Instrument vehicle speed processing method and device and electronic equipment

Abstract

The invention provides an instrument vehicle speed processing method and device and electronic equipment, and the method comprises the steps: periodically obtaining an original vehicle speed signal of a vehicle when the vehicle is in a preset working condition, and obtaining a vehicle speed corresponding to each period; determining a filter coefficient corresponding to the current period according to the vehicle speed corresponding to the current period, the historical vehicle speed corresponding to the previous period and the historical filter coefficient; based on the filtering coefficient and the historical filtering vehicle speed corresponding to the previous period, filtering the vehicle speed corresponding to the current period to obtain the filtering vehicle speed corresponding to the current period; smoothing the filtered vehicle speed to obtain a target vehicle speed; the control instrument displays the target vehicle speed. By filtering and smoothing the vehicle speed collected in each period, vehicle speed jump caused by factors such as road bumping and sensor instantaneous interference can be eliminated, the vehicle speed displayed by an instrument is stable, reliable vehicle speed reference is provided for a driver, distraction is avoided, and driving safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and in particular, to a method and device for processing instrument vehicle speed and an electronic device. Background Art

[0002] With the rapid development of automotive intelligence, the installation rate of intelligent instruments is getting higher and higher, and the display of instrument vehicle speed is also becoming more and more accurate. In the prior art, the instrument usually directly obtains the actual vehicle speed detected by the sensor and displays it. Therefore, the vehicle speed displayed by the instrument has a certain degree of jump. Especially during the process of the vehicle starting the cruise control, due to external environmental factors, such as sudden changes in wind resistance, changes in road gradient, etc., the actual vehicle speed of the vehicle will fluctuate, that is, the vehicle is not in an absolutely ideal stable driving state. Then, when the vehicle speed fluctuates, the vehicle speed displayed by the instrument will change frequently, which will cause users to question the reliability of vehicle intelligence, interfere with the driver's judgment on whether the vehicle is driving normally, increase the psychological burden during driving, and reduce the comfort and sense of security during driving. Summary of the Invention

[0003] Embodiments of the present application provide a method and device for processing instrument vehicle speed and an electronic device, so as to solve the problem that the fluctuation of the actual vehicle speed will cause the vehicle speed displayed by the instrument to change frequently when the vehicle is in a steady driving condition.

[0004] In a first aspect, an embodiment of the present application provides a method for processing instrument vehicle speed, and the method includes:

[0005] When the vehicle is in a preset condition, periodically obtain the original vehicle speed signal of the vehicle to obtain the vehicle speed corresponding to each period;

[0006] Determine the filtering coefficient corresponding to the current period according to the vehicle speed corresponding to the current period, the historical vehicle speed corresponding to the previous period, and the historical filtering coefficient;

[0007] Based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous period, perform filtering processing on the vehicle speed corresponding to the current period to obtain the filtered vehicle speed corresponding to the current period;

[0008] Perform smoothing processing on the filtered vehicle speed to obtain the target vehicle speed;

[0009] Control the instrument to display the target vehicle speed.

[0010] In a second aspect, an embodiment of the present application further provides a device for processing instrument vehicle speed, and the device includes:

[0011] An acquisition module, configured to periodically obtain the original vehicle speed signal of the vehicle when the vehicle is in a preset condition, to obtain the vehicle speed corresponding to each period;

[0012] A determination module, configured to determine a filtering coefficient corresponding to the current cycle according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filtering coefficient;

[0013] A first processing module, configured to perform filtering processing on the vehicle speed corresponding to the current cycle based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle to obtain the filtered vehicle speed corresponding to the current cycle;

[0014] A second processing module, configured to perform smoothing processing on the filtered vehicle speed to obtain a target vehicle speed;

[0015] A control module, configured to control the instrument to display the target vehicle speed.

[0016] In a third aspect, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the above-mentioned instrument vehicle speed processing method is implemented.

[0017] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned instrument vehicle speed processing method is implemented.

[0018] The embodiments of the present application at least include the following technical effects:

[0019] In the present application, when the vehicle is in a preset working condition, the original vehicle speed signal of the vehicle is periodically acquired to obtain the vehicle speed of each cycle; the filtering coefficient corresponding to the current cycle is determined according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filtering coefficient; the vehicle speed corresponding to the current cycle is filtered based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle to obtain the filtered vehicle speed corresponding to the current cycle; the filtered vehicle speed is smoothed to obtain a target vehicle speed; the instrument is controlled to display the target vehicle speed. By filtering and smoothing the vehicle speed collected in each cycle, the present application can eliminate the vehicle speed jump caused by factors such as road surface bumps and sensor instantaneous interference, make the vehicle speed displayed on the instrument stable, provide a reliable vehicle speed reference for the driver, avoid distraction, and improve driving safety. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0021] Figure 1 It is one of the flowcharts of the instrument vehicle speed processing method provided by the embodiment of the present application;

[0022] Figure 2 It is the second schematic flow chart of the instrument vehicle speed processing method provided by the embodiment of the present application;

[0023] Figure 3 It is the schematic structural diagram of the instrument vehicle speed processing device provided by the embodiment of the present application;

[0024] Figure 4 It is the block diagram of the electronic device provided by the embodiment of the present application. Specific embodiments

[0025] 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 part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0026] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that a specific feature, structure or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics may be combined in any suitable manner in one or more embodiments.

[0027] In various embodiments of the present application, it should be understood that the magnitudes of the serial numbers of the following processes do not mean the order of execution is prior or subsequent. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0028] In the prior art, during the process of the vehicle starting the cruise control, due to external environmental factors, such as sudden changes in wind resistance, changes in road gradients, etc., the actual vehicle speed will fluctuate, that is, the vehicle is not in an absolutely ideal stable driving state. Then, when the vehicle speed fluctuates, the vehicle speed displayed on the instrument will frequently jump, which will cause users to question the reliability of vehicle intelligence, interfere with the driver's judgment on whether the vehicle is driving normally, increase the psychological burden during driving, and reduce the comfort and sense of security during driving.

[0029] Based on this, the present application provides an instrument vehicle speed processing method, device and electronic device, which can eliminate the vehicle speed jump caused by factors such as road bumps and instantaneous interference of sensors, make the vehicle speed displayed on the instrument stable, provide a reliable vehicle speed reference for the driver, avoid distraction, and improve driving safety.

[0030] Such as Figure 1As shown in the figure, an embodiment of the present application provides a method for processing instrument vehicle speed. The method includes:

[0031] Step 101: When the vehicle is in a preset working condition, periodically obtain the original vehicle speed signal of the vehicle to obtain the vehicle speed corresponding to each period.

[0032] The method for processing instrument vehicle speed provided by the embodiment of the present application is applied to a target controller, which may be a controller on the vehicle for controlling the display content of the instrument. The target controller can monitor the driving state of the vehicle and determine whether the vehicle is in a preset working condition. Here, the preset working condition is a steady-state driving condition. Under the steady-state driving condition, the driving state of the vehicle is relatively stable, without frequent sudden accelerations, sudden brakes, or large-scale steering and other violent actions, such as scenarios of cruising at a constant speed on a highway or driving steadily on a smooth section of an urban road.

[0033] Specifically, when the vehicle is in a preset working condition, the target controller periodically collects the original vehicle speed signal according to a preset period. The original vehicle speed signal may be a signal obtained by the target controller from IBC (Integrated Brake Control) or ESP (Electronic Stability Program), or a signal sent by IBC or ESP to the target control according to a preset period. Among them, the acquisition period of the original vehicle speed signal is determined according to actual needs. For example, it is set to collect once every 20 milliseconds to ensure timely tracking of vehicle speed changes.

[0034] Based on the periodically obtained original vehicle speed signal, the target controller can obtain the vehicle speed corresponding to each period, providing basic data for subsequent processing.

[0035] Step 102: Determine the filtering coefficient corresponding to the current period according to the vehicle speed corresponding to the current period, the historical vehicle speed corresponding to the previous period, and the historical filtering coefficient.

[0036] After obtaining the vehicle speed corresponding to the current period, it is necessary to perform filtering processing on the vehicle speed, and the filtering coefficient used in each period is different. When determining the filtering coefficient corresponding to the current period, it is necessary to comprehensively consider the vehicle speed of the current period, the historical vehicle speed corresponding to the previous period, and the historical filtering coefficient. For example, an algorithm based on the vehicle speed change rate can be adopted. If the difference between the current vehicle speed and the vehicle speed of the previous period is large, it indicates that the vehicle speed changes violently, and the filtering coefficient needs to be increased to make the filtering process pay more attention to the current vehicle speed to quickly respond to vehicle speed changes; if the vehicle speed difference is small, it indicates that the vehicle speed is stable, and the filtering coefficient is reduced to rely more on the historical vehicle speed to smooth the vehicle speed data.

[0037] Step 103: Filter the vehicle speed corresponding to the current cycle based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle to obtain the filtered vehicle speed corresponding to the current cycle.

[0038] After obtaining the vehicle speed and the filtering coefficient corresponding to the current cycle, filter the vehicle speed corresponding to the current cycle based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle. The commonly used weighted average method is adopted. That is, the filtered vehicle speed in the current cycle = filtering coefficient * current vehicle speed + (1 - filtering coefficient) * historical filtered vehicle speed in the previous cycle. This method combines the real-time information of the current vehicle speed and the historical filtering result, distributes weights according to the filtering coefficient, and while retaining the information of vehicle speed changes, smooths the noise and abnormal fluctuations.

[0039] Step 104: Smooth the filtered vehicle speed to obtain the target vehicle speed.

[0040] After obtaining the filtered vehicle speed, it is necessary to further smooth it to obtain the target vehicle speed. Commonly used methods include the moving average method, the exponential smoothing method, etc. Taking the moving average method as an example, set the window size, select the filtered vehicle speeds of N cycles to calculate the average value as the target vehicle speed, further eliminate small fluctuations, and reflect the overall trend of the vehicle speed.

[0041] Step 105: Control the instrument to display the target vehicle speed.

[0042] After obtaining the stable and accurate target vehicle speed through the above steps, send it to the instrument. For traditional pointer-type instruments, convert the target vehicle speed into a pointer angle indication through a motor or a driving device; for digital display instruments, directly present the target vehicle speed in digital form and visually display it to the driver.

[0043] In the embodiment of the present application, when the vehicle is in a preset working condition, periodically obtain the original vehicle speed signal of the vehicle to obtain the vehicle speed corresponding to each cycle; determine the filtering coefficient corresponding to the current cycle according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filtering coefficient; based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle, filter the vehicle speed corresponding to the current cycle to obtain the filtered vehicle speed corresponding to the current cycle; smooth the filtered vehicle speed to obtain the target vehicle speed; control the instrument to display the target vehicle speed. By filtering and smoothing the vehicle speed collected in each cycle, the present application can eliminate the vehicle speed jump caused by factors such as road surface bumps and sensor instantaneous interference, make the vehicle speed displayed on the instrument stable, provide a reliable vehicle speed reference for the driver, avoid distraction, and improve driving safety.

[0044] In an alternative embodiment of the present application, determining the filtering coefficient corresponding to the current cycle according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filtering coefficient includes:

[0045] Determine the absolute value of the difference between the vehicle speed and the historical vehicle speed as the vehicle speed change value;

[0046] Judge whether the vehicle speed change value is between a first preset vehicle speed threshold and a second preset vehicle speed threshold, where the first preset vehicle speed threshold is greater than the second preset vehicle speed threshold;

[0047] If so, determine the historical filtering coefficient corresponding to the previous cycle as the filtering coefficient corresponding to the current cycle;

[0048] If not, when the vehicle speed change value is greater than the first preset vehicle speed threshold, increase the historical filtering coefficient corresponding to the previous cycle by a preset adjustment step to obtain the filtering coefficient corresponding to the current cycle; when the vehicle speed change value is less than the second preset vehicle speed threshold, decrease the historical filtering coefficient corresponding to the previous cycle by a preset adjustment step to obtain the filtering coefficient corresponding to the current cycle.

[0049] In the specific implementation process, when determining the filtering coefficient corresponding to the current cycle, first calculate the vehicle speed change value, which is the absolute value of the difference between the vehicle speed corresponding to the current cycle and the historical vehicle speed corresponding to the previous cycle, that is, δv = |V curr -V prev |, where δv is the vehicle speed change value, V curr is the vehicle speed corresponding to the current cycle, and V prev is the historical vehicle speed corresponding to the previous cycle. The vehicle speed change value characterizes the change amplitude between the vehicle speeds of two consecutive cycles. Whether the vehicle speed increases or decreases, a positive value can be obtained to represent its change degree.

[0050] After obtaining the vehicle speed change value, further judge whether the vehicle speed change value is between the first preset vehicle speed threshold and the second preset vehicle speed threshold. Here, the first preset vehicle speed threshold and the second preset vehicle speed threshold are preset according to the actual situation of vehicle driving, and T1 is greater than T2, where T1 is the first preset vehicle speed threshold and T2 is the second preset vehicle speed threshold. The judgment results are divided into the following three cases.

[0051] The first case is that δv is between T1 and T2 (including δv = T1 or T2), indicating that the vehicle speed change is in a relatively stable range. In this case, since the vehicle speed change is relatively stable, there is no need to adjust the filtering coefficient to maintain the coherence and stability of the filtering effect. Determine the historical filtering coefficient corresponding to the previous cycle directly as the filtering coefficient corresponding to the current cycle. That is, α curr = α prev , where α curr is the filtering coefficient corresponding to the current cycle, and α prev is the historical filtering coefficient corresponding to the previous cycle.

[0052] The second case is that δv is greater than T1, indicating that the vehicle speed changes relatively violently. In order to make the filtered vehicle speed follow the change of the actual vehicle speed faster, increase the historical filtering coefficient corresponding to the previous cycle by a preset adjustment step to obtain the filtering coefficient corresponding to the current cycle, that is, α curr = α prev + δα, where δα is the preset adjustment step. For example, δα can be set to 0.005. By increasing the filtering coefficient, more consideration will be given to the current vehicle speed in the subsequent filtering process, so that the filtered vehicle speed can more timely reflect the rapid change of the actual vehicle speed.

[0053] The third case is that δv is less than T2, indicating that the vehicle speed changes very little and the vehicle driving state is relatively stable. At this time, in order to further smooth the vehicle speed data and reduce the influence caused by small fluctuations, reduce the historical filtering coefficient corresponding to the previous cycle by a preset adjustment step to obtain the filtering coefficient corresponding to the current cycle, that is, α curr = α prev - δα. By reducing the filtering coefficient, more reliance will be placed on the filtering result of the previous cycle during the filtering process, so that the filtered vehicle speed is smoother and the frequent jumping of the displayed vehicle speed caused by small changes in the vehicle speed is avoided.

[0054] In the above implementation of the present application, by dynamically adjusting the filtering coefficient according to the vehicle speed change value, the filtering process can better adapt to different vehicle speed change situations. When the vehicle speed changes violently, the filtering coefficient is adjusted in a timely manner so that the filtered vehicle speed can quickly keep up with the change of the actual vehicle speed, ensuring the timeliness of the vehicle speed display; while when the vehicle speed changes little, the vehicle speed data is made smoother by adjusting the filtering coefficient, improving the stability of the vehicle speed display. A reasonable adjustment of the filtering coefficient can reduce the jumping phenomenon of the instrument vehicle speed display and avoid visual interference to the driver caused by small fluctuations.

[0055] In an optional embodiment of the present application, based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle, filtering the vehicle speed corresponding to the current cycle to obtain the filtered vehicle speed corresponding to the current cycle, including:

[0056] Determine a first weight coefficient corresponding to the historical filtered vehicle speed and a second weight coefficient corresponding to the vehicle speed according to the filtering coefficient;

[0057] Based on the historical filtered vehicle speed, the first weight coefficient, the vehicle speed, and the second weight coefficient, determine the filtered vehicle speed corresponding to the current cycle based on weighted operation.

[0058] In the specific implementation process, when filtering the vehicle speed corresponding to the current cycle, first determine the first weight coefficient corresponding to the historical filtered vehicle speed and the second weight coefficient corresponding to the vehicle speed of the current cycle.

[0059] The first weight coefficient reflects the importance of the historical filtered vehicle speed in the previous cycle during the current filtering process, avoiding large fluctuations in the filtered vehicle speed caused by instantaneous fluctuations in the current vehicle speed. The first weight coefficient determines the proportion of the current vehicle speed in calculating the filtered vehicle speed, enabling the filtered vehicle speed to promptly reflect the changing trend of the current vehicle speed. Among them, the second weight coefficient is the filtering coefficient, and the first weight coefficient is 1 minus the filtering coefficient.

[0060] Based on the historical filtered vehicle speed, the first weight coefficient, the vehicle speed, and the second weight coefficient, the filtered vehicle speed corresponding to the current cycle is determined based on weighted operation, i.e., V filtered = V filtered-prev * A1 + V curr * A2, where V filtered is the filtered vehicle speed, V filtered-prev is the historical filtered vehicle speed, A1 is the first weight coefficient, V curr is the vehicle speed, and A2 is the second weight coefficient. This weighted operation combines the stability of the historical filtered vehicle speed and the real-time nature of the current vehicle speed. The historical filtered vehicle speed is adjusted by the first weight coefficient, incorporating the stable vehicle speed information from the past; the current vehicle speed injects the latest vehicle speed changes into the filtering result through the action of the second weight coefficient, making the calculated filtered vehicle speed not only reflect the upward trend of the current vehicle speed but also avoid excessive fluctuations caused by the sole action of the current vehicle speed through the reasonable utilization of the historical filtered vehicle speed.

[0061] In the above implementation of this application, by determining the filtered vehicle speed corresponding to the current cycle based on weighted operation according to the historical filtered vehicle speed, the first weight coefficient, the vehicle speed, and the second weight coefficient, the vehicle speed fluctuations caused by factors such as sensor errors and road surface bumps can be effectively reduced.

[0062] In an optional embodiment of this application, the original vehicle speed signal of the vehicle is periodically acquired to obtain the vehicle speed corresponding to each cycle, including:

[0063] For each cycle, the original vehicle speed in the original vehicle speed signal is acquired;

[0064] The product of the original vehicle speed and the first preset value is calculated and added to the second preset value to obtain the vehicle speed.

[0065] Specifically, when the vehicle is in an operating state, the vehicle speed sensor continuously monitors the vehicle speed situation and generates an original vehicle speed signal.

[0066] Due to various factors affecting vehicle speed measurement during the actual operation of the vehicle, there is a certain deviation between the original vehicle speed in the original vehicle speed signal and the actual situation.

[0067] After the embodiment of the present application obtains the original vehicle speed signal, it corrects the original vehicle speed therein, so that the vehicle speed displayed on the subsequent instrument can more accurately reflect the actual driving speed of the vehicle, provides more reliable vehicle speed information for the driver, and facilitates the driver to better master the vehicle driving state and reasonably plan the driving operation.

[0068] Specifically, a first preset value and a second preset value can be preset in advance. After obtaining the original vehicle speed signal, calculate the product of the original vehicle speed and the first preset value plus the second preset value to obtain the vehicle speed. That is, V curr =V 0 *P 1 +P 2 , where V is the vehicle speed, V 0 is the original vehicle speed, P 1 is the first preset value, P 2 is the second preset value. It should be noted that the first preset value and the second preset value can be the values calibrated by the vehicle manufacturer according to the driving parameters of the vehicle before the vehicle leaves the factory, and are not specifically limited in the embodiment of the present application. For example, the first preset value can be 1.03 and the second preset value can be 1.3.

[0069] In the above implementation scheme of the present application, by introducing the first preset value and the second preset value to adjust the original vehicle speed, the corrected vehicle speed can more accurately and reasonably reflect the true operating speed of the vehicle, and provide a more reliable basis for various subsequent judgments and controls based on the vehicle speed.

[0070] In an optional embodiment of the present application, controlling the instrument to display the target vehicle speed includes:

[0071] Obtain the acceleration of the vehicle;

[0072] Judge whether the absolute value of the acceleration is less than a preset acceleration threshold;

[0073] If so, control the instrument to display the target vehicle speed;

[0074] If not, determine the vehicle speed as the target vehicle speed and control the instrument to display the target vehicle speed.

[0075] In the specific implementation process, before controlling the instrument to display the target vehicle speed, it is also necessary to obtain the acceleration of the vehicle, which can be collected by an acceleration sensor installed on the vehicle body. Then judge the magnitude relationship between the absolute value of the acceleration and the preset acceleration threshold. Here, the preset acceleration threshold is a value preset according to the normal driving state of the vehicle and the requirements of the driving experience.

[0076] When the absolute value of the acceleration is less than the preset acceleration threshold, it indicates that the acceleration or deceleration process of the vehicle is relatively smooth, without sudden acceleration or deceleration. In this case, directly control the instrument to display the target vehicle speed obtained after a series of processes before.

[0077] When the absolute value of the acceleration is greater than or equal to the preset acceleration threshold, it means that the vehicle is in a state of sudden acceleration or deceleration. At this time, determine the current vehicle speed as the target vehicle speed and control the instrument to display it. This is because during sudden acceleration or deceleration, the vehicle speed changes rapidly, and the previously calculated target vehicle speed may not be able to keep up with the actual vehicle speed change in time. Using the current vehicle speed directly as the display content can allow the driver to more accurately understand the real-time speed of the vehicle and avoid driving misjudgment caused by display delay.

[0078] In the above implementation of this application, by judging whether the absolute value of the acceleration is less than the preset acceleration threshold, and displaying the target vehicle speed when it is, and displaying the current vehicle speed when it is not, it is possible to maintain the display of the target vehicle speed when the vehicle is driving smoothly, which can provide stable and reliable vehicle speed information for the driver, avoid distraction caused by frequent switching of the display method, and in the case of sudden acceleration or deceleration, display the current vehicle speed in time, so that the driver can accurately grasp the real-time speed change of the vehicle, enhance the sense of security and controllability of driving, and improve the overall driving experience.

[0079] In an alternative embodiment of this application, smoothing the filtered vehicle speed to obtain the target vehicle speed includes:

[0080] Obtain N historical filtered vehicle speeds corresponding to the previous N cycles corresponding to the current cycle; where N is a positive integer;

[0081] Determine the average value of the N historical filtered vehicle speeds and the filtered vehicle speed as the target vehicle speed.

[0082] Specifically, during the vehicle driving process, vehicle speed data is collected and processed according to a certain cycle. For each current cycle, the target controller will record the vehicle speeds after filtering in the previous multiple cycles, that is, the historical filtered vehicle speeds. Here, N is a preset positive integer, which determines how many cycles of historical data to refer to. For example, assuming that the duration of each cycle is 20 milliseconds and N is 10, when in the 10th cycle, it is necessary to obtain the historical filtered vehicle speeds corresponding to the 1st to 9th cycles. These historical filtered vehicle speeds are relatively smooth and stable vehicle speed values obtained after passing through the filtering algorithm before, and they are stored for subsequent further data processing and analysis.

[0083] Calculate the average value of the historical filtered vehicle speeds of N cycles and the filtered vehicle speed of the current cycle to obtain the target vehicle speed. Specifically, add up all these vehicle speed values and then divide by the total number (i.e., N + 1) to obtain the average value.

[0084] In the above implementation of the present application, the target vehicle speed is determined by averaging the historical filtered vehicle speeds of multiple cycles and the filtered vehicle speed of the current cycle, which can effectively smooth the vehicle speed fluctuations and make the finally presented vehicle speed data more stable.

[0085] In an alternative embodiment of the present application, controlling the instrument to display the target vehicle speed includes:

[0086] Judge whether the target vehicle speed is greater than the historical target vehicle speed corresponding to the previous cycle;

[0087] When the target vehicle speed is greater than or equal to the historical target vehicle speed, judge whether the decimal part of the target vehicle speed is greater than a preset rising edge threshold. If so, round up the target vehicle speed to obtain the displayed vehicle speed; otherwise, determine the integer part of the target vehicle speed as the displayed vehicle speed;

[0088] When the target vehicle speed is less than the historical target vehicle speed, judge whether the decimal part of the target vehicle speed is less than a preset falling edge threshold. If so, round down the target vehicle speed to obtain the displayed vehicle speed; otherwise, determine the integer part of the target vehicle speed as the displayed vehicle speed;

[0089] Control the instrument to display the displayed vehicle speed.

[0090] Specifically, before displaying the target vehicle speed, it is also necessary to perform rounding processing on the target vehicle speed.

[0091] When performing rounding processing on the target vehicle speed, it is possible to first judge whether the target vehicle speed is greater than the historical target vehicle speed corresponding to the previous cycle to determine the change trend of the vehicle speed, that is, whether the vehicle speed is rising, falling or remaining unchanged.

[0092] After determining that the target vehicle speed is greater than or equal to the historical target vehicle speed, further obtain the fractional part of the target vehicle speed. The preset rising edge threshold is a preset value used to judge the magnitude of the fractional part of the target vehicle speed. If the fractional part of the target vehicle speed is greater than this preset rising edge threshold, it means that the increase in vehicle speed is relatively large. At this time, perform a ceiling operation on the target vehicle speed, and use the result after rounding up as the displayed vehicle speed. For example, the preset rising edge threshold is 0.7. If the target vehicle speed is 50.8 km / h, since the fractional part 0.8 is greater than 0.7, the displayed vehicle speed after rounding up is 51 km / h. Conversely, if the fractional part of the target vehicle speed is not greater than the preset rising edge threshold, that is, less than or equal to this threshold, it indicates that the increase in vehicle speed is small. At this time, directly determine the integer part of the target vehicle speed as the displayed vehicle speed. For example, the target vehicle speed is 50.4 km / h, and the fractional part 0.4 is less than the preset rising edge threshold 0.7, then the displayed vehicle speed is 50 km / h.

[0093] When the target vehicle speed is less than the historical target vehicle speed, further obtain the fractional part of the target vehicle speed. The preset falling edge threshold is also preset and is used to measure the fractional part when the vehicle speed decreases. If the fractional part of the target vehicle speed is less than this preset falling edge threshold, it indicates that the decrease in vehicle speed is relatively large. At this time, perform a floor operation on the target vehicle speed, and use the result after rounding down as the displayed vehicle speed. For example, the preset falling edge threshold is 0.3. If the target vehicle speed is 49.2 km / h, since the fractional part 0.2 is less than 0.3, the displayed vehicle speed after rounding down is 49 km / h. Conversely, if the fractional part of the target vehicle speed is not less than the preset falling edge threshold, it indicates that the decrease in vehicle speed is small. At this time, directly determine the integer part of the target vehicle speed as the displayed vehicle speed. For example, the target vehicle speed is 49.4 km / h, and the fractional part 0.4 is greater than the preset falling edge threshold 0.3, then the displayed vehicle speed is 49 km / h.

[0094] After the above series of judgments and processes, the final displayed vehicle speed is obtained. The system will send this displayed vehicle speed to the instrument to control the instrument for display.

[0095] In the above implementation scheme of this application, by making a rounding judgment according to the vehicle speed change trend and the fractional part, the frequent jumping of the instrument display value when the vehicle speed changes slightly is avoided.

[0096] In an optional embodiment of this application, after obtaining the filtered vehicle speed corresponding to the current cycle, the method further includes:

[0097] Judge whether the absolute value of the difference between the vehicle speed corresponding to the current cycle and the filtered vehicle speed is greater than the third preset vehicle speed threshold;

[0098] If so, increase the filtering coefficient corresponding to the current cycle by a preset adjustment step, and re-filter the vehicle speed corresponding to the current cycle until the absolute value of the difference between the vehicle speed corresponding to the current cycle and the filtered vehicle speed is less than or equal to the third preset vehicle speed threshold.

[0099] In the specific implementation process, after obtaining the filtered vehicle speed, it is also necessary to compare the difference between the vehicle speed corresponding to the current cycle and the filtered vehicle speed. By calculating the absolute value of their difference, the deviation degree between these two vehicle speed values is measured, that is, to judge whether the vehicle speed after filtering can better reflect the actual vehicle speed situation. Here, a third preset vehicle speed threshold is introduced, which is a numerical standard preset according to factors such as vehicle driving characteristics and requirements for vehicle speed accuracy. For example, this threshold can be set to 2 km / h. If the calculated absolute value of the difference between the vehicle speed of the current cycle and the filtered vehicle speed is greater than the third preset vehicle speed threshold, it indicates that the deviation between the filtered vehicle speed and the actual vehicle speed is large, and it is necessary to increase the filtering coefficient corresponding to the current cycle by a preset adjustment step. The preset adjustment step is also a fixed value preset in advance, such as set to 0.005. The purpose of increasing the filtering coefficient is to make the filtering process refer more to the actual vehicle speed of the current cycle. Because the current filtering result has a large deviation from the actual vehicle speed, it may be that too much dependence on historical vehicle speeds was in the previous process. Therefore, by increasing the filtering coefficient, the weight of the current vehicle speed in the filtering calculation is increased, and then the filtered vehicle speed is adjusted to be closer to the actual vehicle speed.

[0100] After increasing the filtering coefficient, it is necessary to re-filter the vehicle speed corresponding to the current cycle. This re-filtering process is the same as the calculation method of the initial filtering before, except that the updated filtering coefficient is used. For example, the initial filtering coefficient is 0.6, and the filtered vehicle speed is obtained, but it is found that there is a large deviation from the actual vehicle speed. After increasing the filtering coefficient to 0.605, use this new filtering coefficient again, combined with the current vehicle speed and the historical filtered vehicle speed of the previous cycle, to re-perform the weighted operation to obtain the new filtered vehicle speed.

[0101] Then, compare the absolute value of the difference between the new filtered vehicle speed and the vehicle speed of the current cycle again, and judge whether it is less than or equal to the third preset vehicle speed threshold. If it is still greater than the third preset vehicle speed threshold, continue to increase the filtering coefficient and re-filter according to the above method, and repeat this process continuously until the absolute value of the difference meets the condition of being less than or equal to the third preset vehicle speed threshold, so as to ensure that the deviation between the finally obtained filtered vehicle speed and the actual vehicle speed is within an acceptable range.

[0102] In the above implementation scheme of the present application, by comparing the deviation between the vehicle speed and the filtered vehicle speed, and dynamically adjusting the filtering coefficient to re-filter according to the deviation situation, the finally obtained filtered vehicle speed can be made as close as possible to the actual vehicle speed.

[0103] The overall implementation process of the embodiments of the present application will be introduced below. As Figure 2 shown, it includes:

[0104] Step 201: Periodically receive the original vehicle speed sent by IBC or ESP.

[0105] It should be noted that before step 201, an initialization operation also needs to be performed, specifically including setting the filtering coefficient to a preset value, such as 0.5. The initialization operation also includes initializing the filtered vehicle speed, the historical vehicle speed corresponding to the previous cycle, and the historical filtered vehicle speed, that is, V filtered = 0, V prev = 0, V filtered-prev = 0.

[0106] Step 202: Process the original vehicle body through a preprocessing formula to obtain the vehicle speed. Specifically, V curr = V 0 * 1.03 + 1.3.

[0107] Step 203: Determine whether |a| is less than a preset acceleration threshold. If yes, execute step 204; otherwise, execute step 205.

[0108] Step 204: Calculate the absolute value of the difference between the vehicle speed corresponding to the current cycle and the historical vehicle speed corresponding to the previous cycle to obtain the vehicle speed change value.

[0109] Step 205: Round the vehicle speed to obtain the displayed vehicle speed. Specifically, the rising edge threshold and falling edge threshold method can be used for rounding.

[0110] Step 206: Determine whether the vehicle body change value is greater than a first preset vehicle speed threshold. If yes, execute step 207; otherwise, execute step 208.

[0111] Step 207: Increase the filtering coefficient by a preset adjustment step.

[0112] Step 208: Determine whether the vehicle speed change value is less than a second preset vehicle speed threshold. If yes, execute step 209; otherwise, execute step 210.

[0113] Step 209: Decrease the filtering coefficient by a preset adjustment step.

[0114] Step 210: Keep the filtering coefficient unchanged.

[0115] Step 211: Determine the filtered vehicle speed corresponding to the current cycle according to the filtering coefficient, the vehicle speed corresponding to the current cycle, and the historical filtered vehicle speed corresponding to the previous cycle.

[0116] Step 212: Determine whether the absolute value of the difference between the vehicle speed corresponding to the current cycle and the filtered vehicle speed is greater than a third preset vehicle speed threshold. If yes, execute Step 214; otherwise, execute Step 213.

[0117] Step 213: Increase the filtering coefficient by a preset adjustment step. After Step 213, execute Step 211.

[0118] Step 214: Add the filtered vehicle speed to the vehicle speed cache list, and calculate the average value of the vehicle speeds in the vehicle speed cache list to obtain the target vehicle speed. Specifically, if the size of the vehicle speed cache list is 10, when adding the filtered vehicle speed to the vehicle speed cache list, the first data in the vehicle speed cache list needs to be deleted.

[0119] Step 215: Round the target vehicle speed to obtain the displayed vehicle speed. Specifically, the rising edge threshold and falling edge threshold method can be used for rounding.

[0120] Step 216: Control the instrument to display the displayed vehicle speed.

[0121] In the above implementation, when the vehicle is in a preset working condition, the original vehicle speed signal of the vehicle is periodically acquired to obtain the vehicle speed corresponding to each cycle; according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filtering coefficient, the filtering coefficient corresponding to the current cycle is determined; based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle, the vehicle speed corresponding to the current cycle is filtered to obtain the filtered vehicle speed corresponding to the current cycle; the filtered vehicle speed is smoothed to obtain the target vehicle speed; and the instrument is controlled to display the target vehicle speed. By filtering and smoothing the vehicle speed collected in each cycle, the present application can eliminate the vehicle speed jump caused by factors such as road surface bumps and sensor instantaneous interference, make the vehicle speed displayed on the instrument stable, provide a reliable vehicle speed reference for the driver, avoid distraction, and improve driving safety.

[0122] The above introduces the instrument vehicle speed processing method provided by the embodiments of the present application. Next, the instrument vehicle speed processing device provided by the embodiments of the present application will be introduced with reference to the accompanying drawings.

[0123] As Figure 3 shown, an embodiment of the present invention further provides an instrument vehicle speed processing device, and the device includes:

[0124] An acquisition module 301, configured to periodically acquire the original vehicle speed signal of the vehicle when the vehicle is in a preset working condition, to obtain the vehicle speed corresponding to each cycle;

[0125] A determination module 302, configured to determine the filtering coefficient corresponding to the current cycle according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filtering coefficient;

[0126] The first processing module 303 is configured to perform filtering processing on the vehicle speed corresponding to the current cycle based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle, so as to obtain the filtered vehicle speed corresponding to the current cycle;

[0127] The second processing module 304 is configured to perform smoothing processing on the filtered vehicle speed to obtain the target vehicle speed;

[0128] The control module 305 is configured to control the instrument to display the target vehicle speed.

[0129] Optionally, the determination module includes:

[0130] The first determination sub-module is configured to determine the absolute value of the difference between the vehicle speed and the historical vehicle speed as the vehicle speed change value;

[0131] The first judgment sub-module is configured to judge whether the vehicle speed change value is between a first preset vehicle speed threshold and a second preset vehicle speed threshold, where the first preset vehicle speed threshold is greater than the second preset vehicle speed threshold;

[0132] The second determination sub-module is configured to, if so, determine the historical filtering coefficient corresponding to the previous cycle as the filtering coefficient corresponding to the current cycle;

[0133] The third determination sub-module is configured to, if not, when the vehicle speed change value is greater than the first preset vehicle speed threshold, increase the historical filtering coefficient corresponding to the previous cycle by a preset adjustment step to obtain the filtering coefficient corresponding to the current cycle; when the vehicle speed change value is less than the second preset vehicle speed threshold, decrease the historical filtering coefficient corresponding to the previous cycle by a preset adjustment step to obtain the filtering coefficient corresponding to the current cycle.

[0134] Optionally, the first processing module includes:

[0135] The fourth determination sub-module is configured to determine a first weight coefficient corresponding to the historical filtered vehicle speed and a second weight coefficient corresponding to the vehicle speed according to the filtering coefficient;

[0136] The fifth determination sub-module is configured to determine the filtered vehicle speed corresponding to the current cycle based on weighted operation according to the historical filtered vehicle speed, the first weight coefficient, the vehicle speed, and the second weight coefficient.

[0137] Optionally, the acquisition module includes:

[0138] The first acquisition sub-module is configured to acquire the original vehicle speed in the original vehicle speed signal for each cycle;

[0139] The calculation sub-module is configured to calculate the product of the original vehicle speed and a first preset value plus a second preset value to obtain the vehicle speed.

[0140] Optionally, the control module includes:

[0141] A second acquisition sub-module, configured to acquire the acceleration of the vehicle;

[0142] A second judgment sub-module, configured to judge whether the absolute value of the acceleration is less than a preset acceleration threshold;

[0143] A first control sub-module, configured to, if so, control the instrument to display the target vehicle speed;

[0144] A second control sub-module, configured to, if not, determine the vehicle speed as the target vehicle speed and control the instrument to display the target vehicle speed.

[0145] Optionally, the second processing module includes:

[0146] A third acquisition sub-module, configured to acquire N historical filtered vehicle speeds corresponding to the previous N cycles of the current cycle; where N is a positive integer;

[0147] A sixth determination sub-module, configured to determine the average value of the N historical filtered vehicle speeds and the filtered vehicle speed as the target vehicle speed.

[0148] Optionally, the control module includes:

[0149] A third judgment sub-module, configured to judge whether the target vehicle speed is greater than the historical target vehicle speed corresponding to the previous cycle;

[0150] A seventh determination sub-module, configured to, when the target vehicle speed is greater than or equal to the historical target vehicle speed, judge whether the decimal part of the target vehicle speed is greater than a preset rising edge threshold, and if so, round up the target vehicle speed to obtain the displayed vehicle speed, otherwise determine the integer part of the target vehicle speed as the displayed vehicle speed;

[0151] An eighth determination sub-module, configured to, when the target vehicle speed is less than the historical target vehicle speed, judge whether the decimal part of the target vehicle speed is less than a preset falling edge threshold, and if so, round down the target vehicle speed to obtain the displayed vehicle speed, otherwise determine the integer part of the target vehicle speed as the displayed vehicle speed;

[0152] A third control sub-module, configured to control the instrument to display the displayed vehicle speed.

[0153] Optionally, after obtaining the filtered vehicle speed corresponding to the current cycle, the device further includes:

[0154] A judgment module, configured to judge whether the absolute value of the difference between the vehicle speed corresponding to the current cycle and the filtered vehicle speed is greater than a third preset vehicle speed threshold;

[0155] A third processing module, configured to, if so, increase a preset adjustment step of a filtering coefficient corresponding to the current period, and re-filter the vehicle speed corresponding to the current period until an absolute value of a difference between the vehicle speed corresponding to the current period and a filtered vehicle speed is less than or equal to the third preset vehicle speed threshold.

[0156] The instrument vehicle speed processing device provided by the present application periodically obtains an original vehicle speed signal of a vehicle when the vehicle is in a preset working condition to obtain a vehicle speed corresponding to each period; determines a filtering coefficient corresponding to the current period according to the vehicle speed corresponding to the current period, the historical vehicle speed corresponding to the previous period, and the historical filtering coefficient; filters the vehicle speed corresponding to the current period based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous period to obtain a filtered vehicle speed corresponding to the current period; performs a smoothing process on the filtered vehicle speed to obtain a target vehicle speed; and controls the instrument to display the target vehicle speed. By filtering and smoothing the vehicle speed collected in each period, the present application can eliminate vehicle speed jumps caused by factors such as road surface bumps and instantaneous sensor interferences, make the vehicle speed displayed on the instrument stable, provide a reliable vehicle speed reference for the driver, avoid distraction of attention, and improve driving safety.

[0157] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For related parts, refer to the partial description of the method embodiment.

[0158] The embodiment of the present application further provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements each process of the above-mentioned instrument vehicle speed processing method embodiment and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0159] For example, Figure 4 shows a schematic physical structure diagram of an electronic device. As Figure 4As shown in the figure, the electronic device may include: a processor 410, a communications interface 420, a memory 430, and a communication bus 440. Among them, the processor 410, the communications interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call the logical instructions in the memory 430. The processor 410 is configured to perform the following steps: When the vehicle is in a preset working condition, periodically obtain the original vehicle speed signal of the vehicle to obtain the vehicle speed corresponding to each period; determine the filtering coefficient corresponding to the current period according to the vehicle speed corresponding to the current period, the historical vehicle speed corresponding to the previous period, and the historical filtering coefficient; based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous period, perform filtering processing on the vehicle speed corresponding to the current period to obtain the filtered vehicle speed corresponding to the current period; perform smoothing processing on the filtered vehicle speed to obtain the target vehicle speed; control the instrument to display the target vehicle speed. The processor 410 can also execute other solutions in the embodiments of the present application, which will not be further elaborated here.

[0160] In addition, when the logical instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This 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.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0161] The embodiments of the present application also provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, it realizes each process of the above-mentioned instrument vehicle speed processing method embodiment and can achieve the same technical effect. To avoid repetition, it will not be elaborated here. Among them, the computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.

[0162] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or device including such element.

[0163] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present application.

[0164] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0165] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0166] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0167] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0168] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0169] 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.

[0170] If the above functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0171] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered within the protection scope of the present application.

Claims

1. A method for processing vehicle speed in an instrument, characterized in that: The method comprises: When the vehicle is in a preset working condition, periodically acquiring an original vehicle speed signal of the vehicle to obtain a vehicle speed corresponding to each period; Determine the filter coefficient corresponding to the current cycle according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filter coefficient; Based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle, filtering the vehicle speed corresponding to the current cycle to obtain the filtered vehicle speed corresponding to the current cycle; Smoothing the filtered vehicle speed to obtain a target vehicle speed; The control instrument displays the target vehicle speed.

2. The instrument vehicle speed processing method according to claim 1, characterized in that: According to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle and the historical filter coefficient, the filter coefficient corresponding to the current cycle is determined, including: determining an absolute value of a difference between the vehicle speed and the historical vehicle speed as a vehicle speed change value; Determining whether the vehicle speed change value is between a first preset vehicle speed threshold and a second preset vehicle speed threshold, wherein the first preset vehicle speed threshold is greater than the second preset vehicle speed threshold; If yes, the historical filter coefficient corresponding to the previous cycle is determined as the filter coefficient corresponding to the current cycle; If not, when the vehicle speed change value is greater than the first preset vehicle speed threshold, the historical filter coefficient corresponding to the previous cycle is increased by the preset adjustment step to obtain the filter coefficient corresponding to the current cycle; when the vehicle speed change value is less than the second preset vehicle speed threshold, the historical filter coefficient corresponding to the previous cycle is reduced by the preset adjustment step to obtain the filter coefficient corresponding to the current cycle.

3. The instrument vehicle speed processing method according to claim 1, characterized in that: Based on the filtering coefficient and the historical filtered vehicle speed corresponding to the previous cycle, filtering the vehicle speed corresponding to the current cycle to obtain the filtered vehicle speed corresponding to the current cycle includes: Determine, according to the filter coefficient, a first weight coefficient corresponding to the historical filtered vehicle speed and a second weight coefficient corresponding to the vehicle speed; The filtered vehicle speed corresponding to the current period is determined based on a weighted operation according to the historical filtered vehicle speed, the first weight coefficient, the vehicle speed and the second weight coefficient.

4. The vehicle speed meter processing method according to claim 1, characterized in that: The original vehicle speed signal of the vehicle is periodically acquired to obtain the vehicle speed corresponding to each period, including: For each cycle, obtaining the original vehicle speed in the original vehicle speed signal; The vehicle speed is obtained by calculating the product of the original vehicle speed and the first preset value and adding the second preset value.

5. The vehicle speed meter processing method according to claim 1, characterized in that: The control instrument displays the target vehicle speed, including: obtaining the acceleration of the vehicle; Determining whether the absolute value of the acceleration is less than a preset acceleration threshold; If yes, the control instrument displays the target vehicle speed; If not, the vehicle speed is determined as the target vehicle speed, and the instrument is controlled to display the target vehicle speed.

6. The vehicle speed meter processing method according to claim 1, characterized in that: Smoothing the filtered vehicle speed to obtain a target vehicle speed includes: Obtain the N historical filtered vehicle speeds corresponding to the previous N cycles corresponding to the current cycle; where N is a positive integer; An average value of the N historical filtered vehicle speeds and the filtered vehicle speed is determined as the target vehicle speed.

7. The vehicle speed meter processing method according to claim 1, characterized in that: The control instrument displays the target vehicle speed, including: Determining whether the target vehicle speed is greater than a historical target vehicle speed corresponding to a previous cycle; When the target vehicle speed is greater than or equal to the historical target vehicle speed, determining whether the decimal part of the target vehicle speed is greater than a preset rising edge threshold, if so, rounding up the target vehicle speed to obtain the displayed vehicle speed, otherwise, determining the integer part of the target vehicle speed as the displayed vehicle speed; When the target vehicle speed is less than the historical target vehicle speed, determining whether the decimal part of the target vehicle speed is less than a preset falling edge threshold, if so, rounding down the target vehicle speed to obtain the displayed vehicle speed, otherwise determining the integer part of the target vehicle speed as the displayed vehicle speed; The control instrument displays the vehicle speed.

8. The vehicle speed meter processing method according to claim 1, characterized in that: After obtaining the filtered vehicle speed corresponding to the current cycle, the method further includes: Determine whether the absolute value of the difference between the vehicle speed corresponding to the current cycle and the filtered vehicle speed is greater than a third preset vehicle speed threshold; If so, the filter coefficient corresponding to the current cycle is increased by the preset adjustment step, and the vehicle speed corresponding to the current cycle is filtered again until the absolute value of the difference between the vehicle speed corresponding to the current cycle and the filtered vehicle speed is less than or equal to the third preset vehicle speed threshold.

9. An instrument vehicle speed processing device, characterized in that: include: An acquisition module, used to periodically acquire an original vehicle speed signal of the vehicle when the vehicle is in a preset working condition, and obtain a vehicle speed corresponding to each period; A determination module, used to determine the filter coefficient corresponding to the current cycle according to the vehicle speed corresponding to the current cycle, the historical vehicle speed corresponding to the previous cycle, and the historical filter coefficient; A first processing module, configured to filter the vehicle speed corresponding to the current cycle based on the filter coefficient and the historical filtered vehicle speed corresponding to the previous cycle, to obtain the filtered vehicle speed corresponding to the current cycle; A second processing module is used to smooth the filtered vehicle speed to obtain a target vehicle speed; The control module is used to control the instrument to display the target vehicle speed.

10. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the instrument vehicle speed processing method as claimed in any one of claims 1 to 8.

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