storage medium, and the processor-readable storage medium stores a computer program, and the computer program is used to make the processor execute the signal data processing method.

[0240] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) that contain computer-usable program code.

[0241] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks or multiple blocks.

[0242] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the processor-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks or multiple blocks.

[0243] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks or multiple blocks.

[0244] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

[0245] It should be noted that in the description of this application, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "a plurality of" is two or more than two.

[0246] Any process or method description shown in the flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed. This should be understood by those skilled in the technical field to which the embodiments of this application belong.

[0247] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0248] Those of ordinary skill in the technical field can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0249] In addition, each functional unit in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0250] The above-mentioned storage medium can be a read-only memory, a disk, an optical disc, etc.

[0251] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0252] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations to this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0253] It should be noted that in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0254] Any process or method description shown in a flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a way that is not shown or discussed in sequence, including in a substantially simultaneous manner according to the functions involved or in a reverse order, which should be understood by those skilled in the technical field to which the embodiments of this application belong.

[0255] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0256] Those of ordinary skill in the technical field of this application can understand that all or part of the steps carried by the method for implementing the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0257] In addition, each functional unit in various embodiments of the present application may be integrated into a processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0258] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, or the like.

[0259] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0260] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

[0261] It should be noted that in the description of the present application, terms such as "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0262] Any process or method description shown in the flowchart or described in other ways herein may be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art of the embodiments of the present application.

[0263] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0264] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0265] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0266] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0267] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0268] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A signal data processing method, It is characterized in that Executed by a roadside unit, the method includes: Determine whether the initial signal data includes a sending timestamp to obtain a first determination result, wherein the sending timestamp is the time when the traffic signal sends the initial signal data to the roadside unit; Performing at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, wherein the time compensation is used to reduce the time delay of the initial signal data; processing the first signal data to obtain second signal data; and The initial signal data or the second signal data is sent.

2. The method according to claim 1, It is characterized in that The performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data includes: According to the first determination result, time compensation is performed at least once on a first part of signal data in the initial signal data to obtain the first signal data, wherein the real-time performance of the first part of signal data meets a real-time condition.

3. The method according to claim 1, It is characterized in that The performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data includes: If the first determination result indicates that the initial signal data includes the sending timestamp, acquiring a local timestamp of the roadside unit; Performing time compensation on the initial signal data according to the sending timestamp and the local timestamp to obtain intermediate signal data; The intermediate signal data is time compensated based on a reference compensation method to obtain the first signal data.

4. The method according to claim 1, It is characterized in that The performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data includes: If the first determination result indicates that the initial signal data does not include the sending timestamp, time compensation is performed on the initial signal data based on a reference compensation method to obtain the first signal data.

5. The method according to any one of claims 3 to 4, It is characterized in that Performing time compensation on the intermediate signal data or the initial signal data based on the reference compensation method to obtain the first signal data includes: Acquire at least one reference signal data, wherein the reference signal data has a corresponding reference receiving time; Determine the jitter time difference of the initial signal data received by the roadside unit this time according to the multiple reference receiving times and the protocol data frequencies; The intermediate signal data or the initial signal data is time compensated according to the jitter time difference to obtain the first signal data.

6. The method according to any one of claims 3 to 4, It is characterized in that Performing time compensation on the intermediate signal data or the initial signal data based on the reference compensation method to obtain the first signal data includes: Acquire a time balance value, wherein the time balance value is predetermined based on a plurality of receiving time error values ​​respectively corresponding to a plurality of reference signal data; Perform time compensation on the intermediate signal data or the initial signal data according to the time balance value to obtain the first signal data.

7. The method according to claim 1, wherein, processing the first signal data to obtain second signal data includes: determining whether there is a second part of signal data with a periodic change rule in the first signal data to obtain a second determination result; processing the first signal data according to the second determination result, the second signal data.

8. The method according to claim 7, wherein, processing the first signal data according to the second determination result, the second signal data includes: if the second determination result indicates that the second part of signal data is included in the first signal data, then using the first signal data as the second signal data; The method further includes: extracting the current cycle data item from the second part of signal data; updating the reference cycle data item of the roadside unit to the current cycle data item.

9. The method according to claim 7, wherein, processing the first signal data according to the second determination result, the second signal data includes: if the second determination result indicates that the second part of signal data is not included in the first signal data, then obtaining the reference cycle data item of the roadside unit; completing the first signal data according to the reference cycle change rule of the reference cycle data item to obtain the second signal data.

10. A signal data processing method, wherein, executed by a vehicle-mounted unit, the method includes: receiving initial signal data and determining whether a transmission timestamp is included in the initial signal data to obtain a first determination result, wherein the transmission timestamp is the time when a traffic signal machine sends the initial signal data to a roadside unit; performing at least one time compensation on the initial signal data according to the first determination result to obtain first signal data; determining second signal data according to the first signal data; or receiving the second signal data; determining whether there is a part of signal data with a periodic change rule in the second signal data to obtain a second determination result, wherein the second determination result is used to determine an operation mode; providing the second signal data based on the operation mode.

11. The method according to claim 10, wherein, performing at least one time compensation on the initial signal data according to the first determination result to obtain first signal data includes: performing at least one time compensation on a first part of signal data in the initial signal data according to the first determination result to obtain the first signal data, wherein the real-time performance of the first part of signal data meets the real-time performance condition.

12. The method according to claim 10, wherein, performing at least one time compensation on the initial signal data according to the first determination result to obtain first signal data includes: if the first determination result indicates that the transmission timestamp is included in the initial signal data, then obtaining the local timestamp of the vehicle-mounted unit; Performing time compensation on the initial signal data according to the sending timestamp and the local timestamp to obtain intermediate signal data; The intermediate signal data is time compensated based on a reference compensation method to obtain the first signal data.

13. The method according to claim 10, It is characterized in that The performing at least one time compensation on the initial signal data according to the first determination result to obtain the first signal data includes: If the first determination result indicates that the initial signal data does not include the sending timestamp, time compensation is performed on the initial signal data based on a reference compensation method to obtain the first signal data.

14. The method according to any one of claims 12 to 13, It is characterized in that Performing time compensation on the intermediate signal data or the initial signal data based on the reference compensation method to obtain the first signal data includes: Acquire at least one reference signal data, wherein the reference signal data has a corresponding reference receiving time; Determine the jitter time difference of the initial signal data received by the onboard unit this time according to the multiple reference receiving times and the protocol data frequencies; The intermediate signal data or the initial signal data is time compensated according to the jitter time difference to obtain the first signal data.

15. The method according to any one of claims 12 to 13, It is characterized in that Performing time compensation on the intermediate signal data or the initial signal data based on the reference compensation method to obtain the first signal data includes: Acquire a time balance value, wherein the time balance value is predetermined based on a plurality of receiving time error values ​​respectively corresponding to a plurality of reference signal data; The intermediate signal data or the initial signal data is time compensated according to the time balance value to obtain the first signal data.

16. The method of claim 10, It is characterized in that The operation mode is a first operation mode or a second operation mode, wherein the first operation mode is a mode for providing second signal data within a timing duration, and the second operation mode is a mode for providing second signal data within each operation cycle.

17. The method of claim 16, It is characterized in that Providing the second signal data based on the first operating mode includes: The second signal data is provided to the display device within the timing duration.

18. The method of claim 16, It is characterized in that Providing the second signal data based on the second operating mode includes: The second signal data is provided to the display device in each operation cycle.

19. The method according to any one of claims 10 to 18, It is characterized in that The method further comprises at least one of the following: providing the second signal data according to the signal data query request; The second signal data is published periodically according to the signal data subscription request.

20. The method of claim 19, It is characterized in that The step of publishing the second signal data at a fixed time according to the signal data subscription request includes: Determining a publishing frequency of the second signal data according to the signal data subscription request; The second signal data is periodically transmitted according to the transmission frequency.

21. A signal data processing device, characterized in that the device comprises: a first determination unit, configured to determine whether the initial signal data contains a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine transmits the initial signal data to the roadside unit; a first compensation unit, configured to perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data; a processing unit, configured to process the first signal data to obtain second signal data; and a transmission unit, configured to transmit the initial signal data or the second signal data.

22. A signal data processing device, characterized in that the device comprises: a receiving unit, configured to receive initial signal data and determine whether the initial signal data contains a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine transmits the initial signal data to the roadside unit; a second compensation unit, configured to perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data; a second determination unit, configured to determine second signal data according to the first signal data; or receive the second signal data by the receiving unit; a third determination unit, configured to determine whether there is partial signal data with a periodic change rule in the second signal data, and obtain a second determination result, where the second determination result is used to determine the operation mode; a providing unit, configured to provide the second signal data based on the operation mode.

23. A signal data processing device, characterized in that it includes a memory, a transceiver, and a processor: the memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Determine whether the initial signal data contains a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine transmits the initial signal data to the roadside unit; Perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data, where the time compensation is used to reduce the time delay of the initial signal data; Process the first signal data to obtain second signal data; and Transmit the initial signal data or the second signal data.

24. A signal data processing device, characterized in that it includes a memory, a transceiver, and a processor: the memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Receive initial signal data and determine whether the initial signal data contains a transmission timestamp, and obtain a first determination result, where the transmission timestamp is the time when the traffic signal machine transmits the initial signal data to the roadside unit; Perform at least one time compensation on the initial signal data according to the first determination result to obtain first signal data; Determine second signal data according to the first signal data; or receive the second signal data; Determine whether there is partial signal data with a periodic change pattern in the second signal data to obtain a second determination result, where the second determination result is used to determine the operating mode; Provide the second signal data based on the operating mode.

25. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the signal data processing method according to any one of claims 1 to 20.

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