Signal data type conversion method and device, electronic equipment and storage medium

Abstract

This application relates to the field of autonomous driving technology and discloses a signal data type conversion method, apparatus, electronic device, and storage medium. The method includes: determining at least one reference origin based on each calculation cycle or local scene; representing the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain second data coordinates; when converting the second data coordinates to a second data type, performing a modulo equivalence operation on the second data coordinates, and completing the conversion of the second data type based on the second data coordinates after the modulo equivalence operation. This application can effectively reduce vehicle positioning deviation, trajectory jitter, and other problems, thus improving the control stability and driving safety of the NOA system.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a signal data type conversion method, apparatus, electronic device, and storage medium. Background Technology

[0002] With the rapid development of intelligent connected vehicle technology, Navigation on Autopilot (NOA) has become one of the core functions of Advanced Driver Assistance Systems (ADAS). NOA achieves semi-automatic driving from highways to urban roads through the collaborative work of multiple modules, including high-precision maps, environmental perception, path planning, and vehicle control. The system relies on onboard sensors (such as cameras, millimeter-wave radar, and lidar) and a high-performance computing platform to perform real-time perception and decision-making calculations of the vehicle's surroundings. It uses Ethernet technology to achieve high-bandwidth, low-latency data transmission, ensuring the vehicle's real-time responsiveness and driving safety. Compared to the traditional CAN communication architecture, the Ethernet-based NOA system has stronger scalability and data processing capabilities, meeting the needs of massive data transmission and fusion in autonomous driving scenarios, laying a solid foundation for achieving high-precision path planning and stable autonomous driving control.

[0003] Currently, the E007, as the first model built on the dual E04 chip platform, has revealed a precision error issue caused by data type mismatch during the architecture integration of its NOA system. The current system uses double (64-bit floating-point) data for calculation and transmission on the CPU side, while the GPU uses float (32-bit floating-point) data for large-scale parallel computation. Due to the significant differences in numerical representation range and effective precision, frequent data type conversions between the CPU and GPU introduce rounding errors and precision loss when the NOA module processes large-scale environmental data (such as high-precision map point clouds, path coordinates, and dynamic object information). Although these precision errors are small in a single operation, they gradually accumulate and amplify in continuous trajectory prediction and path planning loops, leading to vehicle positioning deviations, trajectory jitter, and even control errors. Furthermore, this problem is particularly prominent in complex driving environments, such as road sections with significant curvature changes and dense traffic, where accumulated errors may affect the control stability and safety performance of the NOA system. Therefore, how to improve data consistency and computational accuracy while ensuring computational efficiency has become a key technical challenge that urgently needs to be solved in the E007 project. Summary of the Invention

[0004] The purpose of this invention is to provide a signal data type conversion method, apparatus, electronic device, and storage medium to at least solve the accuracy error problem caused by data type mismatch during the integration of NOA system architecture, thereby improving computational efficiency and data calculation accuracy.

[0005] To address the aforementioned technical problems, in a first aspect, the present invention provides a signal data type conversion method, comprising at least:

[0006] Determine at least one reference origin for each calculation cycle or local scenario;

[0007] The first data coordinates of all first data types within the calculation cycle or local scene are represented using the reference origin and offset to obtain the second data coordinates;

[0008] When converting the second data coordinates to the second data type, a modulo equivalence operation is performed on the second data coordinates, and the conversion of the second data type is completed based on the second data coordinates after the modulo equivalence operation.

[0009] Optionally, the method further includes:

[0010] During the process of representing the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and the offset, it is determined whether the offset exceeds the valid range of the offset.

[0011] If any of the offsets exceeds the effective range of the offset, the reference origin is updated based on the first data coordinates corresponding to the offset, and the subsequent first data coordinates are represented based on the updated reference origin.

[0012] Optionally, the step of representing the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain the second data coordinates specifically includes:

[0013] Obtain the first data coordinates of all the first data types within each calculation cycle or local scene;

[0014] The offset of each of the first data coordinates is determined based on the reference origin;

[0015] The second data coordinates are formed based on the offset of each of the first data coordinates and the reference origin.

[0016] Optionally, when converting the second data coordinates to the second data type, performing a modulo equivalence operation on the second data coordinates and completing the conversion of the second data type based on the second data coordinates after the modulo equivalence operation specifically includes:

[0017] When converting the second data coordinates to the second data type, the reference origin and the offset are extracted from the second data coordinates;

[0018] Perform a data conversion operation on the offset to complete the conversion of the second data type, based at least on the result of the data conversion operation and the reference origin.

[0019] Optionally, the first data type is at least of type double, and the second data type is at least of type float.

[0020] Secondly, the present invention also provides a signal data type conversion device, comprising at least:

[0021] The benchmark calculation module is used to determine at least one benchmark origin based on each calculation cycle or local scene.

[0022] The first conversion module is used to represent the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain the second data coordinates;

[0023] The second conversion module is used to perform a modulo equivalence operation on the second data coordinates when converting the second data coordinates to the second data type, and to complete the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0024] Optionally, it also includes:

[0025] The origin update module is used to determine whether the offset exceeds the effective range of offset when representing the first data coordinates of all the first data types of the first data type within the calculation cycle or local scene using the reference origin and the offset; and when any offset exceeds the effective range of offset, to update the reference origin based on the first data coordinates corresponding to the offset, and to represent the subsequent first data coordinates based on the updated reference origin.

[0026] Optionally, the first conversion module is specifically used for:

[0027] Obtain the first data coordinates of all the first data types within each calculation cycle or local scene; and determine the offset of each first data coordinate based on the reference origin; and construct the second data coordinates based on the offset of each first data coordinate and the reference origin.

[0028] Thirdly, the present invention also provides an electronic device, including a memory and a processor, the memory storing a computer program executable on the processor, wherein the processor, when executing the program, implements the steps of the signal data type conversion method according to any one of the first aspects.

[0029] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the signal data type conversion method according to any one of the first aspects.

[0030] The technical solution provided by the embodiments of the present invention firstly determines at least one reference origin based on each calculation cycle or local scene; secondly, it represents the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain second data coordinates; finally, when converting the second data coordinates to the second data type, it performs a modulo equivalence operation on the second data coordinates and completes the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0031] Therefore, by using a coordinate representation of a reference origin and an offset for the first data coordinates, this embodiment of the invention can convert large-value original coordinates into small-range local offsets. This ensures that the significant digits of the offset are fully preserved during conversion to the second data type, significantly reducing rounding errors and precision loss. Thus, it solves the precision loss problem caused by data type mismatch between the CPU and GPU. Furthermore, because the precision error of a single operation is significantly reduced, the cumulative error in continuous trajectory prediction and path planning loops is also effectively suppressed. Therefore, this embodiment of the invention can effectively reduce vehicle positioning deviations and trajectory jitter, thereby improving the control stability and driving safety of the NOA system. Attached Figure Description

[0032] Figure 1 This is a flowchart of a signal data type conversion method provided in an embodiment of the present invention;

[0033] Figure 2 This is a flowchart of another signal data type conversion method provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of a signal data type conversion device provided in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0038] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0039] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0040] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0041] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0042] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0043] Figure 1 This is a flowchart of a signal data type conversion method provided by an embodiment of the present invention. This embodiment is applicable to at least various types of vehicle signal data type conversion scenarios, especially suitable for data type conversion scenarios between CPU-side data and GPU-side data in vehicle NOA systems. This signal data type conversion method can be, but is not limited to, executed by the signal data type conversion device in this embodiment of the invention, which can be implemented in software and / or hardware. Figure 1 As shown, this signal data type conversion method includes at least the following steps:

[0044] S1. Determine at least one reference origin based on each calculation cycle or local scene.

[0045] One computation cycle can correspond to one computation task, such as one path planning or one dynamic object trajectory drawing. A local scene can be a segment of the NOA driving scene. The reference origin can be determined by the current vehicle position, the coordinates of the lower left corner of the current map tile, etc.

[0046] S2. Represent the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain the second data coordinates.

[0047] The first data coordinate can be a data coordinate related to the scene. It can be represented using a reference origin and an offset as: First data coordinate = Reference origin + Offset. In one specific implementation, optionally, it also includes:

[0048] (2-1) In the process of representing the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset, determine whether the offset exceeds the valid range of the offset.

[0049] The effective range can be a preset range used to control the size of the offset and prevent the calculation accuracy from being reduced due to excessive offset.

[0050] (2-2) If any offset exceeds the valid range of offset, the reference origin is updated based on the first data coordinates corresponding to the offset, and the subsequent first data coordinates are represented based on the updated reference origin.

[0051] S3. When converting the second data coordinates to the second data type, perform a modulo equivalence operation on the second data coordinates and complete the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0052] The core idea of ​​the modulo equivalence operation is to set a reference point (e.g., the current position of the vehicle) and convert all large values ​​into offsets relative to this reference point, i.e.: offset = first data coordinate - reference origin coordinate. This compresses large-scale data into values ​​within a smaller interval, facilitating subsequent precision maintenance and efficient calculation. In another specific implementation, optionally, the first data type is at least double type, and the second data type is at least float type.

[0053] The technical solution provided in this embodiment firstly determines at least one reference origin based on each calculation cycle or local scene; secondly, it represents the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain the second data coordinates; finally, when converting the second data coordinates to the second data type, it performs a modulo equivalence operation on the second data coordinates and completes the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0054] Therefore, this embodiment, by using a coordinate representation of a reference origin and an offset for the first data coordinates, can convert large-value original coordinates into small-range local offsets. This ensures that the significant digits of the offset are fully preserved during conversion to the second data type, significantly reducing rounding errors and precision loss. Thus, it solves the precision loss problem caused by data type mismatch between the CPU and GPU. Furthermore, because the precision error of a single operation is significantly reduced, the cumulative error in continuous trajectory prediction and path planning loops is also effectively suppressed. Therefore, this embodiment can effectively reduce vehicle positioning deviations and trajectory jitter, thereby improving the control stability and driving safety of the NOA system.

[0055] Based on the above embodiments or implementation methods Figure 2 This is a flowchart of another signal data type conversion method provided by an embodiment of the present invention. This embodiment is based on the above embodiment with additions. Figure 2 As shown, this signal data type conversion method includes at least the following steps:

[0056] S1. Determine at least one reference origin based on each calculation cycle or local scene.

[0057] S21. Obtain the first data coordinates of all first data types within each calculation cycle or local scene.

[0058] S22. Determine the offset of each first data coordinate based on the reference origin.

[0059] It is understandable that the offset is the difference between the first data coordinate and the coordinate of the reference origin.

[0060] S23. The second data coordinates are formed based on the offset of each first data coordinate and the reference origin.

[0061] S31. When converting the second data coordinates to the second data type, extract the reference origin and offset from the second data coordinates.

[0062] S32. Perform a data conversion operation on the offset to complete the conversion of the second data type, based at least on the result of the data conversion operation and the reference origin.

[0063] In step S32, the local offset is converted from double to float and sent to the GPU. The GPU uses float to complete rendering, trajectory interpolation, and animation calculations. If necessary, the offset can be restored on the CPU or GPU side using the saved baseline value. It is understood that this embodiment only retains the "local offset" portion with a small numerical range. Since the value of the local offset is much smaller than the original large coordinates, its relative error under float precision is significantly reduced. Through the above method, without changing the existing NOA algorithm logic, only a lightweight "modulo and offset representation" processing step is added to the data flow link, ensuring that the values ​​involved in the double-to-float conversion remain within a small range. This weakens the impact of floating-point precision truncation from the source, providing a more stable and accurate data input foundation for subsequent model calculations and animation rendering. It is understood that the GPU processes a large amount of geometric data such as points, lines, and surfaces in parallel to calculate the display position and lighting effects of the 3D model on the screen. In the NOA system, the GPU is used to render the real-time position of dynamic objects (such as vehicles, pedestrians, road signs, etc.). When there are slight errors in the input coordinates, the GPU will cause coordinate jumps during rendering, resulting in slight jitter or flickering of the model. Therefore, by performing modulo operations and precision optimization, more stable input data can be provided to the GPU, ensuring the continuity and smoothness of the rendered image.

[0064] The technical solution provided in this embodiment firstly determines at least one reference origin based on each calculation cycle or local scene. Further, it acquires first data coordinates for all first data types within each calculation cycle or local scene. Further, it determines the offset of each first data coordinate based on the reference origin. Further, it constructs second data coordinates based on the offset of each first data coordinate and the reference origin. Further, when converting the second data coordinates to a second data type, it extracts the reference origin and offset from the second data coordinates. Finally, it performs a data conversion operation on the offset to complete the conversion of the second data type based on the data conversion operation result and the reference origin.

[0065] Therefore, this embodiment significantly reduces the precision error during the conversion of data coordinates from double to float types by introducing a modulo and offset representation mechanism during data transmission, bringing several beneficial effects. Firstly, regarding numerical precision, since the NOA system no longer directly performs type conversion on a large range of absolute coordinate values, but only performs conversion on local offsets after modulo processing, the range of converted values ​​is effectively compressed to a smaller interval. In this way, with the limited number of significant bits in float, its relative error is significantly reduced, ensuring the stability and consistency of data during GPU computation. Test results show that in key data such as high-precision map coordinates, target object positions, and vehicle trajectories, after processing with this solution, the numerical error is reduced by an average of more than one order of magnitude, effectively avoiding the amplification effect of accumulated errors. Secondly, regarding system performance, this embodiment greatly improves the smoothness of dynamic display and the stability of system operation. In traditional solutions, due to precision loss, the GPU rendering module is prone to slight numerical jitter when calculating the position of target objects, which leads to jumping or flickering phenomena on the screen of dynamic object trajectories, affecting the system's visual stability and user experience. Through data optimization in this solution, the GPU can obtain more accurate and continuous coordinate input, thus maintaining consistent trajectories and smooth animations during rendering. The display stability of dynamic targets such as vehicles, pedestrians, and obstacles is significantly improved, and the system can maintain high-precision motion trajectory reconstruction even at high frame rates. Finally, this embodiment achieves improved accuracy and system jitter suppression through pure software algorithms without increasing hardware overhead, effectively enhancing the robustness and reliability of the NOA system in complex driving environments. Overall, this technology not only improves the accuracy of numerical processing but also provides more stable visual presentation and control support for intelligent driving systems, possessing significant potential for widespread adoption and practical application.

[0066] Figure 3This is a schematic diagram of a signal data type conversion device provided in an embodiment of the present invention. This embodiment is applicable to at least various types of vehicle signal data type conversion scenarios, especially suitable for data type conversion scenarios between CPU-side data and GPU-side data in vehicle NOA systems. This signal data type conversion device can be implemented in software and / or hardware. Figure 3 As shown, the signal data type conversion device includes at least:

[0067] The benchmark calculation module 110 is used to determine at least one benchmark origin based on each calculation cycle or local scene.

[0068] The first conversion module 120 is used to represent the first data coordinates of all first data types within the calculation cycle or local scene using the form of reference origin and offset to obtain the second data coordinates.

[0069] The second conversion module 130 is used to perform a modulo equivalence operation on the second data coordinates when converting the second data coordinates to the second data type, and to complete the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0070] Optionally, it also includes:

[0071] The origin update module 140 is used to determine whether the offset exceeds the valid range of offset when representing the first data coordinates of all first data types within the calculation cycle or local scene in the form of a reference origin and an offset; and when any offset exceeds the valid range of offset, to update the reference origin based on the first data coordinates corresponding to the offset, and to represent the subsequent first data coordinates based on the updated reference origin.

[0072] Optionally, the first conversion module 120 is specifically used for:

[0073] Obtain the first data coordinates of all first data types within each calculation cycle or local scene; determine the offset of each first data coordinate based on the reference origin; and construct the second data coordinates based on the offset of each first data coordinate and the reference origin.

[0074] Optionally, the second conversion module 130 is specifically used for:

[0075] When converting the second data coordinates to the second data type, the reference origin and offset in the second data coordinates are extracted; and a data conversion operation is performed on the offset to complete the conversion of the second data type based at least on the result of the data conversion operation and the reference origin.

[0076] Optionally, the first data type is at least double and the second data type is at least float.

[0077] The technical solution provided in this embodiment firstly determines at least one reference origin based on each calculation cycle or local scene using a reference calculation module; secondly, the first conversion module represents the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain second data coordinates; finally, the second conversion module performs a modulo equivalence operation on the second data coordinates when converting them to the second data type, and completes the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0078] Therefore, this embodiment, by using a coordinate representation of a reference origin and an offset for the first data coordinates, can convert large-value original coordinates into small-range local offsets. This ensures that the significant digits of the offset are fully preserved during conversion to the second data type, significantly reducing rounding errors and precision loss. Thus, it solves the precision loss problem caused by data type mismatch between the CPU and GPU. Furthermore, because the precision error of a single operation is significantly reduced, the cumulative error in continuous trajectory prediction and path planning loops is also effectively suppressed. Therefore, this embodiment of the invention can effectively reduce vehicle positioning deviations and trajectory jitter, thereby improving the control stability and driving safety of the NOA system.

[0079] This embodiment provides an electronic device. Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. See also: Figure 4 The electronic device 1000 includes a processor 1001 and a memory 1002. The memory 1002 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 1001, the steps in any of the signal data type conversion methods described above are performed. Through the above technical solution, the processor 1001 and the memory 1002 are interconnected and communicate with each other via a communication bus and / or other forms of connection mechanisms (not shown). The memory 1002 stores a processor-executable computer program. When the electronic device 1000 is running, the processor 1001 executes the computer program to perform the signal data type conversion method in any optional implementation of the above embodiments, to at least achieve the following functions: determining at least one reference origin based on each calculation cycle or local scene; representing the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain second data coordinates; when converting the second data coordinates to the second data type, performing a modulo equivalence operation on the second data coordinates, and completing the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0080] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the signal data type conversion method provided in all embodiments of this application: determining at least one reference origin based on each calculation cycle or local scene; representing the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain second data coordinates; and when converting the second data coordinates to the second data type, performing a modulo equivalence operation on the second data coordinates and completing the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

[0081] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0082] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0083] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0084] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A signal data type conversion method, characterized in that, At least including: Determine at least one reference origin for each calculation cycle or local scenario; The first data coordinates of all first data types within the calculation cycle or local scene are represented using the reference origin and offset to obtain the second data coordinates; When converting the second data coordinates to the second data type, a modulo equivalence operation is performed on the second data coordinates, and the conversion of the second data type is completed based on the second data coordinates after the modulo equivalence operation.

2. The signal data type conversion method according to claim 1, characterized in that, The method further includes: During the process of representing the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and the offset, it is determined whether the offset exceeds the valid range of the offset. If any of the offsets exceeds the effective range of the offset, the reference origin is updated based on the first data coordinates corresponding to the offset, and the subsequent first data coordinates are represented based on the updated reference origin.

3. The signal data type conversion method according to claim 1, characterized in that, The step of representing the first data coordinates of all first data types within the calculation period or local scene using the reference origin and offset to obtain the second data coordinates specifically includes: Obtain the first data coordinates of all the first data types within each calculation cycle or local scene; The offset of each of the first data coordinates is determined based on the reference origin; The second data coordinates are formed based on the offset of each of the first data coordinates and the reference origin.

4. The signal data type conversion method according to claim 1, characterized in that, When converting the second data coordinates to the second data type, performing a modulo equivalence operation on the second data coordinates and completing the conversion of the second data type based on the second data coordinates after the modulo equivalence operation specifically includes: When converting the second data coordinates to the second data type, the reference origin and the offset are extracted from the second data coordinates; Perform a data conversion operation on the offset to complete the conversion of the second data type, based at least on the result of the data conversion operation and the reference origin.

5. The signal data type conversion method according to claim 1, characterized in that, The first data type is at least double, and the second data type is at least float.

6. A signal data type conversion device, characterized in that, At least including: The benchmark calculation module is used to determine at least one benchmark origin based on each calculation cycle or local scene. The first conversion module is used to represent the first data coordinates of all first data types within the calculation cycle or local scene using the reference origin and offset to obtain the second data coordinates; The second conversion module is used to perform a modulo equivalence operation on the second data coordinates when converting the second data coordinates to the second data type, and to complete the conversion of the second data type based on the second data coordinates after the modulo equivalence operation.

7. The signal data type conversion device according to claim 6, characterized in that, Also includes: The origin update module is used to determine whether the offset exceeds the effective range of offset when representing the first data coordinates of all the first data types of the first data type within the calculation cycle or local scene using the reference origin and the offset; and when any offset exceeds the effective range of offset, to update the reference origin based on the first data coordinates corresponding to the offset, and to represent the subsequent first data coordinates based on the updated reference origin.

8. The signal data type conversion device according to claim 6, characterized in that, The first conversion module is specifically used for: Obtain the first data coordinates of all the first data types within each calculation cycle or local scene; and determine the offset of each first data coordinate based on the reference origin; and construct the second data coordinates based on the offset of each first data coordinate and the reference origin.

9. An electronic device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the signal data type conversion method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps in the signal data type conversion method according to any one of claims 1 to 5.

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