Coding table generation method, encoding method, decoding method, program product, and processing device
By using an adaptive encoding table generation method, the sensor signal is divided into levels and assigned binary codes according to its frequency, which solves the problem of high storage cost of sensor signals and achieves more efficient data storage and transmission.
Patent Information
- Application Number
- CN202411139070.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-19
- Publication Date
- 2026-03-03
AI Technical Summary
In the existing technology, the storage and processing costs of vehicle sensor signals are high, mainly because high-frequency sensor signals require a large amount of memory, and existing encoding methods have failed to effectively optimize the encoding length.
By generating an adaptive encoding table, the sensor signals are divided into different levels according to their frequency of occurrence, and binary codes with middle, front, and back positions are assigned to different levels. Signals with high frequency of occurrence are assigned shorter codes, and signals with low frequency of occurrence are assigned longer codes, thus optimizing the encoding length.
It achieves lossless encoding and decoding, reduces the memory required to store sensor signals, improves data storage and transmission efficiency, and saves hardware costs for signal processing.
Smart Images
Figure CN121603008A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of signal processing, and more particularly to a method for generating an encoding table for sensor signals used in vehicles. The invention also relates to a corresponding encoding method for sensor signals used in vehicles, a corresponding decoding method for sensor signals used in vehicles, a corresponding computer program product, and a corresponding processing apparatus for sensor signals used in vehicles. Background Technology
[0002] In recent years, with technological advancements and improved living standards, the requirements for vehicle safety and intelligence have become increasingly stringent. Consequently, the number of sensor signals that vehicles need to detect, process, and store has significantly increased. To store these sensor signals, encoding is necessary. Typically, sensor signals are encoded into binary codes of fixed length, meaning all binary codes are of the same length.
[0003] However, some sensor signals from vehicles, such as acceleration signals, are not uniformly distributed and generally fluctuate around a central value. This means that sensor signals in most cases are at or near this central value; that is, sensor signals within the range of the central value have a significantly higher frequency of occurrence. Only in rare cases do abnormal sensor signals appear that deviate significantly from this central value, and these abnormal sensor signals have a lower frequency of occurrence. Therefore, recording these high-frequency sensor signals requires a large amount of memory, which increases the cost of storage hardware. Summary of the Invention
[0004] Therefore, the purpose of this invention is to propose an improved encoding table generation method for sensor signals of vehicles. This encoding table generation method can generate an adaptive encoding table based on the occurrence frequency of sensor signals, thereby optimizing the encoding and decoding process of sensor signals, reducing the average encoding length in a lossless manner, significantly reducing the memory required for recording sensor signals, thereby improving data storage and transmission efficiency and saving hardware costs for signal processing.
[0005] According to a first aspect of the present invention, a method for generating an encoding table for sensor signals of a vehicle is provided, wherein the encoding table generation method includes at least the following steps:
[0006] S11: Obtain the frequency of occurrence of sensor signals;
[0007] S12: The sensor signal is divided into different levels according to the occurrence frequency. The level number is related to the number of encoding bits. The higher the occurrence frequency, the smaller the level number and the fewer the corresponding encoding bits.
[0008] S13: Assign binary codes to the sensor signals in different levels, wherein the binary codes have a single intermediate point, a preceding point before the intermediate point, and a following point after the intermediate point. The intermediate point is written with a first value, the number of preceding points represents the level and is written with a second value, and the number of following points depends on the number of preceding points and the value of the sensor signal is mapped through the bit value of the following points.
[0009] S14: Generate an encoding table for the sensor signal to establish a correspondence between the sensor signal and the binary code.
[0010] Compared to existing technologies, in the method for generating an encoding table for sensor signals for vehicles according to the present invention, the sensor signals are divided into different levels based on their frequency of occurrence. The higher the frequency, the smaller the level number and the fewer the corresponding number of bits in the encoding. Then, binary codes are assigned to each sensor signal in each level. Each binary code has a single middle bit, a front bit, and a back bit. The first bit is written at the middle bit. The number of front bits represents the level and a second bit is written therein. The number of back bits depends on the number of front bits and maps the value of the sensor signal through the bit values of the back bits. The combination of the middle bit, front bit, and back bit clearly indicates the level, encoding length, and mapped value of the sensor signal, enabling lossless encoding and decoding of the sensor signal. Thus, sensor signals with higher frequencies are assigned shorter binary codes, while sensor signals with lower frequencies are assigned longer binary codes. This minimizes the overall encoding length, thereby improving the storage and transmission efficiency of the sensor signals and saving on signal processing hardware costs.
[0011] According to a second aspect of the present invention, a method for encoding sensor signals for a vehicle is provided, wherein the encoding method includes at least the following steps:
[0012] S21: Acquire the sensor signal and the encoding table, wherein the encoding table is generated by the encoding table generation method according to the present invention;
[0013] S22: Encode the sensor signal into a corresponding binary code according to the encoding table.
[0014] According to a third aspect of the present invention, a method for decoding sensor signals for a vehicle is provided, wherein the decoding method includes at least the following steps:
[0015] S31: Obtain a binary code stream and an encoding table, wherein the binary code stream has at least one binary code encoded from the sensor signal, and the encoding table is generated by the encoding table generation method according to the present invention;
[0016] S32: The binary code is segmented from the binary code stream by reading the second bit value starting from the start bit of the binary code until the first bit value is reached. The position of the first bit value is the middle position of the binary code and the position of the second bit value is the first position of the binary code. The number of the last positions of the binary code is determined according to the number of the first positions, thereby determining the number of bits of the binary code.
[0017] S33: Obtain the sensor signal according to the binary code and the encoding table, wherein the level of the sensor signal is determined by the number of the first bit positions of the binary code, and the value of the sensor signal is mapped by the bit value of the last bit position of the binary code.
[0018] According to a fourth aspect of the present invention, a computer program product is provided, comprising a computer program, wherein, when the computer program is executed by one or more processors, the processors are capable of executing the encoding table generation method according to the present invention and / or the encoding method according to the present invention and / or the decoding method according to the present invention.
[0019] According to a fifth aspect of the present invention, a processing apparatus for sensor signals of a vehicle is provided, wherein the processing apparatus comprises at least:
[0020] - An encoding table generation module, configured to implement the encoding table generation method according to the present invention to generate an encoding table for the sensor signal; and / or
[0021] - An encoding module configured to implement the encoding method according to the invention to encode the sensor signal into a corresponding binary code; and / or
[0022] - A decoding module configured to implement the decoding method according to the invention to decode binary code into sensor signals. Attached Figure Description
[0023] The invention will now be described in more detail with reference to the accompanying drawings, which will provide a better understanding of its principles, features, and advantages. The drawings include:
[0024] Figure 1 A schematic flowchart of a method for generating an encoding table for sensor signals for a vehicle according to an exemplary embodiment of the present invention is shown.
[0025] Figure 2 A schematic flowchart of a method for encoding sensor signals for a vehicle according to an exemplary embodiment of the present invention is shown;
[0026] Figure 3 A schematic flowchart of a method for decoding sensor signals for a vehicle according to an exemplary embodiment of the present invention is shown;
[0027] Figure 4 A schematic connection block diagram of a sensor signal processing apparatus for a vehicle according to an exemplary embodiment of the present invention is shown. Detailed Implementation
[0028] To make the technical problems to be solved, the technical solutions and the beneficial technical effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments.
[0029] This specification provides the operational steps for the methods described in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order.
[0030] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.
[0031] Figure 1 A schematic flowchart illustrating a method for generating an encoding table for sensor signals of a vehicle according to an exemplary embodiment of the present invention is shown. Here, the encoding table generated according to the encoding table generation method can be used in subsequent encoding and decoding processes of sensor signals, such as acceleration signals detected by an accelerometer of a vehicle, particularly collision acceleration signals. Of course, it is also possible to consider other signals that are considered meaningful by those skilled in the art, such as temperature signals. The encoding table generation method will now be explained in detail using acceleration signals as sensor signals.
[0032] like Figure 1 As shown, the encoding table generation method according to the present invention includes at least the following steps:
[0033] S11: Obtain the frequency of occurrence of sensor signals, such as acceleration signals. The frequency of occurrence can reflect the distribution pattern of acceleration signals. For example, the acceleration signals are in the range of -120g to +120g and are presented in the form of a normal distribution with an average value of 0, such that most acceleration signals are 0 or close to 0, especially in the range of -4g to +4g. A few acceleration signals will reach or exceed ±32g, and a very small number of acceleration signals will reach the limit value of ±120g. The frequency of occurrence of sensor signals can be obtained based on the statistical analysis of sampled data, such as experimental data and / or historical data, and have sampled values of multiple sensor signals. The frequency of occurrence of the corresponding sensor signals can be obtained by statistically analyzing the proportion of each sampled value in the sampled data. However, it is also possible to calculate the frequency of occurrence of sensor signals based on empirical distribution curves. The empirical distribution curves can be plotted based on empirical formulas, such as normal distribution curves or bimodal distribution curves.
[0034] S12: The sensor signals are divided into different levels according to their occurrence frequency. Each level has a corresponding number and the number of the level is related to the number of bits in the code. The higher the occurrence frequency of a sensor signal, the smaller the number of the corresponding level and the fewer the number of bits in the code. This allows sensor signals with higher occurrence frequency to be assigned shorter binary codes and sensor signals with lower occurrence frequency to be assigned longer binary codes.
[0035] S13: Assign binary codes to each sensor signal in different levels, wherein the binary code may have a single intermediate point, a preceding point before the intermediate point, and a following point after the intermediate point, wherein a first value is written at the intermediate point, the first value being, for example, 0, and a second value is written at the preceding point, the second value being 1 accordingly, and the number of preceding points represents the level, while the number of following points depends on the number of preceding points and the value of the sensor signal can be mapped through the bit value of the following points, of course, it is also possible that the first value is 1 and the second value is 0;
[0036] S14: After traversing all sensor signals and assigning binary codes to each sensor signal, an encoding table for the sensor signals is generated to establish the correspondence between the sensor signals and the binary codes, thereby enabling the mutual conversion between sensor signals and binary codes.
[0037] For example, the number of preceding bits in the binary code is equal to the level number, and the number of following bits is equal to the number of preceding bits minus 1. Specifically, for a sensor signal at level 1, the number of preceding bits is 1 and the number of following bits is 0; for a sensor signal at level 2, the number of preceding bits is 2 and the number of following bits is 1, and so on. However, it is also possible to consider, depending on actual needs, other correspondences that are meaningful to those skilled in the art regarding the level number, the number of preceding bits, and the number of following bits, exist. For example, the number of preceding bits in the binary code is equal to the level number plus 1, and the number of following bits is equal to the number of preceding bits.
[0038] For example, in step S12, sensor signals with the same or similar frequencies are grouped into the same level, such that the number of sensor signals in that level is equal to 2. n , where n equals the number of subsequent positions. Specifically, the number of preceding positions equals the level number, and the number of subsequent positions equals the number of preceding positions minus 1, meaning both the level number and the number of preceding positions are n+1. This makes the binary code of the (n+1)th level have a bit width of 2*(n+1), and the number of sensor signals in this level equals 2... n In this case, the first level of binary code has 2 bits, corresponding to 1 sensor signal; the second level of binary code has 4 bits, corresponding to 2 sensor signals; the third level of binary code has 6 bits, corresponding to 4 sensor signals; the fourth level of binary code has 8 bits, corresponding to 8 sensor signals, and so on.
[0039] Specifically, the most frequently occurring sensor signal is assigned to level 0, where the number of leading and trailing bits in the corresponding binary code is 0, meaning the binary code has only a single intermediate bit. This allows the most frequently occurring sensor signal to be mapped using the shortest possible binary code. In this case, the second most frequently occurring sensor signal is assigned to level 1, the third and fourth most frequently occurring sensor signals are assigned to level 2, and so on.
[0040] The following table, Table 1, exemplifies a schematic encoding table of vehicle acceleration signals, generated by the encoding table generation method according to the present invention:
[0041] hierarchy Acceleration (g) binary code 0 0 0 1 -1 10 2 1,2 1100,1101 3 -2,-3,3,4 111000,111001,111010,111011 4 -4,-5,-6,-7,5,6,7,8 11110000,11110001,11110010,…,11110111 5 -8,…-15,9…16 1111100000,…,1111101111 6 -16,…-31,17,…31 111111000000,…,111111011111 7 -32,…-63,33,…64 11111110000000,…,11111110111111 8 -64,…-127,64,…128 1111111100000000,…,1111111101111111
[0042] Table 1
[0043] As clearly shown in Table 1, the most frequent acceleration signal, 0g, is located in level 0, with a corresponding binary code of 0. The second most frequent acceleration, -1g, is located in level 1, with a corresponding binary code of 10. The third and fourth most frequent accelerations, 1g and 2g, are located in level 2, with corresponding binary codes of 1100 and 1101, respectively, and so on. For each level, the second bit value of 1 is written at the first position and the first bit value of 0 is written at the middle position. This easily separates the first and last positions and clearly indicates the level of the sensor signal corresponding to the binary code. Setting the first bit value to 1 and the second bit value to 0 also generates a suitable encoding table. Furthermore, the relationship between the level number, the number of first positions, and the number of last positions can be changed according to actual needs, thereby adaptively changing the number of sensor signals contained in each level and the corresponding number of bits in the encoding. The mapping between the bit value of the last position of the binary code and the acceleration signal in different levels can be easily derived from known encoding methods in the prior art, and will not be elaborated here.
[0044] Figure 2 A schematic flowchart of a method for encoding sensor signals for a vehicle according to an exemplary embodiment of the present invention is shown.
[0045] like Figure 2 As shown, the encoding method according to the present invention includes at least the following steps:
[0046] S21: Acquire sensor signals detected by the vehicle's sensors and an encoding table, the encoding table being generated by the encoding table generation method according to the present invention, wherein the encoding table can be directly acquired from an external source or pre-generated and stored in an internal processor;
[0047] S22: Encode the sensor signal into a corresponding binary code according to the encoding table.
[0048] The resulting binary code can have a different encoding length or number of bits depending on the frequency of the sensor signal, allowing frequently occurring sensor signals to be recorded with short binary codes. This reduces the total number of bytes consumed and saves memory used to store the binary code.
[0049] For example, such as Figure 2 As shown, the encoding method further includes step S23: sequentially arranging the binary codes corresponding to multiple sensor signals detected in time to form a binary code stream. Within the framework of this invention, a "binary code stream" should be understood as a stream composed of a continuous string of binary codes, such that data is arranged continuously in the stream in a specific order. This enables continuous encoding and recording of sensor signals.
[0050] For example, such as Figure 2 As shown, the encoding method further includes step S24: after the sensor signal is encoded, a second bit value, such as 1, is written into the unused memory. This easily distinguishes the unused memory from the binary code corresponding to the sensor signal and prevents information leakage and malicious use of data.
[0051] Figure 3 A schematic flowchart of a method for decoding sensor signals for a vehicle according to an exemplary embodiment of the present invention is shown.
[0052] like Figure 3 As shown, the decoding method according to the present invention includes at least the following steps:
[0053] S31: Obtain a binary code stream and an encoding table, wherein the binary code stream has at least one binary code encoded from a sensor signal, and the encoding table is generated by the encoding table generation method according to the present invention;
[0054] S32: The binary code is segmented from the binary code stream by reading the second bit value starting from the start bit of the binary code until the first bit value is reached. The position of the first bit value is the middle position of the binary code, and the position of the second bit value is the first position of the binary code. The number of the last positions of the binary code is determined according to the number of the first positions, thereby determining the number of bits of the binary code. In particular, the start bit of the binary code can be determined by a pre-set check code or by the last position of the previous binary code, which can accurately determine the first position of the binary code.
[0055] S33: Given the number of bits, the first bit position, and the last bit position of the binary code, decode the sensor signal according to the binary code and the encoding table. The level of the sensor signal is determined by the number of the first bit position of the binary code, and the value of the sensor signal is mapped by the bit value of the last bit position of the binary code.
[0056] In particular, if the first value is read directly from the start bit of the binary code, it indicates that the binary code is at level 0 and corresponds to the sensor signal with the highest frequency of occurrence. Specifically, taking the encoding table in Table 1 as an example, if the binary code stream is "0101100", starting from the beginning bit of the binary code, the first bit value read is 0, which indicates that the first binary code is "0" and corresponds to the sensor signal 0g, which has the highest frequency of occurrence at level 0. Then, the second binary code reads one 1 for the second bit value up to the first bit value of 0, which indicates that the second binary code is "10" and corresponds to the sensor signal -1g at level 1. Then, the third binary code reads two 1 for the second bit value up to the first bit value of 0, which indicates that the third binary code is at level 2 and has one bit value after it. The third binary code is "1100". Based on the bit value of the bit value after it, it can be determined that the third binary code corresponds to the sensor signal 1g at level 2. In summary, the binary code stream "0101100" can be decoded into "0g, -1g, 1g", and so on.
[0057] Figure 4 A schematic connection block diagram of a sensor signal processing device 100 for a vehicle according to an exemplary embodiment of the present invention is shown. Here, the processing device 100 can be directly integrated into the vehicle's electronic control unit, for example.
[0058] like Figure 4 As shown, the processing apparatus 100 according to the present invention may include an encoding table generation module 10, which is configured to implement the encoding table generation method according to the present invention to generate an encoding table for the sensor signal, the encoding table showing the correspondence between the sensor signal and the binary code, wherein the number of bits of the binary code is related to the frequency of occurrence of the sensor signal.
[0059] like Figure 4 As shown, the processing device 100 may include an encoding module 20, which can receive sensor signals detected by the vehicle's sensors and an encoding table and be configured to implement the encoding method according to the invention to encode the sensor signals into corresponding binary codes.
[0060] like Figure 4 As shown, the processing device 100 may include a decoding module 30, which can receive a binary code stream and an encoding table and implement the decoding method according to the present invention to segment the binary code from the binary code stream and decode the binary code into a corresponding sensor signal.
[0061] Here, the processing device 100 may simultaneously include an encoding table generation module 10, an encoding module 20, and a decoding module 30, wherein the encoding table generation module 10 is connected to both the encoding module 20 and the decoding module 30 and sends the generated encoding table to either the encoding module 20 or the decoding module 30 as needed. Alternatively, the processing device 100 may include any one or any two of the encoding table generation module 10, the encoding module 20, and the decoding module 30, wherein the encoding module 20 and the decoding module 30 may directly obtain pre-generated encoding tables from external sources, such as cloud devices.
[0062] For example, such as Figure 4 As shown, the processing device 100 may further include a storage module 40, which may be connected to the encoding table generation module 10 to store the encoding table generated by the encoding table generation module 10, and / or connected to the encoding module 20 to store the binary code generated by the encoding module 20, and / or connected to the decoding module 30 to send the stored binary code to the decoding module 30. Here, the storage module 40 may be constructed, for example, as a ring buffer, which can efficiently manage a fixed-size buffer, prevent data overflow, and maintain data order. In particular, the storage module 40 is provided with redundant memory, which can increase tolerance to cope with undesirable extreme situations.
[0063] Here, the processing device 100 has a computer program product according to the invention, which includes a computer program that, when executed by one or more processors, enables the processors to perform the encoding table generation method according to the invention and / or the encoding method according to the invention and / or the decoding method according to the invention.
[0064] The foregoing description of the embodiments is limited to the framework of the examples given. Of course, the various features of the embodiments can be freely combined with each other without departing from the framework of the invention, as long as it is technically meaningful.
[0065] Other advantages and alternative embodiments of the present invention will be apparent to those skilled in the art. Therefore, the present invention is not, in its broader sense, limited to the specific details, representative structures, and exemplary embodiments shown and described. Rather, those skilled in the art can make various modifications and substitutions without departing from the basic spirit and scope of the invention.
Claims
1. A method for generating an encoding table for sensor signals in a vehicle, characterized in that, The encoding table generation method includes at least the following steps: S11: Obtain the frequency of occurrence of the sensor signal; S12: The sensor signal is divided into different levels according to the occurrence frequency. The level number is related to the number of encoding bits. The higher the occurrence frequency, the smaller the level number and the fewer the corresponding encoding bits. S13: Assign binary codes to the sensor signals in different levels, wherein the binary codes have a single intermediate point, a preceding point before the intermediate point, and a following point after the intermediate point. The intermediate point is written with a first value, the number of preceding points represents the level and is written with a second value, and the number of following points depends on the number of preceding points and the value of the sensor signal is mapped through the bit value of the following points. S14: Generate an encoding table for the sensor signal to establish a correspondence between the sensor signal and the binary code.
2. The encoding table generation method according to claim 1, characterized in that, The number of preceding sites is equal to the level number, and the number of subsequent sites is equal to the number of preceding sites minus 1. Sample values with the same or similar frequencies are grouped into the same level, such that the number of sample values in that level is equal to 2. n , where n equals the number of subsequent sites.
3. The encoding table generation method according to claim 1 or 2, characterized in that, The sampled value with the highest frequency is assigned to level 0, and the number of the preceding and following positions of the binary code corresponding to this sampled value is 0.
4. The encoding table generation method according to any one of the preceding claims, characterized in that, In step S11, the frequency of occurrence of the sensor signal is derived statistically based on sampled data, which is experimental data and / or historical data; or In step S11, the frequency of occurrence of the sensor signal is calculated based on an empirical distribution curve.
5. The encoding table generation method according to any one of the preceding claims, characterized in that, The first bit value is 0, and the second bit value is 1; and / or The sensor signal is an acceleration signal.
6. A method for encoding sensor signals for a vehicle, characterized in that, The encoding method includes at least the following steps: S21: Acquire the sensor signal and the encoding table, wherein the encoding table is generated by the encoding table generation method according to any one of claims 1 to 5; S22: Encode the sensor signal into a corresponding binary code according to the encoding table.
7. The encoding method according to claim 6, characterized in that, The encoding method additionally includes Step S23: Arrange the binary codes corresponding to the multiple sensor signals detected sequentially in time to form a binary code stream; and / or Step S24: After the sensor signal is encoded, write the second bit value into the unused memory.
8. A method for decoding sensor signals for a vehicle, characterized in that, The decoding method includes at least the following steps: S31: Obtain a binary code stream and an encoding table, wherein the binary code stream has at least one binary code encoded from the sensor signal, and the encoding table is generated by the encoding table generation method according to any one of claims 1 to 5; S32: The binary code is segmented from the binary code stream by reading the second bit value starting from the start bit of the binary code until the first bit value is reached. The position of the first bit value is the middle position of the binary code and the position of the second bit value is the first position of the binary code. The number of the last positions of the binary code is determined according to the number of the first positions, thereby determining the number of bits of the binary code. S33: Obtain the sensor signal according to the binary code and the encoding table, wherein the level of the sensor signal is determined by the number of the first bit positions of the binary code, and the value of the sensor signal is mapped by the bit value of the last bit position of the binary code.
9. The decoding method according to claim 8, characterized in that, If the first bit value is read directly from the start bit of the binary code, it indicates that the binary code is at level 0 and corresponds to the sensor signal with the highest frequency of occurrence.
10. The decoding method according to claim 8 or 9, characterized in that, The start bit of the binary code is determined by a pre-set check code or by the last bit of the previous binary code.
11. A computer program product comprising a computer program, wherein, When the computer program is executed by one or more processors, the processors are capable of performing the encoding table generation method according to any one of claims 1-5 and / or the encoding method according to any one of claims 6-7 and / or the decoding method according to any one of claims 8-10.
12. A processing apparatus for sensor signals of a vehicle, characterized in that, The processing device includes at least: - An encoding table generation module, configured to implement the encoding table generation method according to any one of claims 1 to 5, to generate an encoding table for the sensor signal; and / or - An encoding module, configured to implement the encoding method according to any one of claims 6 to 7, to encode the sensor signal into a corresponding binary code; and / or - A decoding module, configured to implement the decoding method according to any one of claims 8 to 10, to decode binary code into sensor signals.
13. The processing apparatus according to claim 12, characterized in that, The processing device further includes a storage module configured to store the encoding table generated by the encoding table generation module and / or the binary code generated by the encoding module.
14. The processing apparatus according to claim 13, characterized in that, The storage module is configured as a ring buffer; and / or The storage module is equipped with redundant memory.
15. The processing apparatus according to any one of claims 12 to 14, characterized in that, The processing device is integrated into the vehicle's electronic control unit.