Signal processing method and device and vehicle

Abstract

The invention relates to a signal processing method and device and a vehicle, and is applied to the technical field of data processing. The signal processing method comprises the steps that under the condition that a vehicle runs on a preset road surface, a suspension state signal and a vehicle state signal of the vehicle are obtained, and the suspension state signal is used for indicating the unsprung acceleration and the suspension height of the vehicle; determining a first filtering parameter corresponding to the suspension state signal based on the unsprung acceleration and the vehicle state signal; determining a second filtering parameter corresponding to the suspension state signal based on the suspension height and the vehicle state signal; the target filtering parameter is determined based on the unsprung acceleration, the first filtering parameter and the second filtering parameter, and the target filtering parameter is used for conducting filtering processing on the suspension state signal. According to the embodiment of the invention, the target filtering parameter can be determined through the unsprung acceleration and the suspension height, that is, the filtering parameter is determined in a dynamic self-adaptive mode; and the accuracy of filtering parameter determination is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of data processing, and particularly relates to a signal processing method, device and vehicle. BACKGROUND

[0002] During driving of a vehicle, sensors (such as a height sensor, an acceleration sensor, etc.) of the vehicle are interfered by various noises, the noises can cover real signal characteristics, and thus the vehicle control system receives incorrect data and further causes system malfunctions. Therefore, a commonly used method is to perform noise filtering processing on sensor signals of the vehicle, so as to extract effective signals and ensure accuracy and stability of vehicle control of the vehicle control system.

[0003] However, the existing noise filtering processing on sensor signals adopts static filtering parameters. When the vehicle is driven in an off-road driving, high-speed flying slope, bumpy road and other extreme conditions, high-frequency mechanical vibration is generated due to a severe impact of a suspension system of the vehicle, and thus noise of output signals of the height sensor and the like of the vehicle is significantly increased. If the static filtering parameters are used, there is a problem of inaccurate noise filtering processing. Therefore, how to determine filtering parameters to ensure accuracy of noise filtering processing is a technical problem to be solved. SUMMARY

[0004] In order to solve the above technical problem, the present disclosure provides a signal processing method, device and vehicle, so as to solve the problem of inaccurate noise filtering processing caused by using static filtering parameters.

[0005] A first aspect of an embodiment of the present disclosure provides a signal processing method, comprising: In a case that the vehicle drives on a preset road surface, a suspension state signal and a vehicle state signal of the vehicle are acquired, the suspension state signal is used to indicate a corresponding unsprung acceleration and suspension height of the vehicle; A first filtering parameter corresponding to the suspension state signal is determined based on the unsprung acceleration and the vehicle state signal; A second filtering parameter corresponding to the suspension state signal is determined based on the suspension height and the vehicle state signal; A target filtering parameter is determined based on the unsprung acceleration, the first filtering parameter and the second filtering parameter, and the target filtering parameter is used to perform filtering processing on the suspension state signal.

[0006] In some embodiments of the present disclosure, the vehicle state signal comprises a vehicle speed signal; The first filtering parameter corresponding to the suspension state signal is determined based on the unsprung acceleration and the vehicle state signal, comprising: It is determined whether an absolute value of the unsprung acceleration is greater than a preset unsprung acceleration threshold value; In a case where the absolute value of the unsprung acceleration is determined to be greater than the preset unsprung acceleration threshold value, the absolute value of the unsprung acceleration is determined as a target unsprung acceleration corresponding to the vehicle. The first filtering parameter is determined based on the target unsprung acceleration and a vehicle speed signal.

[0007] In some embodiments of the present disclosure, the first filtering parameter is determined based on the target unsprung acceleration and the vehicle speed signal, including: A preset corresponding relationship between the unsprung acceleration and the vehicle speed and the filtering parameter is obtained. The filtering parameter corresponding to the target unsprung acceleration and the vehicle speed signal is determined based on the corresponding relationship, and the filtering parameter is determined as the first filtering parameter.

[0008] In some embodiments of the present disclosure, the second filtering parameter corresponding to the suspension state signal is determined based on the suspension height and the vehicle state signal, including: The unsprung speed is determined based on the suspension height and the vehicle state signal. The second filtering parameter is determined based on the unsprung speed.

[0009] In some embodiments of the present disclosure, the vehicle state signal includes a roll angular velocity signal and a pitch angular velocity signal. The unsprung speed is determined based on the suspension height and the vehicle state signal, including: The suspension speed is determined based on the suspension height. The unsprung speed is determined based on the suspension speed, the roll angular velocity signal and the pitch angular velocity signal.

[0010] In some embodiments of the present disclosure, the suspension speed is determined based on the suspension height, including: The suspension height is differentiated to obtain an instantaneous speed of the suspension height. The instantaneous speed is low-pass filtered to obtain the suspension speed. And / or The unsprung speed is determined based on the suspension speed, the roll angular velocity signal and the pitch angular velocity signal, including: The wheel track and the distance from the center of mass to the axle of the vehicle are obtained. A product of the roll angular velocity corresponding to the roll angular velocity signal, the wheel track and a preset constant is calculated to obtain a first value. A product of the pitch angular velocity corresponding to the pitch angular velocity signal and the distance from the center of mass to the axle is calculated to obtain a second value. A difference between the first value and the second value is calculated to obtain a third value. A difference between the third value and the suspension speed is determined as the unsprung speed.

[0011] In some embodiments of the present disclosure, the target filtering parameter is determined based on the unsprung acceleration, the first filtering parameter and the second filtering parameter, including: comparing the first filtering parameter and the second filtering parameter to obtain a comparison result; in a case where the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result is that the first filtering parameter is less than the second filtering parameter, determining the first filtering parameter as the target filtering parameter; in a case where the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result is that the first filtering parameter is greater than the second filtering parameter, determining the second filtering parameter as the target filtering parameter; in a case where the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result is that the first filtering parameter is equal to the second filtering parameter, determining any one of the first filtering parameter and the second filtering parameter as the target filtering parameter; in a case where the unsprung acceleration is less than or equal to the preset unsprung acceleration threshold, determining the second filtering parameter as the target filtering parameter.

[0012] In some embodiments of the present disclosure, after determining the target filtering parameter based on the unsprung acceleration, the first filtering parameter and the second filtering parameter, the signal processing method further includes: obtaining a preset filtering parameter rising slope threshold and a preset filtering parameter falling slope threshold; adjusting the target filtering parameter based on the preset filtering parameter rising slope threshold and the preset filtering parameter falling slope threshold.

[0013] A second aspect of the embodiments of the present disclosure provides a signal processing device, including: a signal acquisition module, configured to acquire a suspension state signal and a vehicle state signal of a vehicle in a case where the vehicle is driving on a preset road surface, the suspension state signal being used to indicate a corresponding unsprung acceleration and a suspension height of the vehicle; a first parameter determination module, configured to determine a first filtering parameter corresponding to the suspension state signal based on the unsprung acceleration and the vehicle state signal; a second parameter determination module, configured to determine a second filtering parameter corresponding to the suspension state signal based on the suspension height and the vehicle state signal; a filtering parameter determination module, configured to determine a target filtering parameter based on the unsprung acceleration, the first filtering parameter and the second filtering parameter, the target filtering parameter being used to filter the suspension state signal.

[0014] In some embodiments of the present disclosure, the vehicle state signal includes a vehicle speed signal.

[0015] The first parameter determination module is specifically configured to determine whether an absolute value of the unsprung acceleration is greater than a preset unsprung acceleration threshold; If the absolute value of the unsprung acceleration is determined to be greater than the preset unsprung acceleration threshold, the absolute value of the unsprung acceleration is determined as the target unsprung acceleration for the vehicle. The first filtering parameters are determined based on the target unsprung acceleration and vehicle speed signals.

[0016] In some embodiments of this disclosure, the first parameter determination module is further specifically used to obtain the correspondence between the preset unsprung acceleration and vehicle speed and the filter parameters; Based on the correspondence, filter parameters matching the vehicle speed corresponding to the target unsprung acceleration and vehicle speed signals are determined, and these filter parameters are designated as the first filter parameters.

[0017] In some embodiments of this disclosure, the second parameter determination module is specifically used to determine the unsprung speed based on the suspension height and vehicle state signal; The second filter parameter is determined based on the unsprung velocity.

[0018] In some embodiments of this disclosure, the vehicle status signals include roll rate signals and pitch rate signals.

[0019] The second parameter determination module includes a suspension speed determination unit and an unsprung speed determination unit.

[0020] Suspension speed determination unit, used to determine suspension speed based on suspension height; The unsprung speed determination unit is used to determine the unsprung speed based on the suspension speed, roll rate signal, and pitch rate signal.

[0021] In some embodiments of this disclosure, the suspension speed determination unit is specifically used to perform differential processing on the suspension height to obtain the instantaneous speed of the suspension height; The instantaneous speed is low-pass filtered to obtain the suspension speed.

[0022] The unsprung speed determination unit is specifically used to obtain the vehicle's track width and the distance from the center of gravity to the axle; The first value is obtained by multiplying the roll angular velocity, wheel track, and preset constant corresponding to the roll angular velocity signal. The second value is obtained by multiplying the pitch angular velocity corresponding to the pitch angular velocity signal with the distance from the center of mass to the axle. Calculate the difference between the first and second values ​​to obtain the third value; The difference between the third value and the suspension speed is determined as the unsprung speed.

[0023] In some embodiments of this disclosure, the filter parameter determination module is specifically used to compare the first filter parameter and the second filter parameter to obtain a comparison result; If the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result shows that the first filter parameter is less than the second filter parameter, the first filter parameter is determined as the target filter parameter. If the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result shows that the first filter parameter is greater than the second filter parameter, the second filter parameter is determined as the target filter parameter. If the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result shows that the first filter parameter is equal to the second filter parameter, then either the first filter parameter or the second filter parameter is determined as the target filter parameter. If the unsprung acceleration is less than or equal to the preset unsprung acceleration threshold, the second filter parameter is determined as the target filter parameter.

[0024] In some embodiments of this disclosure, the signal processing apparatus further includes a filter parameter adjustment module.

[0025] The filter parameter adjustment module is used to obtain a preset filter parameter rising slope threshold and a preset filter parameter falling slope threshold after determining the target filter parameter based on the unsprung acceleration, the first filter parameter, and the second filter parameter. The target filter parameters are adjusted based on preset thresholds for the rising slope and falling slope of the filter parameters.

[0026] A third aspect of this disclosure provides an electronic device, including: processor; Memory, used to store executable instructions; The processor is used to read executable instructions from memory and execute the executable instructions to implement the signal processing method provided in the first aspect above.

[0027] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the signal processing method provided in the first aspect.

[0028] A fifth aspect of this disclosure provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement the signal processing method of the first aspect described above.

[0029] A sixth aspect of this disclosure provides a vehicle that includes electronic equipment provided in the third aspect.

[0030] The technical solution provided in this disclosure has the following advantages: The signal processing method, device, and vehicle provided in this disclosure can acquire suspension state signals and vehicle state signals when the vehicle is traveling on a preset road surface. The suspension state signals indicate the unsprung acceleration and suspension height of the vehicle. A first filtering parameter corresponding to the suspension state signal is determined based on the unsprung acceleration and vehicle state signals. A second filtering parameter corresponding to the suspension state signal is determined based on the suspension height and vehicle state signals. A target filtering parameter is determined based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter, and is used to filter the suspension state signals. Therefore, when determining the filtering parameters, the actual suspension state of the vehicle is considered, taking into account the impact intensity and motion trend of the vehicle suspension. A dynamic adaptive approach is used to determine the filtering parameters used to filter the suspension state signals, ensuring that the filtering parameters are automatically reduced when the vehicle experiences severe unsprung motion, effectively suppressing high-frequency noise introduced by mechanical vibration. When the vehicle is in a stable state, the filtering parameters are increased to avoid excessive signal smoothing leading to control lag. This solves the problem of inaccurate noise filtering using static filtering parameters, thereby improving the accuracy of noise filtering. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of a signal processing method provided in an embodiment of this disclosure; Figure 2 This is a flowchart of a method for determining first filter parameters provided in an embodiment of this disclosure; Figure 3 This is a flowchart of a second filter parameter determination method provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the structure of a signal processing device provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0035] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0036] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0037] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0039] During vehicle operation, sensors (such as height and acceleration sensors) are typically subjected to various types of noise interference. This noise can mask the true signal characteristics, causing the vehicle control system to receive incorrect data and triggering malfunctions. Therefore, the commonly used method is to perform noise filtering on the vehicle's sensor signals to extract valid signals and ensure the accuracy and stability of the vehicle control system.

[0040] However, existing noise filtering methods for sensor signals use static filtering parameters. When a vehicle is in extreme conditions such as off-road driving, high-speed ramps, or bumpy roads, the suspension system experiences high-frequency mechanical vibrations due to severe impacts, leading to a significant increase in noise in the output signals of sensors such as the height sensor. Using static filtering parameters results in inaccurate noise filtering. If the filtering cutoff frequency is too high, it cannot effectively filter out high-frequency interference; if the filtering parameter is too low, it causes signal lag, affecting the real-time control performance of systems such as suspension, braking, or energy recovery. Therefore, determining the filtering parameters to ensure the accuracy of noise filtering is a pressing technical problem. To address this issue, this disclosure provides a signal processing method, which will be described below with reference to specific embodiments.

[0041] Figure 1 This is a flowchart of a signal processing method provided in an embodiment of the present disclosure. The method can be executed by a signal processing device, which can be implemented in software and / or hardware. The signal processing device can be configured in an electronic device, such as a server or terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc.

[0042] like Figure 1 As shown, the signal processing method provided in this embodiment includes the following steps.

[0043] S110. When the vehicle is traveling on a preset road surface, acquire the vehicle's suspension status signal and vehicle status signal.

[0044] In this embodiment of the disclosure, the vehicle can be any type of vehicle equipped with suspension (such as air suspension, active suspension, etc.).

[0045] In this embodiment of the disclosure, the preset road surface can be understood as a road surface that causes the vehicle suspension system to experience high-frequency mechanical vibration. For example, the preset road surface can be a bumpy road surface, a raised road surface with a certain slope, etc.

[0046] In this embodiment of the disclosure, the suspension status signal is used to indicate the corresponding unsprung acceleration and suspension height of the vehicle. The suspension status signal may include an unsprung acceleration signal and a suspension height signal. Specifically, the unsprung acceleration signal may include one or more of the following: left front unsprung acceleration signal, right front unsprung acceleration signal, left rear unsprung acceleration signal, and right rear unsprung acceleration signal, determined according to the vehicle's sensor configuration. The suspension height signal may include one or more of the following: left front suspension height signal, right front suspension height signal, left rear suspension height signal, and right rear suspension height signal, determined according to the vehicle's sensor configuration.

[0047] In this embodiment of the disclosure, the vehicle status signal may include vehicle speed signal, roll rate signal, pitch rate signal, etc.

[0048] Specifically, electronic devices can acquire images of the vehicle's exterior using external sensors, determine the road conditions based on these images, and identify whether the road surface is a preset road surface. If the vehicle is confirmed to be on the preset road surface, unsprung acceleration signals are acquired using wheel-end acceleration sensors, and suspension height signals are acquired using height sensors. Simultaneously, vehicle status information is obtained using the vehicle's inertial measurement unit and other sensors.

[0049] S120. Determine the first filter parameters corresponding to the suspension state signal based on the unsprung acceleration and vehicle state signal.

[0050] In this embodiment of the disclosure, the filtering parameters may include the filtering cutoff frequency.

[0051] In this embodiment of the disclosure, unsprung acceleration refers to the acceleration of the unsprung mass of the vehicle in the vertical direction. Unsprung mass includes components that are in direct contact with the road surface, such as wheels, tires, brake calipers, and some suspension components (such as the lower control arm of a shock absorber), and their motion directly affects the contact quality between the tire and the ground.

[0052] Specifically, after acquiring the vehicle's suspension state signal and vehicle state signal, the electronic device can determine the vehicle's unsprung acceleration based on the suspension state signal, and determine the first filter parameter corresponding to the suspension state signal according to the unsprung acceleration, the vehicle state signal, and the preset correspondence between the unsprung acceleration, the vehicle state, and the filter parameters.

[0053] S130. Determine the second filtering parameters corresponding to the suspension state signal based on the suspension height and vehicle state signal.

[0054] In this embodiment of the disclosure, suspension height refers to the vertical distance between the bottom of the vehicle body and the ground. It reflects the vehicle's posture in static or dynamic conditions and is a core indicator of the suspension system's geometric parameters.

[0055] Specifically, after acquiring the vehicle's suspension status signal and vehicle status signal, the electronic device can determine the vehicle's suspension height based on the suspension height signal, and determine the second filter parameter corresponding to the suspension status signal according to the suspension height, vehicle status signal, and the preset correspondence between suspension height, vehicle status and filter parameters.

[0056] S140. Based on the unsprung acceleration, the first filter parameter, and the second filter parameter, determine the target filter parameter.

[0057] In this embodiment of the disclosure, the target filtering parameters are used to filter the suspension state signal. For example, the target filtering parameters can be used to perform low-pass filtering on the unsprung acceleration signal and the suspension height signal.

[0058] Specifically, after acquiring the first filter parameter and the second filter parameter, the electronic device compares the first filter parameter and the second filter parameter, and determines the final target filter parameter based on the magnitude of the unsprung acceleration and the comparison result of the first filter parameter and the second filter parameter.

[0059] In this embodiment, when the vehicle is traveling on a preset road surface, a suspension state signal and a vehicle state signal can be acquired. The suspension state signal indicates the unsprung acceleration and suspension height of the vehicle. A first filtering parameter corresponding to the suspension state signal is determined based on the unsprung acceleration and the vehicle state signal. A second filtering parameter corresponding to the suspension state signal is determined based on the suspension height and the vehicle state signal. A target filtering parameter is determined based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter. The target filtering parameter is used to filter the suspension state signal. Therefore, when determining the filtering parameters, the actual suspension state of the vehicle is considered, that is, the impact intensity and motion trend of the vehicle suspension are taken into account. A dynamic adaptive approach is used to determine the filtering parameters used to filter the suspension state signal. This ensures that the filtering parameters are automatically reduced when the vehicle is in violent unsprung motion, effectively suppressing high-frequency noise introduced by mechanical vibration. When the vehicle is in a stable state, the filtering parameters are increased to avoid excessive signal smoothing leading to control lag. This solves the problem of inaccurate noise filtering using static filtering parameters, thereby improving the accuracy of noise filtering.

[0060] In this embodiment of the disclosure, the electronic device can determine the first filtering parameter based on the absolute value of the unsprung acceleration and a preset unsprung acceleration threshold.

[0061] The following will combine Figure 2 The specific method for determining the first filter parameter is described in detail.

[0062] Figure 2 This is a flowchart of a method for determining first filter parameters provided in an embodiment of this disclosure, as follows: Figure 2 As shown, determining the first filtering parameters corresponding to the suspension state signal based on unsprung acceleration and vehicle state signal can specifically include the following steps: S210. Determine whether the absolute value of the unsprung acceleration is greater than the preset unsprung acceleration threshold.

[0063] In this embodiment of the disclosure, the preset unsprung acceleration threshold can be understood as being used to characterize a vehicle under severe dynamic impact or high vibration conditions. For example, the preset unsprung acceleration threshold is 5g.

[0064] Specifically, after acquiring the suspension state signal, the electronic device can perform feature recognition on the unsprung acceleration signal in the suspension state signal to determine the unsprung acceleration. For each unsprung acceleration, the absolute value of the unsprung acceleration is compared with a preset unsprung acceleration threshold to determine whether the absolute value of the unsprung acceleration is greater than the preset unsprung acceleration threshold. If it is determined that the absolute value of the unsprung acceleration is greater than the preset unsprung acceleration threshold, steps S220 to S230 are executed; if it is determined that the absolute value of the unsprung acceleration is less than or equal to the preset unsprung acceleration threshold, the process ends and the determination of the first filtering parameter is not executed.

[0065] For example, when the unsprung acceleration signal includes a left front unsprung acceleration signal and a right front unsprung acceleration signal, the left front unsprung acceleration corresponding to the left front unsprung acceleration signal and the right front unsprung acceleration corresponding to the right front unsprung acceleration signal are determined respectively. For the left front unsprung acceleration, it is determined whether the absolute value of the left front unsprung acceleration is greater than a preset unsprung acceleration threshold. If it is determined that the absolute value of the left front unsprung acceleration is greater than the preset unsprung acceleration threshold, steps S220 to S230 are executed to determine the first filtering parameter. Similarly, a similar operation is performed for the right front unsprung acceleration, which will not be described in detail here.

[0066] S220. If the absolute value of the unsprung acceleration is determined to be greater than the preset unsprung acceleration threshold, the absolute value of the unsprung acceleration is determined as the target unsprung acceleration corresponding to the vehicle.

[0067] S230. Determine the first filtering parameters based on the target unsprung acceleration and vehicle speed signals.

[0068] In this embodiment of the disclosure, determining the first filtering parameter based on the target unsprung acceleration and vehicle speed signal may specifically include: obtaining a preset correspondence between the unsprung acceleration and vehicle speed and the filtering parameter; determining the filtering parameter matching the vehicle speed corresponding to the target unsprung acceleration and vehicle speed signal based on the correspondence, and determining the filtering parameter as the first filtering parameter.

[0069] In this embodiment of the disclosure, the preset correspondence between unsprung acceleration and vehicle speed and the filtering parameters can be understood as a mapping relationship between a preset combination of unsprung acceleration and vehicle speed and the filtering parameters. For example, when the target unsprung acceleration is A and the vehicle speed is B, the corresponding filtering parameter C can be determined through this correspondence.

[0070] Specifically, after acquiring the target unsprung acceleration and vehicle speed signals, the electronic device determines the corresponding vehicle speed based on the vehicle speed signal, and obtains a preset correspondence between the unsprung acceleration and vehicle speed and filtering parameters. Based on this correspondence, it determines the filtering parameters corresponding to the target unsprung acceleration and vehicle speed, and designates these filtering parameters as the first filtering parameters. The first filtering parameters include a first filtering cutoff frequency.

[0071] In this embodiment, a preset unsprung acceleration threshold can be used as the basis for determining severe vehicle impact. When the absolute value of the unsprung acceleration exceeds the preset threshold, it indicates that the vehicle is experiencing high-frequency, high-amplitude vibration. At this time, using real-time unsprung acceleration as the target parameter dynamically reflects the vehicle's current impact intensity. Based on the preset correspondence between unsprung acceleration, vehicle speed, and filtering parameters, a first filtering parameter is determined. This allows the determined filtering parameter to specifically suppress high-frequency noise or enhance low-frequency signal tracking capabilities. In other words, it fully utilizes the strong correlation between unsprung acceleration and vehicle dynamic behavior, improving the accuracy and rationality of the first filtering parameter determination. This, in turn, improves the accuracy and rationality of suspension state signal filtering, ensuring the precision of the suspension control strategy and enhancing the suspension system's adaptability to complex road surfaces.

[0072] In this embodiment of the disclosure, the electronic device can also determine the second filtering parameter corresponding to the suspension status signal based on the suspension height.

[0073] The following will combine Figure 3 The specific method for determining the second filter parameter is described in detail.

[0074] Figure 3 This is a flowchart of a second filter parameter determination method provided in an embodiment of this disclosure, such as... Figure 3 As shown, determining the second filtering parameters corresponding to the suspension state signal based on the suspension height and vehicle state signal can specifically include the following steps: S310, Determine unsprung speed based on suspension height and vehicle status signals.

[0075] In this embodiment of the disclosure, the unsprung speed is determined based on the suspension height and vehicle status signal, which may specifically include: determining the suspension speed based on the suspension height; and determining the unsprung speed based on the suspension speed, roll rate signal, and pitch rate signal.

[0076] In this embodiment of the disclosure, determining the suspension speed based on the suspension height may specifically include: performing differential processing on the suspension height to obtain the instantaneous speed of the suspension height; and performing low-pass filtering on the instantaneous speed to obtain the suspension speed.

[0077] Specifically, after acquiring the suspension height, the electronic device performs differential processing on each suspension height to obtain the instantaneous speed at that suspension height. It then retrieves low-pass filtering parameters from a preset database for low-pass filtering of the suspension height and performs low-pass filtering on the suspension height based on the low-pass filtering parameters to obtain the suspension speed.

[0078] For example, when the suspension height signal includes a left front suspension height signal and a right front suspension height signal, the left front suspension height corresponding to the left front suspension height signal and the right front suspension height corresponding to the right front suspension height signal are determined respectively. For the left front suspension height, the left front suspension height is differentiated to obtain the instantaneous speed of the left front suspension height. The instantaneous speed of the left front suspension height is then low-pass filtered to obtain the left front suspension speed. Similarly, a similar operation is performed for the right front suspension height, which will not be elaborated here.

[0079] Further, in this embodiment of the present disclosure, determining the unsprung speed based on the suspension speed, roll rate signal, and pitch rate signal may specifically include: obtaining the vehicle's track width and the distance from the center of gravity to the axle; calculating the product of the roll rate corresponding to the roll rate signal, the track width, and a preset constant to obtain a first value; calculating the product of the pitch rate corresponding to the pitch rate signal and the distance from the center of gravity to the axle to obtain a second value; calculating the difference between the first value and the second value to obtain a third value; and determining the difference between the third value and the suspension speed as the unsprung speed.

[0080] In this embodiment of the disclosure, the preset constant can be 0.5.

[0081] In some examples, the specific formula for calculating the unsprung speed corresponding to the left front suspension height is as follows: Vfl = RollRate × 0.5 × LtrackF PitchRate×a VSusp_fl Where Vfl represents the unsprung speed corresponding to the height of the left front suspension; RollRate represents the roll rate; 0.5 represents a preset constant; LtrackF represents the track width between the left and right front axles; PitchRate represents the pitch rate; a represents the distance from the center of gravity to the front axle; and VSusp_fl represents the speed of the left front suspension.

[0082] In other examples, the specific formula for calculating the unsprung speed corresponding to the right front suspension height is as follows: Vfr = -RollRate × 0.5 × LtrackF PitchRate×a VSusp_fr Where Vfr represents the unsprung speed corresponding to the height of the right front suspension; VSusp_fr represents the speed of the right front suspension.

[0083] It should be noted that the track width used for the left and right rear suspension heights is the track width between the left and right rear axles; the distance from the center of gravity to the axle is the distance from the center of gravity to the rear axle. The specific method for calculating unsprung speed is similar and will not be elaborated here.

[0084] S320, determine the second filter parameter based on the unsprung speed.

[0085] Specifically, after acquiring the unsprung speed, the electronic device, for each unsprung speed, determines the corresponding filter parameters based on the unsprung speed and vehicle speed, as well as the preset correspondence between the unsprung speed, vehicle speed, and filter parameters, and designates these as the second filter parameters. The second filter parameters include a second filter cutoff frequency.

[0086] In this embodiment of the disclosure, the preset correspondence between unsprung speed and vehicle speed and the filtering parameters can be understood as a mapping relationship between a preset combination of unsprung speed and vehicle speed and the filtering parameters. For example, when the unsprung speed is A1 and the vehicle speed is B1, the corresponding filtering parameter can be determined to be C1 through this correspondence.

[0087] In this embodiment, the differential processing of suspension height followed by low-pass filtering effectively suppresses high-frequency noise while retaining the low-frequency components relevant to vehicle dynamics, thus obtaining an effective suspension speed. Since unsprung speed is not only affected by suspension motion but also closely related to vehicle attitude (roll and pitch), introducing roll and pitch angular velocities quantifies the coupling effect of vehicle attitude on unsprung speed, enabling multi-degree-of-freedom dynamic compensation. This makes the estimated unsprung speed closer to the actual physical state, improving the accuracy and robustness of unsprung speed determination. This, in turn, improves the accuracy and robustness of the second filter parameter determination, ensuring the accuracy of the input signal to the vehicle control algorithm. The high-precision input signal enables the vehicle control algorithm to calculate the optimal damping force in real time, allowing the suspension system to respond quickly to road surface changes and improving ride comfort.

[0088] In this embodiment of the disclosure, determining the target filtering parameter based on unsprung acceleration, a first filtering parameter, and a second filtering parameter may specifically include: comparing the first filtering parameter and the second filtering parameter to obtain a comparison result; determining the first filtering parameter as the target filtering parameter when the unsprung acceleration is greater than a preset unsprung acceleration threshold and the comparison result shows that the first filtering parameter is less than the second filtering parameter; determining the second filtering parameter as the target filtering parameter when the unsprung acceleration is greater than a preset unsprung acceleration threshold and the comparison result shows that the first filtering parameter is greater than the second filtering parameter; determining either the first filtering parameter or the second filtering parameter as the target filtering parameter when the unsprung acceleration is greater than a preset unsprung acceleration threshold and the comparison result shows that the first filtering parameter is equal to the second filtering parameter; and determining the second filtering parameter as the target filtering parameter when the unsprung acceleration is less than or equal to a preset unsprung acceleration threshold.

[0089] For example, regarding the left front unsprung acceleration and left front suspension height, if the left front unsprung acceleration is greater than a preset unsprung acceleration threshold, and the comparison result shows that the first filter parameter corresponding to the left front unsprung acceleration is less than the second filter parameter corresponding to the left front suspension height, the first filter parameter is determined as the filter parameter used to filter the left front suspension state signals (such as the left front unsprung acceleration signal and the left front suspension height signal). The processing method for unsprung acceleration and suspension height on other sides is similar and will not be elaborated here.

[0090] In this embodiment, when the unsprung acceleration is greater than a preset unsprung acceleration threshold, the final target filter parameter can be determined from the first filter parameter and the second filter parameter determined by the unsprung acceleration and the suspension height, respectively. By utilizing the complementarity of unsprung acceleration and suspension height in the frequency domain (the former dominates high frequencies and the latter dominates low frequencies), an adaptive filter parameter constraint mechanism is constructed. This avoids the frequency band coverage blind spots that may be caused by a single signal dominating the parameter, and also suppresses abnormal signals through the "smaller" operation, making the obtained target filter parameter more accurate and reliable. Meanwhile, when the unsprung acceleration is less than or equal to the preset unsprung acceleration threshold, i.e., when the vehicle is in a low-impact condition, the spectrum energy of the unsprung acceleration is concentrated in the low frequency, and its change has little impact on the vehicle's attitude. However, the dynamics of the suspension height (reflecting the relative displacement between the vehicle body and the wheels) are directly related to low-frequency movements such as vehicle pitch and roll, and need to be accurately tracked to maintain vehicle balance. Therefore, the second filter parameter is directly adopted to adapt to different conditions, which significantly improves the dynamic adaptability and robustness of the filter parameter, thereby improving the high-fidelity filtering of the suspension state signal under all conditions, providing more accurate input for the vehicle control algorithm, and significantly improving the vehicle's handling stability, ride comfort, and the reliability of the suspension system.

[0091] In this embodiment of the disclosure, the electronic device can also adjust the target filtering parameters after obtaining the target filtering parameters based on a preset filtering parameter rising slope threshold and a preset filtering parameter falling slope threshold, so as to prevent the filtering parameters from jumping due to sudden changes in the unsprung state and ensure system stability.

[0092] In this embodiment of the disclosure, after determining the target filtering parameters based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter, the signal processing method may further include: acquiring a preset filtering parameter rising slope threshold and a preset filtering parameter falling slope threshold; and adjusting the target filtering parameters based on the preset filtering parameter rising slope threshold and the preset filtering parameter falling slope threshold.

[0093] In this embodiment of the disclosure, the preset filter parameter rise slope threshold can be understood as a threshold used to limit the rise slope of the filter parameter per unit time. For example, the preset filter parameter rise slope threshold is 10Hz / ms. That is, the rise slope of the filter parameter within 1ms must be less than or equal to 10Hz / ms.

[0094] The preset filter parameter descent slope threshold can be understood as a threshold used to limit the descent slope of the filter parameter per unit time. For example, the preset filter parameter descent slope threshold is 3000Hz / ms. That is, the descent slope of the filter parameter within 1ms must be less than or equal to 10Hz / ms.

[0095] Specifically, after determining the target filtering parameters, the electronic device determines whether the rising slope corresponding to the target filtering parameters is less than or equal to a preset rising slope threshold, or whether the falling slope is less than or equal to a preset falling slope threshold. If the rising slope is less than or equal to the preset rising slope threshold, or the falling slope is less than or equal to the preset falling slope threshold, then it is determined that the target filtering parameters will not be adjusted. If the rising slope is greater than the preset rising slope threshold, or the falling slope is greater than the preset falling slope threshold, then it is determined that the target filtering parameters will be adjusted to meet the range of the preset rising slope threshold and the preset falling slope threshold of the filtering parameters.

[0096] In this embodiment, the target filter parameter can be adjusted by a preset threshold for the upward slope of the filter parameter and a preset threshold for the downward slope of the filter parameter. This ensures continuous change of the filter parameter while preventing the filter parameter from jumping due to sudden changes in the unsprung state. It also avoids erroneous response of the control algorithm caused by instantaneous over-adjustment of the parameter. At the same time, this gradual adjustment strategy can preserve the true trend of the unsprung state change, ensuring that the suspension system still has a rapid response capability when dealing with sudden working conditions. Ultimately, it achieves a synergistic improvement in vehicle ride comfort, stability and suspension durability.

[0097] Figure 4 This is a schematic diagram of the structure of a signal processing device provided in an embodiment of this disclosure.

[0098] In this embodiment, the signal processing device can be located within an electronic device and is understood as a functional module within the aforementioned electronic device. Specifically, the electronic device can be a server or a terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc., and is not limited thereto.

[0099] like Figure 4 As shown, the signal processing device 400 may include a signal acquisition module 410, a first parameter determination module 420, a second parameter determination module 430, and a filter parameter determination module 440.

[0100] The signal acquisition module 410 can be used to acquire the suspension status signal and vehicle status signal of the vehicle when the vehicle is driving on a preset road surface. The suspension status signal is used to indicate the unsprung acceleration and suspension height of the vehicle. The first parameter determination module 420 can be used to determine the first filter parameter corresponding to the suspension state signal based on the unsprung acceleration and the vehicle state signal; The second parameter determination module 430 can be used to determine the second filter parameter corresponding to the suspension state signal based on the suspension height and the vehicle state signal; The filter parameter determination module 440 can be used to determine the target filter parameter based on the unsprung acceleration, the first filter parameter, and the second filter parameter. The target filter parameter is used to filter the suspension state signal.

[0101] In this embodiment, when the vehicle is traveling on a preset road surface, a suspension state signal and a vehicle state signal can be acquired. The suspension state signal indicates the unsprung acceleration and suspension height of the vehicle. A first filtering parameter corresponding to the suspension state signal is determined based on the unsprung acceleration and the vehicle state signal. A second filtering parameter corresponding to the suspension state signal is determined based on the suspension height and the vehicle state signal. A target filtering parameter is determined based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter. The target filtering parameter is used to filter the suspension state signal. Therefore, when determining the filtering parameters, the actual suspension state of the vehicle is considered, that is, the impact intensity and motion trend of the vehicle suspension are taken into account. A dynamic adaptive approach is used to determine the filtering parameters used to filter the suspension state signal. This ensures that the filtering parameters are automatically reduced when the vehicle is in violent unsprung motion, effectively suppressing high-frequency noise introduced by mechanical vibration. When the vehicle is in a stable state, the filtering parameters are increased to avoid excessive signal smoothing leading to control lag. This solves the problem of inaccurate noise filtering using static filtering parameters, thereby improving the accuracy of noise filtering.

[0102] In some embodiments of this disclosure, the vehicle status signal includes a vehicle speed signal.

[0103] The first parameter determination module 420 can be specifically used to determine whether the absolute value of the unsprung acceleration is greater than a preset unsprung acceleration threshold. If the absolute value of the unsprung acceleration is determined to be greater than the preset unsprung acceleration threshold, the absolute value of the unsprung acceleration is determined as the target unsprung acceleration for the vehicle. The first filtering parameters are determined based on the target unsprung acceleration and vehicle speed signals.

[0104] In some embodiments of this disclosure, the first parameter determination module 420 may also be specifically used to obtain the preset correspondence between unsprung acceleration and vehicle speed and filter parameters; Based on the correspondence, filter parameters matching the vehicle speed corresponding to the target unsprung acceleration and vehicle speed signals are determined, and these filter parameters are designated as the first filter parameters.

[0105] In some embodiments of this disclosure, the second parameter determination module 430 may be specifically used to determine the unsprung speed based on the suspension height and vehicle state signal; The second filter parameter is determined based on the unsprung velocity.

[0106] In some embodiments of this disclosure, the vehicle status signals include roll rate signals and pitch rate signals.

[0107] The second parameter determination module 430 may include a suspension speed determination unit and an unsprung speed determination unit.

[0108] The suspension speed determination unit can be used to determine the suspension speed based on the suspension height; The unsprung speed determination unit can be used to determine the unsprung speed based on the suspension speed, roll rate signal, and pitch rate signal.

[0109] In some embodiments of this disclosure, the suspension speed determination unit can be specifically used to perform differential processing on the suspension height to obtain the instantaneous speed of the suspension height; The instantaneous speed is low-pass filtered to obtain the suspension speed.

[0110] The unsprung speed determination unit can be specifically used to obtain the vehicle's track width and the distance from the center of gravity to the axle; The first value is obtained by multiplying the roll angular velocity, wheel track, and preset constant corresponding to the roll angular velocity signal. The second value is obtained by multiplying the pitch angular velocity corresponding to the pitch angular velocity signal with the distance from the center of mass to the axle. Calculate the difference between the first and second values ​​to obtain the third value; The difference between the third value and the suspension speed is determined as the unsprung speed.

[0111] In some embodiments of this disclosure, the filter parameter determination module 440 may be specifically used to compare the first filter parameter and the second filter parameter to obtain a comparison result; If the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result shows that the first filter parameter is less than the second filter parameter, the first filter parameter is determined as the target filter parameter. If the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result shows that the first filter parameter is greater than the second filter parameter, the second filter parameter is determined as the target filter parameter. If the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result shows that the first filter parameter is equal to the second filter parameter, then either the first filter parameter or the second filter parameter is determined as the target filter parameter. If the unsprung acceleration is less than or equal to the preset unsprung acceleration threshold, the second filter parameter is determined as the target filter parameter.

[0112] In some embodiments of this disclosure, the signal processing apparatus 400 may further include a filter parameter adjustment module.

[0113] The filter parameter adjustment module is used to obtain a preset filter parameter rising slope threshold and a preset filter parameter falling slope threshold after determining the target filter parameter based on the unsprung acceleration, the first filter parameter, and the second filter parameter. The target filter parameters are adjusted based on preset thresholds for the rising slope and falling slope of the filter parameters.

[0114] It should be noted that, Figure 4 The signal processing device 400 shown can execute the various steps in the above method embodiments and realize the various processes and effects in the above method embodiments, which will not be elaborated here.

[0115] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure.

[0116] In this embodiment of the disclosure, Figure 5 The electronic device shown can be a server or a terminal. Specifically, the terminal includes in-vehicle terminals, computers, or tablets, etc., without limitation.

[0117] like Figure 5 As shown, the electronic device may include a processor 510 and a memory 520 storing computer program instructions.

[0118] Specifically, the processor 510 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this disclosure.

[0119] Memory 520 may include a large-capacity storage device for information or instructions. For example, and not limitingly, memory 520 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 520 may include removable or non-removable (or fixed) media. Where appropriate, memory 520 may be internal or external to the integrated gateway device. In a particular embodiment, memory 520 is a non-volatile solid-state memory. In a particular embodiment, memory 520 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0120] The processor 510 reads and executes computer program instructions stored in the memory 520 to perform the steps of the signal processing method provided in the embodiments of this disclosure.

[0121] In one example, the electronic device may also include a transceiver 530 and a bus 540. Wherein, as... Figure 5 As shown, the processor 510, memory 520 and transceiver 530 are connected via bus 540 and communicate with each other.

[0122] Bus 540 may include hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 540 may include one or more buses.

[0123] This disclosure also provides a computer-readable storage medium that can store a computer program, which, when executed by a processor, causes the processor to implement the signal processing method provided in this disclosure.

[0124] When the computer program is executed by the processor, the processor can perform the following steps: when the vehicle is traveling on a preset road surface, acquire the vehicle's suspension state signal and vehicle state signal, the suspension state signal being used to indicate the vehicle's unsprung acceleration and suspension height; determine a first filtering parameter corresponding to the suspension state signal based on the unsprung acceleration and vehicle state signal; determine a second filtering parameter corresponding to the suspension state signal based on the suspension height and vehicle state signal; and determine a target filtering parameter based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter, the target filtering parameter being used to filter the suspension state signal.

[0125] This system can acquire the vehicle's suspension state signal and vehicle state signal while the vehicle is traveling on a preset road surface. The suspension state signal indicates the vehicle's unsprung acceleration and suspension height. Based on the unsprung acceleration and vehicle state signal, a first filtering parameter corresponding to the suspension state signal is determined. Based on the suspension height and vehicle state signal, a second filtering parameter corresponding to the suspension state signal is determined. Based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter, a target filtering parameter is determined, which is used to filter the suspension state signal. Therefore, when determining the filtering parameters, the actual suspension state of the vehicle is considered, taking into account the impact intensity and motion trend of the vehicle's suspension. A dynamic adaptive approach is used to determine the filtering parameters used to filter the suspension state signal. This ensures that the filtering parameters are automatically reduced during periods of intense unsprung motion, effectively suppressing high-frequency noise introduced by mechanical vibration, and increased when the vehicle is in a stable state, avoiding excessive signal smoothing that could lead to control lag. This solves the problem of inaccurate noise filtering using static filtering parameters, thereby improving the accuracy of noise filtering.

[0126] In some embodiments of this disclosure, the vehicle status signal includes a vehicle speed signal; The method for determining the first filtering parameter corresponding to the suspension state signal based on unsprung acceleration and vehicle state signal includes: determining whether the absolute value of unsprung acceleration is greater than a preset unsprung acceleration threshold; if the absolute value of unsprung acceleration is greater than the preset unsprung acceleration threshold, determining the absolute value of unsprung acceleration as the target unsprung acceleration corresponding to the vehicle; and determining the first filtering parameter based on the target unsprung acceleration and vehicle speed signal.

[0127] In some embodiments of this disclosure, determining a first filtering parameter based on a target unsprung acceleration and vehicle speed signal includes: obtaining a preset correspondence between unsprung acceleration and vehicle speed and filtering parameters; determining a filtering parameter matching the vehicle speed corresponding to the target unsprung acceleration and vehicle speed signal based on the correspondence; and determining the filtering parameter as the first filtering parameter.

[0128] In some embodiments of this disclosure, determining the second filtering parameter corresponding to the suspension state signal based on the suspension height and vehicle state signal includes: determining the unsprung speed based on the suspension height and vehicle state signal; and determining the second filtering parameter based on the unsprung speed.

[0129] In some embodiments of this disclosure, the vehicle status signals include roll rate signals and pitch rate signals; Determining unsprung speed based on suspension height and vehicle status signals includes: determining suspension speed based on suspension height; and determining unsprung speed based on suspension speed, roll rate signals, and pitch rate signals.

[0130] In some embodiments of this disclosure, determining the suspension speed based on the suspension height includes: performing differential processing on the suspension height to obtain the instantaneous speed of the suspension height; and performing low-pass filtering on the instantaneous speed to obtain the suspension speed. and / or; Determining unsprung speed based on suspension speed, roll rate, and pitch rate signals includes: acquiring the vehicle's track width and the distance from the center of gravity to the axle; calculating the product of the roll rate corresponding to the roll rate signal, the track width, and a preset constant to obtain a first value; calculating the product of the pitch rate corresponding to the pitch rate signal and the distance from the center of gravity to the axle to obtain a second value; calculating the difference between the first value and the second value to obtain a third value; and determining the difference between the third value and the suspension speed as the unsprung speed.

[0131] In some embodiments of this disclosure, determining a target filtering parameter based on unsprung acceleration, a first filtering parameter, and a second filtering parameter includes: comparing the first filtering parameter and the second filtering parameter to obtain a comparison result; determining the first filtering parameter as the target filtering parameter when the unsprung acceleration is greater than a preset unsprung acceleration threshold and the comparison result shows that the first filtering parameter is less than the second filtering parameter; determining the second filtering parameter as the target filtering parameter when the unsprung acceleration is greater than a preset unsprung acceleration threshold and the comparison result shows that the first filtering parameter is greater than the second filtering parameter; determining either the first filtering parameter or the second filtering parameter as the target filtering parameter when the unsprung acceleration is greater than a preset unsprung acceleration threshold and the comparison result shows that the first filtering parameter is equal to the second filtering parameter; and determining the second filtering parameter as the target filtering parameter when the unsprung acceleration is less than or equal to a preset unsprung acceleration threshold.

[0132] In some embodiments of this disclosure, after determining the target filtering parameters based on unsprung acceleration, the first filtering parameter, and the second filtering parameter, the signal processing method further includes: acquiring a preset filtering parameter rising slope threshold and a preset filtering parameter falling slope threshold; and adjusting the target filtering parameters based on the preset filtering parameter rising slope threshold and the preset filtering parameter falling slope threshold.

[0133] The aforementioned storage medium may, for example, include a memory 520 containing computer program instructions, which can be executed by a processor 510 of an electronic device to perform the signal processing method provided in the embodiments of this disclosure. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as read-only memory (ROM), random access memory (RAM), external cache memory, compact disc ROM (CD-ROM), magnetic tape, floppy disk, flash memory, and optical data storage devices. By way of illustration and not limitation, RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0134] This disclosure also provides a vehicle that includes electronic devices that can implement the various processes and effects described in the above embodiments of this disclosure, which will not be elaborated here.

[0135] This disclosure also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, they implement the signal processing method provided in this disclosure and can achieve the various processes and effects in the above embodiments of this disclosure, which will not be elaborated here.

[0136] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A signal processing method, characterized in that, The method includes: When the vehicle is traveling on a preset road surface, the suspension status signal and the vehicle status signal of the vehicle are acquired. The suspension status signal is used to indicate the unsprung acceleration and suspension height of the vehicle. The first filtering parameter corresponding to the suspension state signal is determined based on the unsprung acceleration and the vehicle state signal; The second filtering parameter corresponding to the suspension state signal is determined based on the suspension height and the vehicle state signal; Based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter, a target filtering parameter is determined, which is used to filter the suspension state signal.

2. The method according to claim 1, characterized in that, The vehicle status signal includes the vehicle speed signal; The step of determining the first filtering parameter corresponding to the suspension state signal based on the unsprung acceleration and the vehicle state signal includes: Determine whether the absolute value of the unsprung acceleration is greater than a preset unsprung acceleration threshold; If the absolute value of the unsprung acceleration is determined to be greater than the preset unsprung acceleration threshold, the absolute value of the unsprung acceleration is determined as the target unsprung acceleration corresponding to the vehicle. The first filtering parameters are determined based on the target unsprung acceleration and the vehicle speed signal.

3. The method according to claim 2, characterized in that, Determining the first filtering parameter based on the target unsprung acceleration and the vehicle speed signal includes: Obtain the preset correspondence between unsprung acceleration and vehicle speed and filter parameters; Based on the correspondence, a filtering parameter matching the vehicle speed corresponding to the target unsprung acceleration and the vehicle speed signal is determined, and the filtering parameter is determined as the first filtering parameter.

4. The method according to claim 1, characterized in that, The step of determining the second filtering parameter corresponding to the suspension state signal based on the suspension height and the vehicle state signal includes: The unsprung speed is determined based on the suspension height and the vehicle status signal; The second filter parameter is determined based on the unsprung speed.

5. The method according to claim 4, characterized in that, The vehicle status signals include roll rate signals and pitch rate signals; The determination of unsprung speed based on the suspension height and the vehicle status signal includes: The suspension speed is determined based on the suspension height; The unsprung speed is determined based on the suspension speed, the roll rate signal, and the pitch rate signal.

6. The method according to claim 5, characterized in that, The method of determining the suspension speed based on the suspension height includes: The instantaneous speed at the suspension height is obtained by differentiating the suspension height. The instantaneous speed is low-pass filtered to obtain the suspension speed; and / or; Determining the unsprung speed based on the suspension speed, the roll rate signal, and the pitch rate signal includes: Obtain the vehicle's track width and the distance from its center of gravity to the axle; The first value is obtained by multiplying the roll angular velocity corresponding to the roll angular velocity signal, the wheel track, and a preset constant. The second value is obtained by multiplying the pitch angular velocity corresponding to the pitch angular velocity signal with the distance from the center of mass to the axle. Calculate the difference between the first value and the second value to obtain the third value; The difference between the third value and the suspension speed is determined as the unsprung speed.

7. The method according to claim 1, characterized in that, The determination of the target filtering parameters based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter includes: The first filter parameter and the second filter parameter are compared to obtain the comparison result; If the unsprung acceleration is greater than a preset unsprung acceleration threshold and the comparison result shows that the first filter parameter is less than the second filter parameter, then the first filter parameter is determined as the target filter parameter. If the unsprung acceleration is greater than the preset unsprung acceleration threshold, and the comparison result is that the first filter parameter is greater than the second filter parameter, then the second filter parameter is determined as the target filter parameter. If the unsprung acceleration is greater than the preset unsprung acceleration threshold and the comparison result is that the first filter parameter is equal to the second filter parameter, then either the first filter parameter or the second filter parameter is determined as the target filter parameter. If the unsprung acceleration is less than or equal to the preset unsprung acceleration threshold, the second filtering parameter is determined as the target filtering parameter.

8. The method according to claim 1, characterized in that, After determining the target filtering parameters based on the unsprung acceleration, the first filtering parameter, and the second filtering parameter, the method further includes: Obtain the preset rising slope threshold and the preset falling slope threshold of the filter parameters; The target filter parameters are adjusted based on the preset rising slope threshold and the preset falling slope threshold of the filter parameters.

9. An electronic device, characterized in that, include: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the signal processing method according to any one of claims 1-8.

10. A vehicle, characterized in that, Including the electronic device as described in claim 9.

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