Methods and equipment for parsing protocol data bits used for ArbeitsKreis protocol wheel speed sensors, electronic devices, and storage media readable by non-forwarding computers.
Patent Information
- Authority / Receiving Office
- VN · VN
- Patent Type
- Applications
- Current Assignee / Owner
- SHANGHAI LEEKR TECHNOLOGY CO LTD
- Filing Date
- 2023-12-12
- Publication Date
- 2026-06-15
AI Technical Summary
In the prior art, special peripheral chips are used to analyze AK protocol data signals, resulting in higher costs.
By receiving the current signal sent by the AK protocol wheel speed sensor, converting it into the first voltage signal and the second voltage signal, capturing the timestamps of the rising and falling edges of the voltage signal, extracting the timestamps of the protocol data bits, and analyzing the protocol data bits to obtain the values of each protocol data bit.
It reduces product costs, avoids dependence on dedicated chips, improves the competitiveness of enterprises, and ensures the security of the supply chain.
Smart Images
Figure VN1202603163_0
Abstract
Description
AK protocol wheel speed sensor protocol data bit analysis method and device Technical Field
[0001] The present invention relates to the technical field of data processing, and in particular to a method and device for parsing protocol data bits of an AK protocol wheel speed sensor. Background Art
[0002] The AK protocol is a standard interface between wheel speed sensors and electronic control units (ECUs) for data signal transmission. The sensor signal is processed by a signal modulation unit to generate a speed signal and a data signal. Technical issues
[0003] Currently, component suppliers primarily utilize dedicated peripheral chips to parse AK protocol data signals. These solutions all face the following challenges: Dedicated peripheral chips are expensive. Technical Solutions
[0004] In order to overcome the deficiencies of the prior art, the embodiment of the present invention aims to provide a method and apparatus for parsing protocol data bits of an AK protocol wheel speed sensor, which can reduce product costs, ensure supply chain security, and improve enterprise competitiveness.
[0005] To solve the above problem, a first aspect of an embodiment of the present invention discloses a method for parsing protocol data bits of an AK protocol wheel speed sensor, which includes the following steps:
[0006] Receive a current signal sent by an AK protocol wheel speed sensor and convert the current signal into a first voltage signal and a second voltage signal, wherein the first voltage signal includes a speed signal pulse and a protocol data bit pulse, and the second voltage signal includes only a speed signal pulse;
[0007] Capturing the times of rising edges and falling edges of the first voltage signal and the second voltage signal, recording the timestamps of the rising edges and falling edges of the captured first voltage signal as a first timestamp set, recording the timestamps of the rising edges and falling edges of the captured second voltage signal as a second timestamp set, and saving the first timestamp set and the second timestamp set;
[0008] Obtaining a set of complete timestamps for protocol data bits according to the first timestamp set and the second timestamp set, recorded as protocol data timestamps;
[0009] The protocol data bits are parsed according to the protocol data timestamp to obtain the value of each protocol data bit.
[0010] In an embodiment of the present invention, a current signal of a wheel speed sensor is converted into a first voltage signal and a second voltage signal, and a first timestamp set and a second timestamp set of rising edges and falling edges are captured based on the first voltage signal and the second voltage signal. The timestamps of protocol data bits (recorded as protocol data timestamps) are extracted based on the first timestamp set and the second timestamp set, and the protocol data bits are parsed to obtain the values of each protocol data bit. By completing the parsing of the protocol data bits, product costs can be reduced and enterprise competitiveness can be improved.
[0011] As a preferred embodiment, in the first aspect of the embodiment of the present invention, receiving a current signal sent by an AK protocol wheel speed sensor and converting the current signal into a first voltage signal and a second voltage signal includes:
[0012] The AK signal separation circuit converts the current signal into a first voltage signal and a second voltage signal based on signal comparison.
[0013] The AK signal separation circuit can be implemented by a comparator. For example, it can complete the conversion of current signal and voltage signal through a certain I / V conversion circuit, and then obtain the corresponding pulse signal based on the comparison between the converted voltage signal and the reference voltage signal. The obtained pulse signal can be recorded as the first voltage signal and the second voltage signal.
[0014] For high-speed working conditions, since the speed pulse amplitude is 28mA and the protocol data bit pulse amplitude is 14mA, the first voltage signal and the second voltage signal can be extracted from the high-speed working condition, wherein the high level of the second voltage signal corresponds to the speed pulse amplitude of 28mA, that is, the second voltage signal will output a high level only when the speed pulse is greater than or equal to the first preset value (for example, 23.5mA), and output a low level when it is less than the first preset value. It can be seen that the second voltage signal only includes the speed signal pulse, but does not include the protocol data bit pulse.
[0015] The first voltage signal is also completed through a comparator. The comparator is used to obtain the pulse amplitude. When it is greater than a second preset value (for example, 11.7 mA), it outputs a high level, and when it is less than the second preset value, it outputs a low level. The first voltage signal includes not only the speed signal pulse, but also the protocol data bit pulse.
[0016] For low-speed working conditions, since the speed pulse amplitude is 14mA and the protocol data bit pulse amplitude is 14mA, the pulse signal extraction under low-speed working conditions can only extract the first voltage signal. The speed signal pulse is integrated between the protocol data bit pulses, and the second voltage signal cannot be extracted separately.
[0017] For low-speed to high-speed working conditions, the speed pulse amplitude includes both 14mA and 28mA. Therefore, it can extract the second voltage signal with a speed pulse amplitude of 28mA, and can also extract the first voltage signal with pulse amplitudes of 28mA, 14mA and protocol data bit pulse amplitude of 14mA.
[0018] The timestamps for the rising and falling edges of the first and second voltage signals can be acquired using an edge capture module. This module can be implemented using, for example, a GTM / TIM module, an eMIOS module, or a FlexIO module. Because a rising edge is the moment a pulse signal transitions from 0 to 1, and a falling edge is the moment a pulse signal transitions from 1 to 0, the edge capture module captures all 0-to-1 and 1-to-0 time points to obtain the first and second timestamp sets.
[0019] As a preferred implementation, in the first aspect of the embodiment of the present invention, under high-speed working conditions, obtaining a complete set of protocol data bit timestamps based on the first timestamp set and the second timestamp set, recorded as protocol data timestamps, includes:
[0020] Within a preset sampling period, determining the timestamp of the rising edge of the last speed pulse and the timestamp of the falling edge of the second-to-last speed pulse based on the second timestamp set, and recording them as the first reference high-speed timestamp and the second reference high-speed timestamp respectively;
[0021] All first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are acquired, where the all first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are the protocol data timestamps.
[0022] Under high-speed working conditions, since the pulses between two adjacent speed pulses are all protocol data pulses, the pulses between the two adjacent speed pulses can be directly used to construct a protocol data timestamp.
[0023] As a preferred implementation, in the first aspect of the embodiment of the present invention, under low-speed conditions, a complete set of protocol data bit timestamps is obtained according to the first timestamp set and the second timestamp set, recorded as protocol data timestamps, including:
[0024] Within a preset sampling period, sorting the first timestamp set within the sampling period in chronological order from back to front;
[0025] A preset number of first timestamps are selected from the sorted first timestamp set in order to form the protocol data timestamps, and the differences between any adjacent first timestamps in the protocol data timestamps are all in [TP / 2, TP], where TP is the pulse width.
[0026] In the protocol data of the same frame, the difference between two adjacent timestamps is between TP / 2 and TP. Therefore, under low-speed working conditions, since there is only a first voltage signal, the first timestamp whose difference between two adjacent timestamps is between TP / 2 and TP can be used to construct the protocol data timestamp.
[0027] As a preferred implementation, in the first aspect of the embodiment of the present invention, under low-speed to high-speed operating conditions, a complete set of protocol data bit timestamps is obtained according to the first timestamp set and the second timestamp set, recorded as protocol data timestamps, including:
[0028] Within a preset sampling period, determining the timestamp of the rising edge of the last speed pulse based on the second timestamp set, and recording it as a first reference high-speed timestamp;
[0029] Starting from the first reference high-speed timestamp, sorting the first timestamp set within the sampling period in a time order from back to front;
[0030] A preset number of first timestamps are selected from the sorted first timestamp set in order to form the protocol data timestamps, and the differences between adjacent first timestamps in the protocol data timestamps are all in [TP / 2, TP], where TP is the pulse width.
[0031] In the low-speed to high-speed working condition, since there are the first voltage signal and the second voltage signal, the first reference high-speed timestamp can be determined from the second voltage signal. Based on the first reference high-speed timestamp as the starting point, a group of adjacent two timestamps closest to the first reference high-speed timestamp are selected in the first timestamp set, and the difference between the two timestamps is between TP / 2 and TP to construct the protocol data timestamp.
[0032] As a preferred implementation, in the first aspect of the embodiment of the present invention, parsing the protocol data bits according to the protocol data timestamp to obtain the value of each protocol data bit includes:
[0033] Sorting the protocol data timestamps in chronological order;
[0034] Determine the value of the first protocol data bit based on the first timestamp of the sorted protocol data timestamps:
[0035] If TimeStamp0-TimeStamp-2 = 1.5TP, then bit0=0;
[0036] If TimeStamp0-TimeStamp -2 = 2TP, then bit0=1;
[0037] Among them, TimeStamp0 is the first timestamp of the sorted protocol data timestamp, TimeStamp -2 The second timestamp before TimeStamp0 in the first timestamp set; bit0 is the value of the first protocol data bit;
[0038] When bit k =0, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k+1 At this time, calculate the TimeStamp k+2 and TimeStamp k+1 The difference is recorded as the first difference. If the first difference is TP / 2, then bit k+1 = 0; if the first difference is TP, then bit k+1 =1;
[0039] When bit k =1, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k At this time, calculate the TimeStamp k+1 and TimeStamp k The difference is recorded as the second difference. If the second difference is TP / 2, then bit k+1 = 0; if the second difference is TP, then bit k+1 =1; where 0≤k≤6, TP is the pulse width;
[0040] The value of bit8 is determined by the sum of bit0 to bit7. If the sum of bit0 to bit7 is an even number, bit8=0; if the sum of bit0 to bit7 is an odd number, bit8=1.
[0041] The protocol data bits use Manchester encoding (IEEE 802.3), which follows the following rules: a low-to-high transition mid-bit represents a "1," and a high-to-low transition mid-bit represents a "0." According to the AK protocol standard, the speed pulse width is TP (nominal value 50µs), and the width between the falling edge of the speed pulse and the first protocol data bit is TP / 2. Based on this, the code elements in the protocol data timestamp can be determined. Based on the Manchester encoding rules and the width of the falling edge of the speed pulse and the first protocol data bit being TP / 2, the values of each protocol data bit can be parsed.
[0042] A second aspect of an embodiment of the present invention discloses an AK protocol wheel speed sensor protocol data bit parsing device, comprising:
[0043] a receiving unit, configured to receive a current signal sent by an AK protocol wheel speed sensor and convert the current signal into a first voltage signal and a second voltage signal, wherein the first voltage signal includes a speed signal pulse and a protocol data bit pulse, and the second voltage signal includes only a speed signal pulse;
[0044] a capture unit, configured to capture the times of rising edges and falling edges of the first voltage signal and the second voltage signal, record the timestamps of the rising edges and falling edges of the captured first voltage signal as a first timestamp set, record the timestamps of the rising edges and falling edges of the captured second voltage signal as a second timestamp set, and save the first timestamp set and the second timestamp set;
[0045] An acquiring unit, configured to acquire a set of complete timestamps of protocol data bits according to the first timestamp set and the second timestamp set, recorded as protocol data timestamps;
[0046] A parsing unit is used to parse the protocol data bits according to the protocol data timestamp to obtain the value of each protocol data bit.
[0047] In an embodiment of the present invention, a current signal of a wheel speed sensor is converted into a first voltage signal and a second voltage signal, and a first timestamp set and a second timestamp set of rising edges and falling edges are captured based on the first voltage signal and the second voltage signal. The timestamps of protocol data bits (recorded as protocol data timestamps) are extracted based on the first timestamp set and the second timestamp set, and the protocol data bits are parsed to obtain the values of each protocol data bit. By completing the parsing of the protocol data bits, product costs can be reduced and enterprise competitiveness can be improved.
[0048] As a preferred implementation, in the second aspect of the embodiment of the present invention, the parsing unit includes:
[0049] A sorting subunit, configured to sort the protocol data timestamps in chronological order;
[0050] A determination subunit is configured to determine a value of a first protocol data bit based on a first timestamp of the sorted protocol data timestamps:
[0051] If TimeStamp0-TimeStamp -2 = 1.5TP, then bit0=0;
[0052] If TimeStamp0-TimeStamp -2 = 2TP, then bit0=1;
[0053] Among them, TimeStamp0 is the first timestamp of the sorted protocol data timestamp, TimeStamp -2 The second timestamp before TimeStamp0 in the first timestamp set; bit0 is the value of the first protocol data bit;
[0054] The first parsing subunit is used when bit k =0, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k+1 At this time, calculate the TimeStamp k+2 and TimeStamp k+1 The difference is recorded as the first difference. If the first difference is TP / 2, then bit k+1 = 0; if the first difference is TP, then bit k+1 =1;
[0055] The second parsing subunit is used when bit k =1, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k At this time, calculate the TimeStamp k+1 and TimeStamp k The difference is recorded as the second difference. If the second difference is TP / 2, then bit k+1 = 0; if the second difference is TP, then bit k+1 =1; where 0≤k≤6, TP is the pulse width;
[0056] The value of bit8 is determined by the sum of bit0 to bit7. If the sum of bit0 to bit7 is an even number, bit8=0; if the sum of bit0 to bit7 is an odd number, bit8=1.
[0057] The protocol data bits use Manchester encoding (IEEE 802.3), which follows the following rules: a low-to-high transition mid-bit represents a "1," and a high-to-low transition mid-bit represents a "0." According to the AK protocol standard, the speed pulse width is TP (nominal value 50µs), and the width between the falling edge of the speed pulse and the first protocol data bit is TP / 2. Based on this, the code elements in the protocol data timestamp can be determined. Based on the Manchester encoding rules and the width of the falling edge of the speed pulse and the first protocol data bit being TP / 2, the values of each protocol data bit can be parsed.
[0058] A third aspect of an embodiment of the present invention discloses an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calling the executable program code stored in the memory to execute an AK protocol wheel speed sensor protocol data bit parsing method disclosed in the first aspect of the embodiment of the present invention.
[0059] A fourth aspect of an embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute an AK protocol wheel speed sensor protocol data bit parsing method disclosed in the first aspect of the embodiment of the present invention.
[0060] A fifth aspect of an embodiment of the present invention discloses a computer program product. When the computer program product runs on a computer, the computer is enabled to execute an AK protocol wheel speed sensor protocol data bit parsing method disclosed in the first aspect of the embodiment of the present invention.
[0061] A sixth aspect of an embodiment of the present invention discloses an application publishing platform, which is used to publish a computer program product. When the computer program product runs on a computer, the computer executes an AK protocol wheel speed sensor protocol data bit parsing method disclosed in the first aspect of the embodiment of the present invention. Beneficial effects
[0062] The embodiment of the present invention extracts the protocol data timestamp based on the first timestamp set and the second timestamp set, thereby parsing the protocol data bits according to the protocol data timestamps to obtain the values of each protocol data bit. Compared with the prior art, the embodiment of the present invention has the following advantages:
[0063] 1. No dedicated chip is required to parse the protocol data bits, which reduces product costs, ensures supply chain security, and improves corporate competitiveness.
[0064] 2. Based on the values of each protocol data bit obtained through analysis, the field amplitude, mode status, direction information, verification information, etc. of the intelligent wheel speed sensor are obtained. BRIEF DESCRIPTION OF THE DRAWINGS
[0065] FIG1 is a flow chart of a method for parsing protocol data bits of an AK protocol wheel speed sensor disclosed in an embodiment of the present invention;
[0066] Figure 2 is a diagram of the AK protocol data format under high-speed conditions;
[0067] FIG3 is a diagram of the AK protocol data format under low-speed conditions;
[0068] FIG4 is a block diagram of a data bit parsing system for an AK protocol wheel speed sensor disclosed in an embodiment of the present invention;
[0069] Figure 5 is a schematic diagram of a timestamp;
[0070] Figure 6 is a schematic diagram of a cache buffer;
[0071] FIG7 is a schematic diagram of speed pulse capture under high-speed conditions;
[0072] FIG8 is a schematic diagram of protocol data bit capture under high-speed conditions;
[0073] FIG9 is a schematic diagram of AK data under low speed conditions;
[0074] FIG10 is a schematic diagram of protocol data bit capture under low-speed conditions;
[0075] FIG11 is a schematic diagram of protocol data bit capture under low-speed to high-speed operating conditions;
[0076] Figure 12 is a schematic diagram of Manchester encoding;
[0077] FIG13 is a schematic diagram of the protocol data bit 0 analysis;
[0078] 14 is a schematic diagram of a flow chart of a device for parsing protocol data bits of an AK protocol wheel speed sensor disclosed in an embodiment of the present invention;
[0079] FIG15 is a schematic structural diagram of an electronic device disclosed in an embodiment of the present invention. Best Mode for Carrying Out the Invention
[0080] This specific implementation manner is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.
[0081] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.
[0082] The term "comprise" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units expressly listed, but may include other steps or units not expressly listed or inherent to such process, method, product or apparatus.
[0083] In the embodiments of the present invention, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present invention should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner. Example 1
[0084] FIG1 is a flow chart of a method for parsing data bits of an AK protocol wheel speed sensor according to an embodiment of the present invention. Referring to FIG1 , the method may include the following steps:
[0085] S110 , receiving a current signal sent by an AK protocol wheel speed sensor, and converting the current signal into a first voltage signal and a second voltage signal, wherein the first voltage signal includes a speed signal pulse and a protocol data bit pulse, and the second voltage signal includes only a speed signal pulse.
[0086] The AK protocol is a standard interface between wheel speed sensors and electronic control units (ECUs) for data signal transmission. The sensor signal is processed by a signal modulation unit to generate a speed signal and a data signal.
[0087] The protocol data bits include bit0-bit8, where bit0 indicates the installation air gap error flag, bit1 indicates the sensor operating mode ("0" for normal, "1" for abnormal), bit2 indicates the protocol mode bit ("0" for correct protocol, "1" for protocol error), bit3 indicates the direction validity bit ("0" for invalid, "1" for valid), bit4 is the direction information bit ("0" for forward, "1" for reverse), bits 5 to 7 are the air gap position information bits, and bit8 is the parity bit. When the sum of the current 8 bits (bit0-bit7) is an even number, bit8 = 0; when the sum of the current 8 bits is an odd number, bit8 = 1.
[0088] Therefore, the field amplitude, mode status, direction information, verification information, etc. of the wheel speed sensor can be obtained according to the protocol data bits.
[0089] In a preferred embodiment of the present invention, the current signal can be converted into the first voltage signal and the second voltage signal based on signal comparison through the AK signal separation circuit.
[0090] The AK signal separation circuit can be implemented by a comparator. For example, it can complete the conversion of current signal and voltage signal through a certain I / V conversion circuit, and then obtain the corresponding pulse signal based on the comparison between the converted voltage signal and the reference voltage signal. The obtained pulse signal can be recorded as the first voltage signal and the second voltage signal.
[0091] Under high-speed conditions, the speed pulse amplitude is 28mA, and the protocol data bit pulse amplitude is 14mA. As shown in Figure 2, when the vehicle speed is high, not all protocol data bit pulses (bits 0-8) are transmitted. Therefore, a first voltage signal and a second voltage signal can be extracted from high-speed conditions. A high level in the second voltage signal corresponds to a speed pulse amplitude of 28mA. This means that the second voltage signal outputs a high level only when the speed pulse amplitude is greater than or equal to a first preset value (e.g., 23.5mA). When the speed pulse amplitude is less than this first preset value, the second voltage signal outputs a low level. This indicates that the second voltage signal only includes speed signal pulses and does not include protocol data bit pulses.
[0092] The first voltage signal is also completed through a comparator. The comparator is used to obtain the pulse amplitude. When it is greater than a second preset value (for example, 11.7 mA), it outputs a high level, and when it is less than the second preset value, it outputs a low level. The first voltage signal includes not only the speed signal pulse, but also the protocol data bit pulse.
[0093] Under low-speed conditions, the speed pulse amplitude is 14mA, and the protocol data bit pulse amplitude is 14mA, as shown in Figure 3. Therefore, it can extract a second voltage signal with a speed pulse amplitude of 28mA, and a first voltage signal with pulse amplitudes of 28mA and 14mA, and a protocol data bit pulse amplitude of 14mA.
[0094] For low-speed to high-speed working conditions, the speed pulse amplitude includes both 14mA and 28mA. Therefore, it can extract the second voltage signal with a speed pulse amplitude of 28mA, and can also extract the first voltage signal with pulse amplitudes of 28mA, 14mA and protocol data bit pulse amplitude of 14mA.
[0095] As shown in Figure 4, based on the different amplitude characteristics of the protocol data bit pulses and speed pulses, the AK signal separation circuit extracts the AK protocol current signal and converts it into voltage signals WSO1 (i.e., the first voltage signal) and WSO2 (i.e., the second voltage signal). WSO1 contains both the speed signal pulses and the protocol data bit pulses; WSO2 contains only the speed signal pulses.
[0096] S120. Capture the times of the rising edges and falling edges of the first voltage signal and the second voltage signal, and record the timestamps of the captured rising edges and falling edges of the first voltage signal as a first timestamp set, and record the timestamps of the captured rising edges and falling edges of the second voltage signal as a second timestamp set, and save the first timestamp set and the second timestamp set.
[0097] As shown in Figure 4, the pulse capture module captures the rising and falling edges of the first and second voltage signals. The edge capture module collects all the time points from 0 to 1 (rising edge) and 1 to 0 (falling edge), generating the first and second timestamp sets. The edge capture module can be implemented using, for example, a GTM / TIM module, an eMIOS module, or a FlexIO module.
[0098] The pulse capture module captures the rising and falling edges of WSO1 and WSO2 and inputs timestamp 1 (corresponding to the rising and falling edges of WSO1, referred to as the first timestamp set) into the protocol data bit analysis module. It also inputs timestamp 2 (corresponding to the rising and falling edges of WSO2, referred to as the second timestamp set) into the wheel speed calculation module. The relationship between I_low (7mA), I_mid (14mA), and I_high (28mA) and Time Stamp 1 and Time Stamp 2 is shown in Figure 5. In Figure 5, TP represents the pulse width, with a nominal value of 50µs.
[0099] As shown in Figure 6, the pulse capture module updates all timestamps captured in the past 5ms at a preset time interval (recorded as sampling time, for example, 5ms), and puts the updated first timestamp set and second timestamp set into two buffers: RecvBuffer_TimeStap1 (i.e., the first timestamp buffer area) and RecvBuffer_TimeStap2 (i.e., the second timestamp buffer area).
[0100] S130 : Obtain a complete set of timestamps for protocol data bits according to the first timestamp set and the second timestamp set, and record them as protocol data timestamps.
[0101] The embodiments of the present invention are mainly directed to parsing protocol data bits under three working conditions: high-speed working condition, low-speed working condition, and low-speed to high-speed working condition.
[0102] Under high-speed working conditions, since the pulses between two adjacent speed pulses are all protocol data pulses, the pulses between the two adjacent speed pulses can be directly used to construct the protocol data timestamp. Therefore, the protocol data timestamp under high-speed working conditions can be obtained through the following process:
[0103] Within a preset sampling period, the timestamp of the rising edge of the last velocity pulse and the timestamp of the falling edge of the second-to-last velocity pulse are determined based on the second timestamp set, and are recorded as the first reference high-speed timestamp and the second reference high-speed timestamp, respectively. As shown in Figure 7, the rising edge of the last captured velocity pulse (which is the second-to-last timestamp in the second timestamp set) is found and the timestamp (NewEdgeTimeStamp, recorded as the first reference high-speed timestamp) is recorded in RecvBuffer_TimeStap2; the falling edge of the second-to-last captured velocity pulse (which is the third-to-last timestamp in the second timestamp set) is found and the timestamp (PreviousEdgeTimeStamp, recorded as the second reference high-speed timestamp) is recorded in RecvBuffer_TimeStap2. In RecvBuffer_TimeStap2, the element with Index = j stores the PreviousEdgeTimeStamp; the element with Index = (j + 1) stores the NewEdgeTimeStamp.
[0104] Obtain all first timestamp sets between the first and second benchmark high-speed timestamps. These sets are the protocol data timestamps. As shown in Figure 8, traverse the timestamps cached by RecvBuffer_TimeStap1 within the last 5 ms from back to front, obtain the timestamps between NewEdgeTimeStamp and PreviousEdgeTimeStamp (all first timestamp sets between the first and second benchmark high-speed timestamps), and cache them in Buffer_CalAKBitTimeStamp. At this point, the timestamps for the last set of protocol data bits (a total of 18 protocol data timestamps) within the most recently preset sampling period have all been cached in Buffer_CalAKBitTimeStamp (i.e., the preset AK byte timestamp cache).
[0105] As shown in Figure 9, under low-speed conditions, the speed pulse amplitude becomes I_mid (14mA), which is consistent with the protocol data bit pulse amplitude.
[0106] Since the difference between two adjacent timestamps in the protocol data of the same frame is between TP / 2 and TP, under low-speed conditions, since only the first voltage signal is available, the first timestamp whose difference between two adjacent timestamps is between TP / 2 and TP can be used to construct the protocol data timestamp. The specific process is as follows:
[0107] Within a preset sampling period, sorting the first timestamp set within the sampling period in chronological order from back to front;
[0108] A preset number of first timestamps (a fixed number, with both preceding and following timestamps corresponding to speed pulse signals) are selected from the sorted first timestamp set in order to form the protocol data timestamps. The difference between any adjacent first timestamps in the protocol data timestamps is within the range [TP / 2, TP], where TP is the pulse width. As shown in Figure 10, the timestamps cached in RecvBuffer_TimeStap1 within the last 5 ms are traversed from back to front until the successful search count reaches 20, indicating that a complete frame of protocol data bit timestamps (bits 0–8) has been found.
[0109] Start traversing from the current timestamp i, when TimeStamp i -TimeStamp i-1 If it is between TP / 2 and TP, then the TimeStamp i-1 with TimeStamp iBelongs to a frame of protocol data. The successful search count is incremented by 1, and the search is recursively performed forward. TimeStamp i-5 -TimeStamp i-4 If it is greater than TP, the search fails and the count is reset to zero. The search starts from i-5 and continues to i-24. At this point, the count reaches 20 and the search succeeds. i-5 to TimeStamp i-22 (A total of 18 protocol data timestamps) are cached to Buffer_CalAKBitTimeStamp.
[0110] As shown in Figure 11, when the vehicle changes from low speed to high speed, the speed pulse amplitude changes from I_mid (14mA) to I_high (28mA).
[0111] The transition from low speed to high speed can be considered a combination of low speed and high speed. Since there are a first voltage signal and a second voltage signal, a first reference high speed timestamp can be determined from the second voltage signal. Starting with the first reference high speed timestamp, a group of adjacent timestamps closest to the first reference high speed timestamp is selected from the first timestamp set, where the difference between the two timestamps is between TP / 2 and TP, to construct the protocol data timestamp. The specific process is as follows:
[0112] In the preset sampling period, the timestamp of the rising edge of the last speed pulse is determined based on the second timestamp set and recorded as the first reference high-speed timestamp.
[0113] Starting from the first reference high-speed timestamp, sorting the first timestamp set within the sampling period in a time order from back to front;
[0114] A preset number of first timestamps are selected from the sorted first timestamp set in order to form protocol data timestamps. Differences between adjacent first timestamps in the protocol data timestamps are all in [TP / 2, TP], where TP is the pulse width.
[0115] In Figure 11, find the rising edge of the last captured speed pulse and record the timestamp TimeStamp i-4 . Start traversing from the current timestamp i, TimeStamp i Greater than TimeStamp i-4 , does not meet the search conditions, recursively forward until TimeStamp i-5 Less than TimeStamp i-4At this point, it is considered that the first protocol data bit timestamp has been found, the search success count is increased by 1, and the search is traversed from i-5 to i-24. At this time, the count is accumulated to 20, and the traversal is successful. i-5 to TimeStamp i-22 (A total of 18 protocol data timestamps) are cached to Buffer_CalAKBitTimeStamp.
[0116] S140: Parse the protocol data bits according to the protocol data timestamp to obtain the value of each protocol data bit.
[0117] As shown in Figure 12, the protocol data bits use Manchester encoding (IEEE 802.3), with the following encoding rules: a low-to-high transition in the middle of a bit represents a "1," and a high-to-low transition in the middle of a bit represents a "0." According to the AK protocol standard, as shown in Figure 5, the speed pulse width is TP (nominal value 50µs), and the width between the falling edge of the speed pulse and the first protocol data bit is TP / 2.
[0118] Based on this, the code element in the protocol data timestamp can be determined, and based on the Manchester encoding rule and the falling edge of the speed pulse and the width of the first protocol data bit code element being TP / 2, the value of each protocol data bit can be parsed. The specific process is as follows:
[0119] Determine the value of the first protocol data bit based on the first timestamp of the sorted protocol data timestamps:
[0120] If TimeStamp0-TimeStamp -2 = 1.5TP, then bit0=0;
[0121] If TimeStamp0-TimeStamp -2 = 2TP, then bit0=1;
[0122] Among them, TimeStamp0 is the first timestamp of the sorted protocol data timestamp, TimeStamp -2 The second timestamp before TimeStamp0 in the first timestamp set; bit0 is the value of the first protocol data bit;
[0123] When bit k =0, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k+1 At this time, calculate the TimeStamp k+2 and TimeStamp k+1The difference is recorded as the first difference. If the first difference is TP / 2, then bit k+1 = 0; if the first difference is TP, then bit k+1 =1;
[0124] When bit k =1, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k At this time, calculate the TimeStamp k+1 and TimeStamp k The difference is recorded as the second difference. If the second difference is TP / 2, then bit k+1 = 0; if the second difference is TP, then bit k+1 =1; where 0≤k≤6, TP is the pulse width;
[0125] The value of bit8 is determined by the sum of bit0 to bit7. If the sum of bit0 to bit7 is an even number, bit8=0; if the sum of bit0 to bit7 is an odd number, bit8=1.
[0126] Taking high-speed working condition as an example, according to the timestamp (protocol data timestamp) cached in Buffer_CalAKBitTimeStamp, (i-2) corresponds to the rising edge of the speed pulse in Figure 8; i corresponds to the edge of the first code element. Please refer to Figures 8 and 13. If TimeStamp i -TimeStamp i-2 = 1.5TP, it means that the middle position of the first code element is a falling edge, that is, the value of the first protocol data bit 0 is 0; if TimeStamp i -TimeStamp i-2 = 2TP, it means that the middle position of the first code element is a rising edge, that is, the value of the first protocol data bit 0 is 1.
[0127] When bit0= 0, the timestamp corresponding to the center edge of the protocol data bit 0 is TimeStamp i+1 If TimeStamp i+2 -TimeStamp i+1 =TP / 2, then bit1 = 0; if TimeStamp i+2 -TimeStamp i+1 =TP, then bit1 = 1.
[0128] When bit0 = 1, the timestamp corresponding to the center edge of the protocol data bit bit0 is TimeStamp iIf TimeStamp i+1 -TimeStamp i =TP / 2, then bit1= 0; if TimeStamp i+1 -TimeStamp i =TP, then bit 1 = 0.
[0129] The parsing method for bit2 to bit7 can be done recursively as described above, and finally the value of bit8 is obtained based on the values of bit0-bit7.
[0130] The embodiment of the present invention uses a separation circuit to capture the timestamp of the protocol data bits of the AK protocol through a processor. Based on the captured timestamp and the characteristics of the AK protocol, the protocol data bits are parsed to obtain the field amplitude, mode status, direction information, and verification information of the AK protocol wheel speed sensor. Modes for Carrying Out the Invention
[0131] Example 2
[0132] Please refer to Figure 14, which is a schematic diagram of the structure of an AK protocol wheel speed sensor protocol data bit parsing device disclosed in an embodiment of the present invention. As shown in Figure 14, the AK protocol wheel speed sensor protocol data bit parsing device may include:
[0133] The receiving unit 210 is configured to receive a current signal sent by an AK protocol wheel speed sensor and convert the current signal into a first voltage signal and a second voltage signal, wherein the first voltage signal includes a speed signal pulse and a protocol data bit pulse, and the second voltage signal includes only a speed signal pulse;
[0134] a capture unit 220 configured to capture the times of rising edges and falling edges of the first voltage signal and the second voltage signal, record the timestamps of the rising edges and falling edges of the captured first voltage signal as a first timestamp set, record the timestamps of the rising edges and falling edges of the captured second voltage signal as a second timestamp set, and save the first timestamp set and the second timestamp set;
[0135] An acquiring unit 230 is configured to acquire a set of complete timestamps of protocol data bits according to the first timestamp set and the second timestamp set, recorded as protocol data timestamps;
[0136] The parsing unit 240 is configured to parse the protocol data bits according to the protocol data timestamp to obtain the value of each protocol data bit.
[0137] As an optional solution, the receiving unit 210 may include:
[0138] The AK signal separation circuit converts the current signal into a first voltage signal and a second voltage signal based on signal comparison.
[0139] As an optional solution, under high-speed conditions, the acquisition unit 230 may include:
[0140] Within a preset sampling period, determining the timestamp of the rising edge of the last speed pulse and the timestamp of the falling edge of the second-to-last speed pulse based on the second timestamp set, and recording them as the first reference high-speed timestamp and the second reference high-speed timestamp respectively;
[0141] All first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are acquired, where the all first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are the protocol data timestamps.
[0142] As an optional solution, under low-speed conditions, the acquisition unit 230 may include:
[0143] Within a preset sampling period, sorting the first timestamp set within the sampling period in chronological order from back to front;
[0144] A preset number of first timestamps are selected from the sorted first timestamp set in order to form the protocol data timestamps, and the differences between adjacent first timestamps in the protocol data timestamps are all in [TP / 2, TP], where TP is the pulse width.
[0145] As an optional solution, in the low-speed to high-speed operating condition, the acquisition unit 230 may include:
[0146] Within a preset sampling period, determining the timestamp of the rising edge of the last speed pulse based on the second timestamp set, and recording it as a first reference high-speed timestamp;
[0147] Starting from the first reference high-speed timestamp, sorting the first timestamp set within the sampling period in a time order from back to front;
[0148] A preset number of first timestamps are selected from the sorted first timestamp set in order to form the protocol data timestamps, and the differences between adjacent first timestamps in the protocol data timestamps are all in [TP / 2, TP], where TP is the pulse width.
[0149] As an optional solution, the parsing unit 240 may include:
[0150] A sorting subunit, used to sort the protocol data timestamps in chronological order;
[0151] A determination subunit is configured to determine a value of a first protocol data bit based on a first timestamp of the sorted protocol data timestamps:
[0152] If TimeStamp0-TimeStamp -2 = 1.5TP, then bit0=0;
[0153] If TimeStamp0-TimeStamp -2 = 2TP, then bit0=1;
[0154] Among them, TimeStamp0 is the first timestamp of the sorted protocol data timestamp, TimeStamp -2 The second timestamp before TimeStamp0 in the first timestamp set; bit0 is the value of the first protocol data bit;
[0155] The first parsing subunit is used when bit k =0, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k+1 At this time, calculate the TimeStamp k+2 and TimeStamp k+1 The difference is recorded as the first difference. If the first difference is TP / 2, then bit k+1 = 0; if the first difference is TP, then bit k+1 =1;
[0156] The second parsing subunit is used when bit k =1, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k At this time, calculate the TimeStamp k+1 and TimeStamp k The difference is recorded as the second difference. If the second difference is TP / 2, then bit k+1 = 0; if the second difference is TP, then bit k+1 =1; where 0≤k≤6, TP is the pulse width;
[0157] The value of bit8 is determined by the sum of bit0 to bit7. If the sum of bit0 to bit7 is an even number, bit8=0; if the sum of bit0 to bit7 is an odd number, bit8=1.
[0158] Example 3
[0159] Please refer to Figure 15, which shows a schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present invention described or / and claimed herein.
[0160] As shown in Figure 15 , the electronic device includes at least one processor 310 and memory, such as ROM (read-only memory) 320 and RAM (random access memory) 330, communicatively connected to the at least one processor 310. The memory stores computer programs executable by the at least one processor. The processor 310 can perform various appropriate actions and processes based on the computer programs stored in ROM 320 or loaded from storage unit 380 into RAM 330. RAM 330 can also store various programs and data required for the operation of the electronic device. The processor 310, ROM 320, and RAM 330 are interconnected via a bus 340. An I / O (input / output) interface 350 is also connected to bus 340.
[0161] Multiple components in the electronic device are connected to the I / O interface 350, including an input unit 360, such as a keyboard, mouse, etc.; an output unit 370, such as various types of displays, speakers, etc.; a storage unit 380, such as a magnetic disk, optical disk, etc.; and a communication unit 390, such as a network card, modem, wireless communication transceiver, etc. The communication unit 390 allows the electronic device to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.
[0162] Processor 310 can be any general-purpose or / and specialized processing component with processing and computing capabilities. Some examples of processor 310 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any other suitable processor, controller, microcontroller, etc. Processor 310 executes one or more steps of the AK protocol wheel speed sensor protocol data bit parsing method described in any one of the preceding sections.
[0163] In some embodiments, a method for parsing protocol data bits of an AK protocol wheel speed sensor can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 380. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 320 and / or communication unit 390. When the computer program is loaded into RAM 330 and executed by processor 310, one or more steps of the method for parsing protocol data bits of an AK protocol wheel speed sensor described in any of the above-described sections 24 can be performed. Alternatively, in other embodiments, processor 310 can be configured to execute the method for parsing protocol data bits of an AK protocol wheel speed sensor via any other suitable means (e.g., via firmware).
[0164] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, or / and combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable or interpreted on a programmable system comprising at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.
[0165] The computer programs for implementing the methods of the embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.
[0166] In the context of embodiments of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
[0167] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).
[0168] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.
[0169] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.
[0170] The above is a detailed introduction to the AK protocol wheel speed sensor protocol data bit parsing method and device disclosed in the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.
Claims
1. A method for parsing protocol data bits of an AK protocol wheel speed sensor, characterized in that: It includes the following steps: Receive a current signal sent by an AK protocol wheel speed sensor, and convert the current signal into a first voltage signal and a second voltage signal, wherein the first voltage signal includes a speed signal pulse and a protocol data bit pulse, and the second voltage signal includes only a speed signal pulse; Capturing the times of rising edges and falling edges of the first voltage signal and the second voltage signal, and recording the timestamps of the rising edges and falling edges of the captured first voltage signal as a first timestamp set, recording the timestamps of the rising edges and falling edges of the captured second voltage signal as a second timestamp set, and saving the first timestamp set and the second timestamp set; Acquire a set of complete timestamps for protocol data bits according to the first timestamp set and the second timestamp set, recorded as protocol data timestamps; in: Under high-speed working conditions, within a preset sampling period, the timestamp of the rising edge of the last speed pulse and the timestamp of the falling edge of the second-to-last speed pulse are determined based on the second timestamp set, which are recorded as the first reference high-speed timestamp and the second reference high-speed timestamp respectively; all first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are obtained, and all first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are the protocol data timestamp; Under low-speed conditions, within a preset sampling period, the first timestamp set within the sampling period is sorted in a time order from back to front; a preset number of first timestamps are selected from the sorted first timestamp set in a sequence to form the protocol data timestamp, and the differences between adjacent first timestamps in the protocol data timestamp are all in [TP / 2, TP], where TP is the pulse width; Under the low-speed to high-speed working condition, within a preset sampling period, the timestamp of the rising edge of the last speed pulse is determined based on the second timestamp set, which is recorded as the first reference high-speed timestamp; starting from the first reference high-speed timestamp, the first timestamp set within the sampling period is sorted in a time order from the back to the front; a preset number of first timestamps are selected from the sorted first timestamp set in a sequential order to form the protocol data timestamp, and the differences between adjacent first timestamps in the protocol data timestamp are all located in [TP / 2, TP]; The protocol data bits are parsed according to the protocol data timestamp to obtain the value of each protocol data bit.
2. The AK protocol wheel speed sensor protocol data bit parsing method according to claim 1, characterized in that: Receiving a current signal sent by an AK protocol wheel speed sensor and converting the current signal into a first voltage signal and a second voltage signal, including: The current signal is converted into a first voltage signal and a second voltage signal based on signal comparison through the AK signal separation circuit.
3. The AK protocol wheel speed sensor protocol data bit parsing method according to any one of claims 1-2, characterized in that: Parsing the protocol data bits according to the protocol data timestamp to obtain values of each protocol data bit includes: Sorting the protocol data timestamps in chronological order; Determine the value of the first protocol data bit based on the first timestamp of the sorted protocol data timestamps: If TimeStamp0-TimeStamp -2 = 1.5TP, then bit0=0; If TimeStamp0-TimeStamp -2 = 2TP, then bit0=1; Among them, TimeStamp0 is the first timestamp of the sorted protocol data timestamps, TimeStamp -2 It is the second timestamp before TimeStamp0 in the first timestamp set; bit0 is the value of the first protocol data bit; When bit k =0, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k+1 At this time, calculate the TimeStamp k+2 and TimeStamp k+1 The difference is recorded as the first difference. If the first difference is TP / 2, then bit k+1 = 0; if the first difference is TP, then bit k+1 =1;bit k is the value of the k+1th protocol data bit, bit k+1 is the value of the k+2th protocol data bit; when bit k =1, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k At this time, calculate the TimeStamp k+1 and TimeStamp k The difference is recorded as the second difference. If the second difference is TP / 2, then bit k+1 = 0; if the second difference is TP, then bit k+1 =1; where 0≤k≤6, TP is the pulse width; TimeStamp k The k+1th timestamp of the sorted protocol data timestamp, TimeStamp k+1 The k+2th timestamp of the sorted protocol data timestamp, TimeStamp k+2 It is the k+3th timestamp of the sorted protocol data timestamps. The value of bit8 is determined according to the sum of bit0 to bit7. If the sum of bit0 to bit7 is an even number, bit8=0. If the sum of bit0 to bit7 is an odd number, bit8=1. Bit7 is the value of the 8th protocol data bit, and bit8 is the value of the 9th protocol data bit.
4. An AK protocol wheel speed sensor protocol data bit parsing device, characterized in that: It includes: A receiving unit, used for receiving a current signal sent by an AK protocol wheel speed sensor, and converting the current signal into a first voltage signal and a second voltage signal, wherein the first voltage signal includes a speed signal pulse and a protocol data bit pulse, and the second voltage signal includes only a speed signal pulse; a capture unit, configured to capture the times of the rising edge and the falling edge of the first voltage signal and the second voltage signal, and record the timestamps of the rising edge and the falling edge of the captured first voltage signal as a first timestamp set, record the timestamps of the rising edge and the falling edge of the captured second voltage signal as a second timestamp set, and save the first timestamp set and the second timestamp set; An acquiring unit, configured to acquire a set of complete timestamps of protocol data bits according to the first timestamp set and the second timestamp set, recorded as protocol data timestamps; in: Under high-speed working conditions, within a preset sampling period, the timestamp of the rising edge of the last speed pulse and the timestamp of the falling edge of the second-to-last speed pulse are determined based on the second timestamp set, which are recorded as the first reference high-speed timestamp and the second reference high-speed timestamp respectively; all first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are obtained, and all first timestamp sets between the first reference high-speed timestamp and the second reference high-speed timestamp are the protocol data timestamp; Under low-speed conditions, within a preset sampling period, the first timestamp set within the sampling period is sorted in a time order from back to front; a preset number of first timestamps are selected from the sorted first timestamp set in a sequence to form the protocol data timestamp, and the differences between adjacent first timestamps in the protocol data timestamp are all in [TP / 2, TP], where TP is the pulse width; Under the low-speed to high-speed working condition, within the preset sampling period, the timestamp of the rising edge of the last speed pulse is determined based on the second timestamp set, which is recorded as the first reference high-speed timestamp; starting from the first reference high-speed timestamp, the first timestamp set within the sampling period is sorted in time order from back to front; a preset number of first timestamps are selected from the sorted first timestamp set in order to form the protocol data timestamp, and the differences between adjacent first timestamps in the protocol data timestamp are all in [TP / 2, TP]; a parsing unit is used to parse the protocol data bit according to the protocol data timestamp to obtain the value of each protocol data bit.
5. The AK protocol wheel speed sensor protocol data bit parsing device according to claim 4, characterized in that: The parsing unit comprises: A sorting subunit, used to sort the protocol data timestamps in chronological order; A determination subunit is used to determine the value of the first protocol data bit based on the first timestamp of the sorted protocol data timestamps: If TimeStamp0-TimeStamp -2 = 1.5TP, then bit0=0; If TimeStamp0-TimeStamp -2 = 2TP, then bit0=1; Among them, TimeStamp0 is the first timestamp of the sorted protocol data timestamps, TimeStamp -2 It is the second timestamp before TimeStamp0 in the first timestamp set; bit0 is the value of the first protocol data bit; The first parsing subunit is used when bit k =0, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k+1 At this time, calculate the TimeStamp k+2 and TimeStamp k+1 The difference is recorded as the first difference. If the first difference is TP / 2, then bit k+1 = 0; if the first difference is TP, then bit k+1 =1;bit k is the value of the k+1th protocol data bit, bit k+1 is the value of the k+2th protocol data bit; The second parsing subunit is used when bit k =1, the protocol data bit k The timestamp corresponding to the center edge is TimeStamp k At this time, calculate the TimeStamp k+1 and TimeStamp k The difference is recorded as the second difference. If the second difference is TP / 2, then bit k+1 = 0; if the second difference is TP, then bit k+1 =1; where 0≤k≤6, TP is the pulse width; TimeStamp k The k+1th timestamp of the sorted protocol data timestamp, TimeStamp k+1 The k+2th timestamp of the sorted protocol data timestamp, TimeStamp k+2 is the k+3th timestamp of the sorted protocol data timestamp; The value of bit8 is determined according to the sum of bit0 to bit7. If the sum of bit0 to bit7 is an even number, bit8=0. If the sum of bit0 to bit7 is an odd number, bit8=1. Bit7 is the value of the 8th protocol data bit, and bit8 is the value of the 9th protocol data bit.
6. An electronic device, characterized in that: It comprises: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the AK protocol wheel speed sensor protocol data bit parsing method according to any one of claims 1-3.
7. A computer-readable storage medium, characterized in that: It stores a computer program, wherein the computer program enables a computer to execute the AK protocol wheel speed sensor protocol data bit parsing method as described in any one of claims 1-3.