An audio playing method

Abstract

The application provides an audio playing method, which comprises the following steps: a first device receives a first message sent by a second device; when the first device determines that the second device is within a preset range of the first device, the first device determines a first orientation and a first distance of the second device relative to the first device based on position information of the second device; and the first device adjusts a gain of an audio output device located at the first orientation to be greater than a gain of an audio output device located at a non-first orientation based on the first orientation and the first distance of the second device relative to the first device. Through the method, the gains of audio speakers at different orientations are adjusted, so that the user can perceive the position and distance of the second device in the hearing experience, and the interestingness, experience and real-time performance of the "highway chat" are improved.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and more particularly to an audio playback method. Background Technology

[0002] With the development of communication technology, intelligent transportation technology, represented by the Internet of Vehicles, has developed rapidly, especially vehicle-to-everything (V2X) communication technology.

[0003] With the development of V2X communication technology, "road chat" has become a novel way of communication. More and more drivers can not only use the app to communicate with other drivers about traffic conditions while driving, but also receive responses from other drivers, adding to the enjoyment of the driving experience.

[0004] However, the real-time participation experience of "Road Chat" is currently low. Different car owners can only exchange information and cannot know where the information they receive comes from. How to improve the fun and experience of "Road Chat" is an urgent problem to be solved. Summary of the Invention

[0005] This application provides an audio playback method that enhances the fun and experience of "roadside chat".

[0006] In a first aspect, this application provides an audio playback method, the method comprising: a first device receiving a first message sent by a second device; when the first device determines that the distance between the second device and the first device is less than a preset value, the first device acquires the location information of the first device and the location information of the second device; the first device determines a first orientation and a first distance of the second device relative to the first device based on the location information of the first device and the location information of the second device; the first device adjusts the gain of an audio output device located at the first orientation to be greater than the gain of an audio output device located at a non-first orientation based on the first orientation and the first distance of the second device relative to the first device; and the first device plays the first message through multiple audio output devices with adjusted gain.

[0007] The method provided in the first aspect allows users to perceive the location and distance of the device sending the audio message relative to their vehicle, enhancing the fun and experience of "roadside chat".

[0008] The first message can be audio information, text information that can be converted into audio information (or playable text information), or other messages that can be converted into audio information.

[0009] In conjunction with the first aspect, in one possible implementation, the method further includes: a first device receiving a second message sent by a third device; if the first device determines that the distance between the third device and the first device is less than a preset value, the first device acquires the location information of the first device and the location information of the third device; the first device determines a second orientation and a second distance of the third device relative to the first device based on the location information of the first device and the location information of the third device; the second orientation is different from the first orientation, and / or the second distance is different from the first distance; the first device adjusts the gain of the audio output device located at the second orientation to be greater than the gain of the audio output device located at a non-second orientation based on the second orientation and the second distance of the third device relative to the first device; the first device plays the second message through multiple audio output devices with adjusted gain. In this way, the first device adjusts the gain of the audio output devices differently for different orientations and / or different vehicles at different orientations, further demonstrating the effect that users can perceive vehicles at different orientations and distances through the volume output of the audio output devices.

[0010] Optionally, when the second location is the same as the first location, the audio output device at the second location is the same as the audio output device at the first location. In one possible implementation, if the second distance is the same as the first distance, the gain of the audio output device at the second location adjusted by the first device for the third device is the same as the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at the same distance in the same location, the user hears the same audio effect when the first device plays the first message and the second message. In other possible implementations, if the second distance is different from the first distance, the gain of the audio output device at the second location adjusted by the first device for the third device is different from the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at different distances in the same location, the user hears different audio effects when the first device plays the first message and the second message.

[0011] Optionally, when the second location is different from the first location, the audio output device at the second location is different from the audio output device at the first location. In one possible implementation, the second distance is the same as the first distance. Therefore, the gain of the audio output device at the second location adjusted by the first device for the third device is the same as the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at the same distance in different locations, the audio effect heard by the user when the first device plays the first message and the second message is different. In other possible implementations, the second distance is different from the first distance. Therefore, the gain of the audio output device at the second location adjusted by the first device for the third device is also different from the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at different distances in different locations, the audio effect heard by the user when the first device plays the first message and the second message is also different.

[0012] In conjunction with the first aspect, in one possible implementation, the first device determines the first bearing of the second device relative to the first device based on the position information of the first device and the position information of the second device, specifically including: the first device determining the first heading of the first device based on the position information of the first device; the first device determining the first deviation angle of the second device on the first heading based on the first heading of the first device, the position information of the first device, and the position information of the second device; and the first device determining the first bearing of the second device relative to the first device based on the first deviation angle.

[0013] In conjunction with the first aspect, in one possible implementation, the first device obtains the location information of the second device, specifically including: the first device receiving a first message sent by the second device, the first message carrying the vehicle identification information of the second device and the location information of the second device. The vehicle identification information of the second device includes one or more of the following: VIN code, license plate number; the location information of the second device includes one or more of the following: latitude and longitude, heading. Optionally, the second device sends the message periodically.

[0014] In conjunction with the first aspect, in one possible implementation, the first device receives a first message sent by the second device, specifically including: the first device receiving a first message broadcast by the second device via V2X communication technology. V2X communication technology is based on a shared channel for broadcasting, and its implementation does not rely on a cellular network, resulting in faster message transmission speeds.

[0015] In conjunction with the first aspect, in one possible implementation, the first message includes the vehicle identification information of the second device; the first device determines that the distance between the second device and the first device is less than a preset value, specifically including:

[0016] If the first device confirms that it has received a message containing the vehicle identification information of the second device from the second device within a preset time period, the first device determines that the distance between the second device and the first device is less than a preset value. Thus, if the first device can receive the first message broadcast by the second device, it indicates that the distance between the first device and the second device is within the preset value.

[0017] In conjunction with the first aspect, in one possible implementation, after the first device plays the first message through multiple audio output devices with gain adjustment, the method further includes: the first device restoring the gain of the multiple audio output devices to the gain before playing the first message.

[0018] It should be noted that the first message sent from the second device to the first device also carries the timestamp of the second device sending the first message (e.g., time 1).

[0019] The first device receives the first message at time two, which is later than the first time. When the first device determines whether the second device is near the first device based on the vehicle identification information of the second device carried in the first message, the first device will search whether it has received any message sent by the second device in the vicinity of time one (e.g., within 50ms before or after). If it has, the first device will determine that the second device is near the first device based on the message sent by the second device received in the vicinity of time one.

[0020] After determining that the second device is near the first device, the first device will determine the first orientation and first distance of the second device relative to the first device based on the driving information (or location information) of the second vehicle carried in the message sent by the second device received around time one. This ensures the accuracy of the orientation and distance of the second device relative to the first device.

[0021] In conjunction with the first aspect, in one possible implementation, the first device is any one of the following: an intelligent vehicle, a portable terminal device; the second device is any one of the following: an intelligent vehicle, a portable terminal device. Intelligent vehicles include one or more of the following: cars, trucks, motorcycles, buses, ships, airplanes, helicopters, lawnmowers, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, trains, and handcarts. Portable terminal devices include one or more of the following: large screens, mobile phones, tablets, desktop computers, laptop computers, handheld computers, laptops, super mobile personal computers, netbooks, as well as cellular phones, personal digital assistants, augmented reality (AR) devices, virtual reality devices, artificial intelligence devices, wearable devices, smart home devices, and / or smart city devices, etc.

[0022] Secondly, this application provides a device, a first device, comprising: one or more processors and one or more memories; the one or more memories are coupled to the one or more processors, the one or more memories being used to store computer program code, the computer program code including computer instructions, and the one or more processors calling the computer instructions to cause the first device to execute: receiving a second message sent by a third device; when the first device determines that the distance between the third device and the first device is less than a preset value, acquiring the position information of the first device and the position information of the third device; determining a second orientation and a second distance of the third device relative to the first device based on the position information of the first device and the position information of the third device; the second orientation being different from the first orientation, and / or the second distance being different from the first distance; adjusting the gain of an audio output device located at the second orientation to be greater than the gain of an audio output device located at a non-second orientation based on the second orientation and the second distance of the third device relative to the first device; and playing the second message through multiple audio output devices with adjusted gain.

[0023] In conjunction with the second aspect, in one possible implementation, one or more processors invoke computer instructions to cause the first device to perform: determining a first heading of the first device based on the position information of the first device; determining a first deviation angle of the second device on the first heading based on the first heading, the position information of the first device, and the position information of the second device; and determining a first bearing of the second device relative to the first device based on the first deviation angle.

[0024] In conjunction with the second aspect, in one possible implementation, one or more processors invoke computer instructions to cause the first device to perform the following: receive a first message sent by the second device. The first message carries the vehicle identification information of the second device and the location information of the second device. The vehicle identification information of the second device includes one or more of the following: VIN code, license plate number. The location information of the second device includes one or more of the following: latitude and longitude, heading. Optionally, the second device sends the message periodically.

[0025] In conjunction with the second aspect, in one possible implementation, one or more processors invoke computer instructions to cause the first device to execute: receiving a first message broadcast by the second device via V2X communication technology. V2X communication technology is based on a shared broadcast channel, and its implementation does not rely on a cellular network, resulting in faster message transmission.

[0026] In conjunction with the second aspect, in one possible implementation, one or more processors invoke computer instructions to cause the first device to execute: if the first device confirms that it has received a message containing the vehicle identification information of the second device sent by the second device within a preset time period, it determines that the distance between the second device and the first device is less than a preset value. Thus, if the first device can receive the first message broadcast by the second device, it indicates that the distance between the first device and the second device is within the preset value.

[0027] In conjunction with the second aspect, in one possible implementation, one or more processors invoke computer instructions to cause the first device to perform: restore the gain of multiple audio output devices to the gain prior to the playback of the first message.

[0028] Thirdly, this application provides a computer-readable storage medium storing instructions that, when executed on a device, cause the first device to perform an audio playback method provided in any possible implementation of any of the above aspects.

[0029] Fourthly, this application provides a computer program product that, when the computer program product is run on a first instance, causes the first instance to execute an audio playback method provided in any possible implementation of any of the above aspects.

[0030] For the beneficial effects of the second to fourth aspects, please refer to the description of the beneficial effects of the first aspect; the embodiments of this application will not be repeated here. Attached Figure Description

[0031] Figure 1 A schematic diagram of a "highway chat" scenario provided for an embodiment of this application;

[0032] Figure 2 A schematic diagram of a system architecture provided for an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of the structure of an intelligent vehicle 100 provided in an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of a functional module of an intelligent vehicle 100 provided in an embodiment of this application;

[0035] Figure 5 A schematic diagram of a functional module of an intelligent vehicle 100 and an electronic device 400 provided in an embodiment of this application;

[0036] Figure 6 Another functional module diagram of the intelligent vehicle 100 and electronic device 400 provided in the embodiments of this application;

[0037] Figure 7 A schematic diagram illustrating how to determine the deviation angle α between intelligent vehicle 100 and intelligent vehicle 200, provided for embodiments of this application;

[0038] Figures 8A-8D A set of UI diagrams provided for embodiments of this application;

[0039] Figure 9 An interactive schematic diagram provided for an embodiment of this application;

[0040] Figure 10 A flowchart illustrating a method provided in an embodiment of this application. Detailed Implementation

[0041] The technical solutions in the embodiments of this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; the word "and / or" in the text 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. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0042] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0043] The term "user interface (UI)" used in the following embodiments of this application refers to the medium interface through which an application or operating system interacts and exchanges information with a user. It realizes the conversion between the internal form of information and the form that the user can accept. The commonly used form of user interface is the graphical user interface (GUI), which refers to a user interface related to computer operation that is displayed graphically. It can be visual interface elements such as text, icons, buttons, menus, tabs, text boxes, dialog boxes, status bars, navigation bars, and widgets displayed on the screen of an electronic device.

[0044] As used in this specification, the terms "component," "module," "system," etc., are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process and / or an execution thread, and components may be located on a single computer and / or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0045] First, the technical terms involved in the embodiments of this application will be explained.

[0046] 1. V2X communication technology

[0047] Vehicle-to-everything (V2X) communication technology is a key technology for future intelligent transportation systems. V2X can be vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), or vehicle-to-infrastructure (V2I). It enables communication between vehicles, between vehicles and base stations, and between base stations, thereby obtaining a range of traffic information such as real-time road conditions, road information, and pedestrian information.

[0048] V2X communication technology is based on a shared broadcast channel. This technology does not rely on a carrier's cellular network and offers advantages such as low cost and a good user experience. In other words, two devices can communicate directly via broadcast messages using V2X technology, resulting in faster message transmission.

[0049] Figure 1 An illustrative diagram of the current "Road Chat" scenario is shown.

[0050] like Figure 1 As mentioned above, when driving on the highway, car owners can communicate with other car owners through the application to learn about current road conditions and other information.

[0051] For example, Car Owner 1 sends a voice message through the app: "Did you have fun yesterday?" Car Owner 2 receives the voice message from Car Owner 1 through the app and replies: "Who's talking?" Car Owner 3 receives the voice messages from both Car Owner 1 and Car Owner 2 through the app and replies: "You two, move aside." Car Owner 4 receives the voice messages from Car Owner 1, Car Owner 2, and Car Owner 3 through the app and replies: "Don't come any closer!"

[0052] As can be seen from the above analysis, car owners can communicate with different car owners through the application while driving, which is called "road chat".

[0053] Currently, this method has the following problems: for car owners, the above-mentioned interaction method can only obtain communication information sent by other car owners and their IDs. Some applications can also obtain information such as other car owners' destinations and driving status, but the real-time nature of this information is relatively weak. It is impossible to obtain other car owners' real-time vehicle movement information and status, such as the distance, direction, and other information of other car owners from one's current location.

[0054] There are currently two methods to obtain the location of other car owners.

[0055] Method 1: By using an audio device or audio component that provides a multi-microphone array, the sound source is identified by detecting the amplitude of the input audio signal on different microphone channels, the center point offset angle is calculated, and the gain parameters of the relevant output channels are configured to simulate the effect, thereby achieving a sound field that is relatively consistent with the position of the input sound source.

[0056] However, even with multiple microphones mounted on the outside of the vehicle, the noise on the road is so loud that it's impossible to clearly capture the soft voices and content of conversations from people inside other vehicles nearby. Furthermore, if the two vehicles are far apart (e.g., more than 100 meters), the sound signal from inside the vehicles is almost too weak to be collected and cannot be captured.

[0057] Method 2: Use an ultrasonic sensor, infrared sensor, or camera to detect whether the sound source is within the effective range. If it is within the effective range, play the sound source according to the relative position of the sound source and the sound source acquisition device and the sound effect matched by the preset position relationship.

[0058] However, in road driving conditions, vehicles cannot use infrared sensors, ultrasonic sensors, or cameras to identify which vehicle or direction the input sound source is coming from. Furthermore, the noise level is extremely high, and the effective audio is completely drowned out by the background noise and cannot be captured. Additionally, if multiple different sound sources are present simultaneously, it is impossible to match different sound sources to the corresponding vehicles.

[0059] Based on this, embodiments of this application provide an audio playback method, the method comprising: a first device receiving a first message sent by a second device; when the first device determines that the distance between the second device and the first device is less than a preset value, the first device obtains the location information of the first device and the location information of the second device; the first device determines a first orientation and a first distance of the second device relative to the first device based on the location information of the first device and the location information of the second device; the first device adjusts the gain of an audio output device located at the first orientation to be greater than the gain of an audio output device located at a non-first orientation based on the first orientation and the first distance of the second device relative to the first device; and the first device plays the first message through multiple audio output devices with adjusted gain.

[0060] The first message can be audio information, text information that can be converted into audio information (or playable text information), or other messages that can be converted into audio information.

[0061] This method adjusts the gain of audio speakers in different locations, allowing users to perceive the position and distance of the second device through their hearing, thus enhancing the fun, experience, and real-time nature of "roadside chat".

[0062] like Figure 2 As shown, Figure 2 An exemplary schematic diagram of a system architecture provided by an embodiment of this application is shown.

[0063] The system includes multiple intelligent vehicles, including but not limited to intelligent vehicle 100, intelligent vehicle 200, and intelligent vehicle 300. Intelligent vehicle 100, intelligent vehicle 200, and intelligent vehicle 300 can communicate with each other.

[0064] Intelligent vehicle 100 can receive audio messages sent by owner 2 on intelligent vehicle 200 and owner 3 on intelligent vehicle 300.

[0065] Intelligent vehicles 100, 200, and 300 periodically broadcast message messages, which carry vehicle identification information and driving information of the intelligent vehicles. The vehicle identification information includes, but is not limited to, the vehicle identification code (also known as the VIN code) and license plate number. The driving information of the intelligent vehicles includes, but is not limited to, the destination, heading, latitude and longitude.

[0066] After receiving a message from another intelligent vehicle, the intelligent vehicle parses the message and saves the vehicle identity information of the other intelligent vehicles locally.

[0067] Subsequently, the intelligent vehicle can receive the owner's commands and send audio information to other intelligent vehicles. This audio information also carries the intelligent vehicle's identity information. After receiving the audio information sent by another owner, the other intelligent vehicles parse the intelligent vehicle's identity information carried in the audio information and check if the current intelligent vehicle's identity information can be found in their locally stored intelligent vehicle identity information database. If found, it means that the two intelligent vehicles are within a preset distance. The intelligent vehicle receiving the audio information will determine the deviation angle α of the heading direction of the intelligent vehicle sending the audio information relative to the intelligent vehicle receiving the audio information, as well as the distance between the two intelligent vehicles, based on the driving information in the received message.

[0068] After obtaining the deviation angle α and distance between two smart vehicles, the receiving smart vehicle will adjust the gain of multiple different audio output devices on the smart vehicle based on the deviation angle α and distance. This will cause the volume of the audio output by different audio data devices to change with the deviation angle α and distance between the two smart vehicles. This allows the owner of the receiving smart vehicle to determine the location of the smart vehicle that sent the audio information and its approximate distance from the owner by outputting audio information at different volumes through different audio output devices.

[0069] like Figure 3 As shown, Figure 3 An exemplary structural schematic diagram of an intelligent vehicle 100 is shown.

[0070] The structures of intelligent vehicles 200 and 300 can be referred to the description of the structure of intelligent vehicle 100, and will not be repeated in this embodiment.

[0071] The intelligent vehicle 100 may include various subsystems, such as a mobility system 202, a sensor system 204, a control system 206, one or more peripheral devices 208, a power supply 210, a computer system 212, and a user interface 216. Optionally, the intelligent vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the intelligent vehicle 100 may be interconnected via wired or wireless means.

[0072] The mobility system 202 may include components that provide powered motion to the intelligent vehicle 100. In one embodiment, the mobility system 202 may include an engine 218, an energy source 219, a transmission 220, and wheels 221. The engine 218 may be an internal combustion engine, an electric motor, an air-compressed engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine 218 converts the energy source 219 into mechanical energy.

[0073] Examples of energy sources 219 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 219 can also provide power to other systems of the intelligent vehicle 100.

[0074] The transmission 220 can transmit mechanical power from the engine 218 to the wheels 221. The transmission 220 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 220 may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels 221.

[0075] Sensor system 204 may include several sensors for sensing information about the environment surrounding the intelligent vehicle 100. For example, sensor system 204 may include a positioning system 222 (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU) 224, radar 226, a laser rangefinder 228, and a camera 230. Sensor system 204 may also include sensors for the internal systems of the monitored intelligent vehicle 100 (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a key function for the safe operation of the autonomous intelligent vehicle 100.

[0076] The positioning system 222 can be used to estimate the geographic location of the intelligent vehicle 100. The IMU 224 is used to sense changes in the position and orientation of the intelligent vehicle 100 based on inertial acceleration. In one embodiment, the IMU 224 can be a combination of an accelerometer and a gyroscope. For example, the IMU 224 can be used to measure the curvature of the intelligent vehicle 100.

[0077] Radar 226 can use radio signals to sense objects in the surrounding environment of the intelligent vehicle 100. In some embodiments, in addition to sensing objects, radar 226 can also be used to sense the speed and / or direction of travel of objects.

[0078] The laser rangefinder 228 can use lasers to sense objects in the environment in which the intelligent vehicle 100 is located. In some embodiments, the laser rangefinder 228 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0079] Camera 230 can be used to capture multiple images of the surrounding environment of the intelligent vehicle 100. Camera 230 can be a still camera or a video camera.

[0080] The control system 206 controls the operation of the intelligent vehicle 100 and its components. The control system 206 may include various elements, including a steering system 232, a throttle 234, a braking unit 236, a computer vision system 240, a route control system 242, and an obstacle avoidance system 244.

[0081] The steering system 232 is operable to adjust the forward direction of the intelligent vehicle 100. For example, in one embodiment, it can be a steering wheel system.

[0082] Throttle 234 is used to control the operating speed of engine 218 and thus the speed of intelligent vehicle 100.

[0083] Braking unit 236 is used to control the deceleration of intelligent vehicle 100. Braking unit 236 can use friction to slow down wheel 221. In other embodiments, braking unit 236 can convert the kinetic energy of wheel 221 into electric current. Braking unit 236 may also take other forms to slow down the rotational speed of wheel 221 to control the speed of intelligent vehicle 100.

[0084] The computer vision system 240 is operable to process and analyze images captured by the camera 230 to identify objects and / or features in the environment surrounding the intelligent vehicle 100. The objects and / or features may include traffic signals, road boundaries, and obstacles. The computer vision system 240 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 240 may be used to map the environment, track objects, estimate object velocities, and so on.

[0085] The route control system 242 is used to determine the driving route of the intelligent vehicle 100. In some embodiments, the route control system 242 may combine data from sensors, GPS 222 and one or more predetermined maps to determine the driving route for the intelligent vehicle 100.

[0086] The obstacle avoidance system 244 is used to identify, assess, and avoid or otherwise traverse potential obstacles in the environment of the intelligent vehicle 100.

[0087] Of course, in one instance, the control system 206 may include additional or alternative components besides those shown and described. Alternatively, some of the components shown above may be reduced.

[0088] The intelligent vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users via peripheral devices 208. Peripheral devices 208 may include a wireless communication system 246, an onboard computer 248, a microphone 250, and / or a speaker 252.

[0089] In some embodiments, peripheral device 208 provides a means for the user of intelligent vehicle 100 to interact with user interface 216. For example, on-board computer 248 may provide information to the user of intelligent vehicle 100. User interface 216 may also operate on-board computer 248 to receive user input. On-board computer 248 may be operated via touchscreen. In other cases, peripheral device 208 may provide a means for intelligent vehicle 100 to communicate with other devices located within the vehicle. For example, microphone 250 may receive audio (e.g., voice commands or other audio input) from the user of intelligent vehicle 100. Similarly, speaker 252 may output audio to the user of intelligent vehicle 100.

[0090] The wireless communication system 246 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 246 can use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system 246 can communicate using WiFi and a wireless local area network (WLAN). In some embodiments, the wireless communication system 246 can communicate directly with devices using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, are also possible. For example, the wireless communication system 246 may include one or more dedicated short-range communications (DSRC) devices that can enable public and / or private data communication between the vehicle and / or a roadside station.

[0091] Power source 210 can provide power to various components of the intelligent vehicle 100. In one embodiment, power source 210 can be a rechargeable lithium-ion or lead-acid battery. One or more such battery packs can be configured to provide power to various components of the intelligent vehicle 100. In some embodiments, power source 210 and energy source 219 can be implemented together, as is the case in some fully electric vehicles.

[0092] Some or all of the functions of the intelligent vehicle 100 are controlled by a computer system 212. The computer system 212 may include at least one processor 213, which executes instructions 215 stored in a non-transitory computer-readable medium such as memory 214. The computer system 212 may also be multiple computing devices that control individual components or subsystems of the intelligent vehicle 100 in a distributed manner.

[0093] Processor 213 can be any conventional processor, such as a commercially available CPU. Alternatively, the processor can be a special-purpose device such as an ASIC or other hardware-based processor. Although Figure 3 The diagram illustrates a processor, memory, and other components of a computer within the same block; however, those skilled in the art will understand that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored in the same physical enclosure. For example, memory may be a hard disk drive or other storage media located in an enclosure different from that of the computer. Therefore, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration assemblies, may each have their own processor that performs calculations only relevant to the component's specific function.

[0094] In the various aspects described herein, the processor may be located remotely from the vehicle and communicate wirelessly with the vehicle. In other aspects, some of the processes described herein are executed on a processor located within the vehicle, while others are executed by a remote processor, including taking the necessary steps to perform a single operation.

[0095] In some embodiments, memory 214 may contain instructions 215 (e.g., program logic) that can be executed by processor 213 to perform various functions of the intelligent vehicle 100, including those described above. Memory 214 may also contain additional instructions, including instructions for transmitting data, receiving data from, interacting with, and / or controlling one or more of the mobility system 202, sensor system 204, control system 206, and peripheral devices 208.

[0096] In addition to instruction 215, memory 214 may also store data such as road maps, route information, vehicle position, direction, speed, and other vehicle data, as well as other information. This information can be used by intelligent vehicle 100 and computer system 212 during operation of intelligent vehicle 100 in autonomous, semi-autonomous, and / or manual modes. For example, the current speed and curvature of the vehicle can be fine-tuned based on road information of the target road segment and the received vehicle speed and curvature ranges to keep the intelligent vehicle's speed and curvature within the vehicle speed and curvature ranges.

[0097] User interface 216 is used to provide information to or receive information from users of the intelligent vehicle 100. Optionally, user interface 216 may include one or more input / output devices within a set of peripheral devices 208, such as wireless communication system 246, on-board computer 248, microphone 250, and speaker 252.

[0098] Computer system 212 can control the functions of intelligent vehicle 100 based on input received from various subsystems (e.g., driving system 202, sensor system 204, and control system 206) and from user interface 216. For example, computer system 212 can utilize input from control system 206 to control steering system 232 to avoid obstacles detected by sensor system 204 and obstacle avoidance system 244. In some embodiments, computer system 212 is operable to provide control over many aspects of intelligent vehicle 100 and its subsystems.

[0099] Alternatively, one or more of these components may be installed separately from or associated with the intelligent vehicle 100. For example, the memory 214 may exist partially or completely separately from the intelligent vehicle 100. The components may be communicatively coupled together in a wired and / or wireless manner.

[0100] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 3 This should not be construed as a limitation on the embodiments of this application.

[0101] Autonomous vehicles traveling on roads, such as the intelligent vehicle 100 above, can identify objects in their surrounding environment to determine adjustments to their current speed. These objects can be other vehicles, traffic control equipment, or other types of objects. In some examples, each identified object can be considered independently, and based on the object's individual characteristics, such as its current speed, acceleration, and distance from the vehicle, the speed adjustment to be made by the autonomous vehicle can be determined.

[0102] Optionally, the autonomous vehicle intelligent vehicle 100 or the computing device associated with the autonomous vehicle intelligent vehicle 100 (such as...) Figure 3 The computer system 212, computer vision system 240, and memory 214 can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so all identified objects can also be considered together to predict the behavior of a single identified object. The intelligent vehicle 100 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered in determining the speed of the intelligent vehicle 100, such as the lateral position of the intelligent vehicle 100 on the road it is traveling on, the curvature of the road, the proximity of static and dynamic objects, etc.

[0103] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device can also provide instructions to modify the steering angle of the intelligent vehicle 100 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road).

[0104] Optionally, the intelligent vehicle 100 may also include a V2X antenna and transmit and receive broadcast messages via the V2X antenna. For example, it may receive periodically transmitted message messages from the intelligent vehicle 200 via the V2X antenna, which carry the vehicle identity information and driving information of the intelligent vehicle 200.

[0105] The aforementioned intelligent vehicle 100 can be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and handcart, etc. The embodiments of this application do not limit the type of intelligent vehicle 100. The following embodiments of this application use a car as an example for illustration.

[0106] Understandable, Figure 3 The intelligent vehicle function diagram in this application is merely an exemplary implementation; in other embodiments, it may include more advanced methods. Figure 3 The embodiments of this application do not limit the number of structures, whether more or fewer.

[0107] Intelligent vehicle 100 receives audio information and determines the deviation angle α and distance of intelligent vehicle 200 relative to intelligent vehicle 100 based on the driving information of the intelligent vehicle (e.g., intelligent vehicle 200) that sent the audio information. It then adjusts the gain of multiple different audio output devices on intelligent vehicle 100 and outputs audio information on multiple different audio output devices, so that the driver of intelligent vehicle 100 can perceive the position and distance of intelligent vehicle 200 relative to intelligent vehicle 100.

[0108] Figure 4 An exemplary schematic diagram of a functional module of an intelligent vehicle 100 is shown.

[0109] The functional modules include, but are not limited to, the communication processing module 4001, the V2X communication module 4002, and the audio driver management module 4003. Among them, the V2X communication module 4002 includes the V2X communication baseband processing module 4004 and the V2X message calculation and processing module 4005.

[0110] The communication processing module 4001 is used to receive audio messages sent by other intelligent vehicles (such as intelligent vehicle 200). The audio information carries the vehicle identity information of intelligent vehicle 200. The communication processing module 4001 sends the vehicle identity information of intelligent vehicle 200 to V2X communication module 4002.

[0111] Optionally, the communication processing module 4001 may be a cellular communication baseband processing unit, which receives audio messages sent by the intelligent vehicle 200 and sends the audio messages to the V2X communication module 4002.

[0112] The V2X communication baseband processing module 4004 in the V2X communication module 4002 is used to receive message information periodically sent by other intelligent vehicles within a preset range. The message information carries the vehicle identity information and driving information of the other intelligent vehicles. In some embodiments, the V2X communication baseband processing module 4004 can be a device such as a TBOX for implementing V2X communication. The TBOX device has V2X communication capability, or in other words, the TBOX device has both V2X communication capability and cellular communication capability.

[0113] The V2X message calculation and processing module 4005 in the V2X communication module 4002 determines that intelligent vehicle 200 and intelligent vehicle 100 are within a preset range based on the vehicle identity information of intelligent vehicle 200 carried in the message information sent by intelligent vehicle 200 and the vehicle identity information of intelligent vehicle 200 carried in the audio message sent by intelligent vehicle 200. Then, the V2X message calculation and processing module 4005 first calculates the deviation angle α and distance between the two intelligent vehicles based on the driving information of intelligent vehicle 200 and intelligent vehicle 100 carried in the message information sent by intelligent vehicle 200. The V2X message calculation and processing module 4005 then sends the deviation angle α and distance between the two vehicles to the audio driver management module 4003.

[0114] The audio driver management module 4003 receives the deviation angle α and distance between the two vehicles sent by the V2X message calculation and processing module 4005, and adjusts the gain of multiple different audio output devices on the intelligent vehicle 100 according to preset rules. After adjusting the gain of the multiple different audio output devices on the intelligent vehicle 100, the audio driver management module 4003 plays the audio message on the multiple different audio output devices. Specifically, how the audio driver management module 4003 adjusts the gain of the multiple different audio output devices on the intelligent vehicle 100 will be described in detail in subsequent embodiments, and will not be repeated here.

[0115] It should be noted that, Figure 4 The multiple functional modules shown on the intelligent vehicle 100 can also be applied to the electronic device 400, that is, the electronic device 400 can be used to implement the above functions. In other words, one or more of the above functional modules can be located entirely or partially on the intelligent vehicle 100 or the electronic device 400. The electronic device 400 can be any of the following: large screen, mobile phone, tablet computer, desktop computer, laptop computer, handheld computer, laptop, ultra-mobile personal computer (UMPC), netbook, as well as cellular phone, personal digital assistant (PDA), augmented reality (AR) device, virtual reality (VR) device, artificial intelligence (AI) device, wearable device, smart home device and / or smart city device, etc. The embodiments of this application do not impose special restrictions on the specific type of electronic device 400.

[0116] It should be noted that the above-mentioned multiple functional modules can implement the above functions individually, or one or more can be combined to implement the above functions. This application embodiment does not limit this.

[0117] Alternatively, electronic device 400 receives audio information sent by intelligent vehicle 200 and then transmits the audio information to intelligent vehicle 100. Upon receiving the audio information, intelligent vehicle 100 determines the deviation angle α and distance of intelligent vehicle 200 relative to intelligent vehicle 100 based on its own driving information and the driving information of intelligent vehicle 200 carried in the audio information. After determining the deviation angle α and distance, intelligent vehicle 100 adjusts the gain of multiple different audio output devices on its vehicle and outputs audio information on these devices, allowing the driver of intelligent vehicle 100 to perceive the position and distance of intelligent vehicle 200 relative to intelligent vehicle 100.

[0118] The audio messages mentioned here include audio files and audio messages that carry the vehicle identity information of the intelligent vehicle 200.

[0119] Figure 5 An exemplary schematic diagram of a functional module of an intelligent vehicle 100 and an electronic device 400 is shown.

[0120] The functional modules on the electronic device 400 include, but are not limited to, the cellular communication baseband processing unit 5001 and the communication processing module 5002.

[0121] The functional modules on the intelligent vehicle 100 include, but are not limited to, the communication processing module 5003, the V2X communication module 5004, and the audio driver management module 5007. Among them, the V2X communication module 5004 includes the V2X communication baseband processing module 5005 and the V2X message calculation and processing module 5006.

[0122] The cellular communication baseband processing unit 5001 is used to receive audio messages sent by other intelligent vehicles (such as intelligent vehicle 200), the audio messages carrying the vehicle identification information of intelligent vehicle 200. The cellular communication baseband processing unit 5001 sends the audio messages sent by intelligent vehicle 200 to the communication processing module 5002.

[0123] The communication processing module 5002 can be implemented using any of the following methods: Wi-Fi communication, Bluetooth communication, Ethernet communication, and USB communication. The communication processing module 5002 is used to receive audio messages sent by the cellular communication baseband processing unit 5001. Then, the communication processing module 5002 sends the audio messages from the intelligent vehicle 200 to the communication processing module 5003.

[0124] The communication processing module 5003 can be implemented using any of the following methods: Wi-Fi communication, Bluetooth communication, Ethernet communication, and USB communication. The communication processing module 5003 receives audio messages sent by the communication processing module 5002. Then, the communication processing module 5003 sends the audio messages to the V2X communication module 5004.

[0125] For detailed descriptions of the V2X communication baseband processing module 5005, the V2X message calculation and processing module 5006, and the audio driver management module 5007, please refer to [link / reference]. Figure 4 The descriptions of the functions of the V2X communication baseband processing module 4004, the V2X message calculation and processing module 4005, and the audio driver management module 4003 in the previous document are similar in principle, and will not be repeated here in the embodiments of this application.

[0126] Alternatively, electronic device 400 receives audio information sent by intelligent vehicle 200, and sends the vehicle identification information of intelligent vehicle 200 carried in the audio information to intelligent vehicle 100. After receiving the vehicle identification information of intelligent vehicle 200, intelligent vehicle 100 determines the deviation angle α and distance of intelligent vehicle 200 relative to intelligent vehicle 100 based on the driving information of intelligent vehicle 100 and the driving information of intelligent vehicle 200 carried in the audio information. Intelligent vehicle 100 sends the deviation angle α and distance of intelligent vehicle 200 relative to intelligent vehicle 100 to electronic device 400. After receiving the deviation angle α and distance of intelligent vehicle 200 relative to intelligent vehicle 100 sent by intelligent vehicle 200, electronic device 400 adjusts the gain of multiple different audio output devices on electronic device 400 and outputs audio information on multiple different audio output devices, so that the user using electronic device 400 can perceive the position and distance of intelligent vehicle 200 relative to intelligent vehicle 100.

[0127] The audio messages mentioned here include audio files and audio messages that carry the vehicle identity information of the intelligent vehicle 200.

[0128] Figure 6 An exemplary schematic diagram of another functional module of the intelligent vehicle 100 and electronic device 400 is shown.

[0129] The functional modules on the electronic device 400 include, but are not limited to, the cellular communication baseband processing unit 6001, the communication processing module 6002, and the audio driver management module 6007.

[0130] The functional modules on the intelligent vehicle 100 include, but are not limited to, the communication processing module 6003 and the V2X communication module 6004. Among them, the V2X communication module 6004 includes the V2X communication baseband processing module 6005 and the V2X message calculation and processing module 6006.

[0131] Specifically, the cellular communication baseband processing unit 6001 receives audio messages sent by other intelligent vehicles (e.g., intelligent vehicle 200), the audio messages carrying vehicle identification information of intelligent vehicle 200. The cellular communication baseband processing unit 6001 then sends the vehicle identification information carried in the audio messages sent by intelligent vehicle 200 to the communication processing module 6002. The communication processing module 6002 can be implemented using any of the following methods: Wi-Fi communication, Bluetooth communication, Ethernet communication, and USB communication.

[0132] The communication processing module 6002 sends the vehicle identification information carried in the audio message sent by the intelligent vehicle 200 to the communication processing module 6003. The communication processing module 6003 can implement this communication through any of the following methods: Wi-Fi communication, Bluetooth communication, Ethernet communication, and USB communication.

[0133] After receiving the vehicle identity information carried in the audio message sent by the intelligent vehicle 200, the communication processing module 6002 sends the vehicle identity information carried in the audio message sent by the intelligent vehicle 200 to the V2X communication module 6004.

[0134] For a detailed description of the V2X communication baseband processing module 6005 and the V2X message calculation and processing module 6006, please refer to [link / reference]. Figure 4 The descriptions of the functions of the V2X communication baseband processing module 4004 and the V2X message calculation and processing module 4005 in the previous document are similar in principle, and will not be repeated here in the embodiments of this application.

[0135] After obtaining the deviation angle α and distance between the two intelligent vehicles, the V2X communication module 6004 sends the deviation angle α and distance between the two intelligent vehicles to the communication processing module 6003.

[0136] The communication processing module 6003 sends the deviation angle α and distance between the two intelligent vehicles to the communication processing module 6002.

[0137] The communication processing module 6002 sends the deviation angle α and distance between the two intelligent vehicles to the audio drive management module 6007.

[0138] The audio driver management module 6007 adjusts the gain of multiple different audio output devices on the electronic device 400 according to preset rules. After adjusting the gain of the multiple different audio output devices on the electronic device 400, the audio driver management module 6007 plays the audio message on the multiple different audio output devices. Specifically, how the audio driver management module 6007 adjusts the gain of the multiple different audio output devices on the electronic device 400 will be described in detail in subsequent embodiments, and will not be repeated here.

[0139] As can be seen from the above analysis, both the intelligent vehicle 100 and the electronic device 400 can receive audio messages and calculate the deviation angle α and distance between the two intelligent vehicles. The following embodiments of this application illustrate how the intelligent vehicle 100 calculates the deviation angle α and distance between the two intelligent vehicles; the principle is the same.

[0140] Next, we will explain how Intelligent Vehicle 100 calculates the deviation angle α between two intelligent vehicles.

[0141] Figure 7 An exemplary diagram illustrates how to determine the deviation angle α between intelligent vehicle 100 and intelligent vehicle 200.

[0142] The deviation angle α between intelligent vehicle 100 and intelligent vehicle 200 can be understood as the deviation angle of intelligent vehicle 200 relative to intelligent vehicle 100 in the heading direction, such as... Figure 7 As shown.

[0143] Assume that the real-time location coordinates of intelligent vehicle 100 are A(A1, B1) and the real-time location coordinates of intelligent vehicle 200 are B(A2, B2).

[0144] Based on the real-time position coordinates of the intelligent vehicle 100, a rectangular coordinate system is constructed, and the real-time position coordinates of C can be obtained as (A1, B2). Figure 7 Given AB = d1, AC = d2, and angle β, it is expressed as... The intelligent vehicle's heading angle is 100. It can be obtained through vehicle gyroscope or GNSS. Once the angle β is obtained, the deviation angle α can be obtained. To obtain the angle β, d1 and d2 must be known.

[0145] There are two ways to obtain d1 and d2.

[0146] Method 1:

[0147]

[0148] R is the Earth's radius.

[0149] Similarly, .

[0150] Method 2:

[0151] d1 can be obtained from the real-time position coordinates of intelligent vehicle 100 and intelligent vehicle 200 using the distance formula between the two points.

[0152] d2 can be obtained from the real-time position coordinates of intelligent vehicle 100 and the real-time position coordinates of point C using the distance formula between the two points.

[0153] After obtaining the deviation angle α between the two intelligent vehicles, intelligent vehicle 100 can obtain the distance between the two intelligent vehicles based on the real-time position coordinates of intelligent vehicle 100 and intelligent vehicle 200. The distance between the two intelligent vehicles is d1.

[0154] After obtaining the deviation angle α and distance between two intelligent vehicles, the intelligent vehicle 100 or electronic device 400 will adjust the gain of multiple audio output devices in different locations based on the deviation angle α and distance between the two intelligent vehicles according to preset rules. The following embodiments of this application use the example of how the intelligent vehicle 100 adjusts the gain of multiple audio output devices in different locations on the intelligent vehicle 100 to illustrate the same principle.

[0155] The intelligent vehicle 100 needs to determine the gain adjustment range of audio output devices in multiple different locations.

[0156] The intelligent vehicle 100 determines the gain adjustment range of multiple audio output devices in different locations, which can be done in two steps.

[0157] First, the intelligent vehicle 100 determines the initial gain of the audio data devices in each direction based on the distance between the two vehicles.

[0158] Subsequently, the intelligent vehicle 100 determines the final adjustment gain of the audio data device in each direction based on the deviation angle α between the two vehicles.

[0159] First, we will introduce how the intelligent vehicle 100 determines the initial gain of the audio data device in each direction based on the distance between two vehicles.

[0160] The intelligent vehicle 100 divides the distance between two vehicles into n levels, where n is greater than or equal to 1. This application uses an example with n=3 for illustration.

[0161] When the distance between two vehicles is less than m1, it means that the distance between the two vehicles is relatively close. In this case, the initial gain of the audio data device is N=n0, where n0 is the default gain of the audio output device. The default gain can be understood as the gain of the user's frequently used device, or the gain before playing the audio message sent by the intelligent vehicle 200.

[0162] When the distance between two vehicles is greater than m1 but less than m2, it indicates that the distance between the two vehicles is slightly greater, and the initial gain of the audio data device should be adjusted accordingly. p1 is greater than 0 and less than 1. For example, p1 can be 0.87, then N = 0.87n0, which means the gain decreases by -2dB.

[0163] When the distance between two vehicles is greater than m2, it indicates that the distance between the two vehicles is relatively far, and the initial gain of the audio data device should be adjusted accordingly. p2 is greater than 0 and less than 1, and p2 is less than p1. For example, p2 can be 0.7, then N = 0.7n0, which means the gain decreases by -3dB.

[0164] Secondly, the intelligent vehicle 100 determines the final adjustment gain of the audio data device in each direction based on the deviation angle α between the two vehicles.

[0165] First, a rectangular coordinate system is established with the driving direction of the intelligent vehicle 100 as the positive X-axis and the direction of the driver's right hand as the positive Y-axis. Based on the position of the audio output device on the intelligent vehicle 100, the audio output device on the intelligent vehicle 100 is divided into four quadrants.

[0166] The location of each audio output device on the intelligent vehicle 100 is determined, and at least one audio output device is assigned to a corresponding quadrant.

[0167] For example, such as Figure 8AAs shown, when the audio output device on the intelligent vehicle 100 is located to the right front of the intelligent vehicle 100 in the direction of travel, the audio output device is classified as the first quadrant, and can also be referred to as the right front audio output device. When the audio output device on the intelligent vehicle 100 is located to the right rear of the intelligent vehicle 100 in the direction of travel, the audio output device is classified as the second quadrant, and can also be referred to as the left front audio output device. When the audio output device on the intelligent vehicle 100 is located to the left rear of the intelligent vehicle 100 in the direction of travel, the audio output device is classified as the third quadrant, and can also be referred to as the left rear audio output device. When the audio output device on the intelligent vehicle 100 is located to the left front of the intelligent vehicle 100 in the direction of travel, the audio output device is classified as the fourth quadrant, and can also be referred to as the right rear audio output device.

[0168] It should be noted that in other embodiments, the audio output devices on the intelligent vehicle 100 may be divided into quadrants in other ways, and this application embodiment does not limit this.

[0169] After obtaining the deviation angle α between the two vehicles, the intelligent vehicle 100 can determine the final adjustment gain of the audio data device in each direction according to a preset rule based on the deviation angle α between the intelligent vehicle 100 and the intelligent vehicle 200.

[0170] The default rule is that by adjusting the gain of audio output devices in different locations, car owners can perceive the location of the vehicle sending the audio information from the receiving vehicle by the volume of the audio information output by the audio output device, and can roughly estimate the distance, thus increasing the real-time nature and fun of "road chat".

[0171] Specifically, when the deviation angle α between intelligent vehicle 100 and intelligent vehicle 200 is greater than 0 degrees and less than 90 degrees, it can be determined that the current intelligent vehicle is to the right front of intelligent vehicle 200. Then, intelligent vehicle 100 will adjust the gain of the audio output devices on intelligent vehicle 100, that is, adjust the gain of the audio output devices to the right front, left front, left rear, and right rear, so that the user on intelligent vehicle 100 can perceive that intelligent vehicle 200 is to the right front of intelligent vehicle 100 and can roughly estimate the distance between the two vehicles.

[0172] like Figure 8A As shown, when the deviation angle α between intelligent vehicles is as follows: Figure 8A As shown, the intelligent vehicle 100 will adjust the gain of audio output devices located in different directions on the intelligent vehicle 100.

[0173] For example, the intelligent vehicle 100 can adjust the gain of the audio output device at the front right based on formula (1), adjust the gain of the audio output device at the front left based on formula (2), adjust the gain of the audio output device at the rear left based on formula (3), and adjust the gain of the audio output device at the rear right based on formula (4).

[0174]

[0175] As shown in formulas (1) to (4), N represents the initial gain of the audio data device, which is obtained based on the distance between the two vehicles. When the distance between the two vehicles is different, the initial gain of the audio data device on the intelligent vehicle 100 is also different. N' represents the adjustment gain of the right front audio output device, N'' represents the adjustment gain of the left front audio output device, N''' represents the adjustment gain of the left rear audio output device, and N'''' represents the adjustment gain of the right rear audio output device.

[0176] From formulas (1) to (4), it can be seen that when the intelligent vehicle is in the front right of the intelligent vehicle, the gain of the front right audio output device and the rear right audio output device increases, while the gain of the front left audio output device and the rear left audio output device decreases.

[0177] After obtaining the adjustment gain of the audio output devices in different directions on the intelligent vehicle 100, the intelligent vehicle 100 will output the audio messages received from the intelligent vehicle 200 based on the adjustment gain corresponding to the audio output devices in different directions. This allows the user on the intelligent vehicle 100 to perceive that the intelligent vehicle 200 is in front of the right side of the intelligent vehicle 100 and to roughly estimate the distance between the two vehicles.

[0178] When the deviation angle α between intelligent vehicle 100 and intelligent vehicle 200 is greater than 90 degrees and less than 180 degrees, it can be determined that the current intelligent vehicle is to the right rear of intelligent vehicle 100. Then, intelligent vehicle 100 will adjust the gain of the audio output devices on intelligent vehicle 100, that is, adjust the gain of the audio output devices to the right front, left front, left rear and right rear, so that the user on intelligent vehicle 100 can perceive that intelligent vehicle 200 is to the right rear of intelligent vehicle 100 and can roughly estimate the distance between the two vehicles.

[0179] like Figure 8B As shown, when the deviation angle α between intelligent vehicles is as follows: Figure 8B As shown, the intelligent vehicle 100 will adjust the gain of audio output devices located in different directions on the intelligent vehicle 100.

[0180] For example, the intelligent vehicle 100 can adjust the gain of the audio output device at the right rear based on formula (5), adjust the gain of the audio output device at the left rear based on formula (6), adjust the gain of the audio output device at the left front based on formula (7), and adjust the gain of the audio output device at the right front based on formula (8).

[0181]

[0182] As shown in formulas (5) to (8), N represents the initial gain of the audio data device, which is obtained based on the distance between the two vehicles. When the distance between the two vehicles is different, the initial gain of the audio data device on the intelligent vehicle 100 is also different. N' represents the adjustment gain of the right rear audio output device, N'' represents the adjustment gain of the left rear audio output device, N''' represents the adjustment gain of the left front audio output device, and N'''' represents the adjustment gain of the right front audio output device.

[0183] From formulas (5) to (8), it can be seen that when the intelligent vehicle is to the right rear of the intelligent vehicle, the gain of the right rear audio output device and the right front audio output device increases, while the gain of the left rear audio output device and the left front audio output device decreases.

[0184] After obtaining the adjustment gain of the audio output devices in different directions on the intelligent vehicle 100, the intelligent vehicle 100 will output the audio messages sent by the intelligent vehicle 200 respectively to the audio output devices in different directions with the corresponding adjustment gain, so that the user on the intelligent vehicle 100 can perceive that the intelligent vehicle 200 is to the right rear of the intelligent vehicle 100 and can roughly estimate the distance between the two vehicles.

[0185] When the deviation angle α between intelligent vehicle 100 and intelligent vehicle 200 is greater than -180 degrees and less than -90 degrees (or greater than 180 degrees and less than 270 degrees), it can be determined that the current intelligent vehicle is to the left rear of intelligent vehicle 100. Then, intelligent vehicle 100 will adjust the gain of the audio output devices on intelligent vehicle 100, that is, adjust the gain of the right front audio output device, left front audio output device, left rear audio output device and right rear audio output device, so that the user on intelligent vehicle 100 can perceive that intelligent vehicle 200 is to the left rear of intelligent vehicle 100 and can roughly estimate the distance between the two vehicles.

[0186] like Figure 8C As shown, when the deviation angle α between intelligent vehicles is as follows: Figure 8C As shown, the intelligent vehicle 100 will adjust the gain of audio output devices located in different directions on the intelligent vehicle 100.

[0187] For example, the intelligent vehicle 100 can adjust the gain of the audio output device at the left rear based on formula (9), adjust the gain of the audio output device at the right rear based on formula (10), adjust the gain of the audio output device at the right front based on formula (11), and adjust the gain of the audio output device at the left front based on formula (12).

[0188]

[0189] As shown in formulas (9) to (12), N represents the initial gain of the audio data device, which is obtained based on the distance between the two vehicles. When the distance between the two vehicles is different, the initial gain of the audio data device on the intelligent vehicle 100 is also different. N' represents the adjustment gain of the left rear audio output device, N'' represents the adjustment gain of the right rear audio output device, N''' represents the adjustment gain of the right front audio output device, and N'''' represents the adjustment gain of the left front audio output device.

[0190] From formulas (9) to (12), it can be seen that when the intelligent vehicle is to the left rear of the intelligent vehicle, the gain of the left and right audio output devices and the left front audio output device increases, while the gain of the right rear audio output device and the right front front audio output device decreases.

[0191] After obtaining the adjustment gain of the audio output devices in different directions on the intelligent vehicle 100, the intelligent vehicle 100 will output the audio messages sent by the intelligent vehicle 200 respectively to the audio output devices in different directions with the corresponding adjustment gain, so that the user on the intelligent vehicle 100 can perceive that the intelligent vehicle 200 is to the left rear of the intelligent vehicle 100 and can roughly estimate the distance between the two vehicles.

[0192] When the deviation angle α between intelligent vehicle 100 and intelligent vehicle 200 is greater than -90 degrees and less than 0 degrees (or greater than 270 degrees and less than 360 degrees), it can be determined that the current intelligent vehicle is to the left front of intelligent vehicle 100. Then, intelligent vehicle 100 will adjust the gain of the audio output devices on intelligent vehicle 100, that is, adjust the gain of the audio output devices to the right front, left front, left rear, and right rear, so that the user on intelligent vehicle 100 can perceive that intelligent vehicle 200 is to the left front of intelligent vehicle 100 and can roughly estimate the distance between the two vehicles.

[0193] like Figure 8D As shown, when the deviation angle α between intelligent vehicles is as follows: Figure 8D As shown, the intelligent vehicle 100 will adjust the gain of audio output devices located in different directions on the intelligent vehicle 100.

[0194] For example, the intelligent vehicle 100 can adjust the gain of the audio output device at the left front based on formula (13), adjust the gain of the audio output device at the right front based on formula (14), adjust the gain of the audio output device at the right rear based on formula (15), and adjust the gain of the audio output device at the left rear based on formula (16).

[0195]

[0196] As shown in formulas (13) to (16), N represents the initial gain of the audio data device, which is obtained based on the distance between the two vehicles. When the distance between the two vehicles is different, the initial gain of the audio data device on the intelligent vehicle 100 is also different. N' represents the adjustment gain of the left front audio output device, N'' represents the adjustment gain of the right front audio output device, N''' represents the adjustment gain of the right rear audio output device, and N'''' represents the adjustment gain of the left rear audio output device.

[0197] From formulas (13) to (16), it can be seen that when the intelligent vehicle is in the left front of the intelligent vehicle, the gain of the left front audio output device and the left rear audio output device increases, while the gain of the right rear audio output device and the right front audio output device decreases.

[0198] After obtaining the adjustment gain of the audio output devices in different directions on the intelligent vehicle 100, the intelligent vehicle 100 will output the audio messages sent by the intelligent vehicle 200 respectively to the audio output devices in different directions with the corresponding adjustment gain, so that the user on the intelligent vehicle 100 can perceive that the intelligent vehicle 200 is in front of the left side of the intelligent vehicle 100 and can roughly estimate the distance between the two vehicles.

[0199] It should be noted that the above-described method for adjusting the gain of audio output devices in different locations is only used to explain this application and should not be construed as limiting it.

[0200] like Figure 9 As shown, Figure 9 An interactive schematic diagram provided by an embodiment of this application is illustrated.

[0201] Both vehicle A and vehicle B have V2X communication capabilities, and they can communicate with each other through V2X communication.

[0202] Optionally, vehicles A and B may also have cellular communication capabilities, and electronic devices or in-vehicle systems in vehicle B may communicate with the TBOX device (e.g., via Wi-Fi).

[0203] The main steps can be divided into the following:

[0204] 1. Social applications installed in smart vehicles or electronic devices bind the user's vehicle identity information when the user registers and uses the application. The vehicle identity information includes, but is not limited to, the VIN code and license plate number.

[0205] 2. When driving, user A (i.e., the user on intelligent vehicle 200, which can also be referred to as vehicle A) sends a voice message on a social application (e.g., speaking in a chat group). User B (i.e., the user on intelligent vehicle 100, which can also be referred to as vehicle B) will receive the interactive information (e.g., audio information) from user A through the social application. The interactive information contains the vehicle identity information and driving information of vehicle A, which user A has registered.

[0206] Optionally, vehicle A forwards user A's audio information to a social application server via a cellular antenna, and vehicle B receives user A's audio information forwarded by the social application server via a cellular antenna.

[0207] Optionally, vehicle A can transmit user A's audio information via a V2X antenna, and vehicle B can receive user A's audio information via a V2X antenna.

[0208] Optionally, the electronic devices used by the user in vehicle A forward the user's audio information to the social application server, and the electronic devices used by the user in vehicle B receive the user's audio information through the social application server.

[0209] Optionally, vehicle A forwards user A's audio information to a social application server via a cellular antenna, and the electronic devices used by the user in vehicle B receive user A's audio information through the social application server.

[0210] In other words, vehicle A or the electronic device used by the user in vehicle A sends the user's audio information to vehicle B or the electronic device used by the user in vehicle B.

[0211] 3. The terminal where User B's social application is located (such as the electronic device used by User B or the intelligent vehicle 200) first sends the vehicle identity information to the TBOX device on vehicle B that has vehicle V2X communication capability (or other V2X communication devices, including but not limited to TBOX). The connection method can be wired or wireless, such as USB or WIFI.

[0212] 4. The TBOX device searches its received V2X message queue to determine if there is a matching vehicle identity ID for user A in the received message. If a match is found, it means that user A's vehicle is near user B's vehicle (because the TBOX on user B's vehicle can receive user A's V2X communication messages). Then, user B's TBOX device calculates the deviation angle α between user A's vehicle and user B's vehicle in the heading direction, as well as the distance between the two vehicles, based on the relevant information in the received user A's V2X message data, such as latitude, longitude, and heading, and user B's own current latitude, longitude, and heading. This information is then returned to vehicle B or the electronic device used by user B.

[0213] 5. After receiving the information, if the source to be played is a nearby vehicle, the vehicle or the electronic device used by user B shall adjust the gain of multiple audio output devices on the vehicle or the multiple audio output devices attached to the electronic device used by user B according to the distance and angle information.

[0214] 6. After the electronic device used by vehicle B or user B finishes playing the audio information, the electronic device used by vehicle B or user B restores the gain of multiple audio output devices to the gain before playing the audio information.

[0215] Specifically, the TBOX device determines whether the vehicle identity information carried in the audio message is consistent with the vehicle identity information in the V2X message received within a preset time. If they match, the deviation angle and distance between the two vehicles are determined based on the driving information carried in the audio message.

[0216] The TBOX device sends the deviation angle and distance between the two vehicles to social applications via Bluetooth or API interface.

[0217] Social applications send gain adjustment commands to audio output devices (such as audio output devices on vehicles B or electronic devices used by user B).

[0218] The electronic equipment used by vehicle B or user B adjusts the gain of audio output devices in different locations.

[0219] Vehicle B or the electronic device used by user B sends a gain adjustment completion command to the social application.

[0220] Social applications send playback commands to audio output devices (such as audio output devices on vehicles B or electronic devices used by user B).

[0221] The electronic device used by vehicle B or user B plays audio messages through an audio output device with gain adjustment.

[0222] Vehicle B or the electronic device used by user B will send a playback completion command to the social application. Furthermore, the electronic device used by vehicle B or user B will skin the gain of audio output devices in different locations back to the gain before the audio message was played.

[0223] like Figure 10 As shown, Figure 10 An exemplary flowchart of a method provided in an embodiment of this application is shown.

[0224] S1001, The first device receives the first message sent by the second device.

[0225] The first message can be audio information, text information that can be converted into audio information (or playable text information), or other messages that can be converted into audio information.

[0226] The first device can be intelligent vehicle 100, and the second device can be intelligent vehicle 200.

[0227] The first message includes the vehicle identification information of the second device.

[0228] The first device is any one of the following: intelligent vehicle, portable terminal device; the second device is any one of the following: intelligent vehicle, portable terminal device. Intelligent vehicles include one or more of the following: cars, trucks, motorcycles, buses, ships, airplanes, helicopters, lawnmowers, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, trains, and handcarts. Portable terminal devices include one or more of the following: large screens, mobile phones, tablets, desktop computers, laptop computers, handheld computers, laptops, super mobile personal computers, netbooks, as well as cellular phones, personal digital assistants, augmented reality (AR) devices, virtual reality devices, artificial intelligence devices, wearable devices, smart home devices, and / or smart city devices, etc.

[0229] S1002, when the first device determines that the distance between the second device and the first device is less than a preset value, the first device obtains the location information of the first device and the location information of the second device.

[0230] The first device receives a first message sent by the second device. The first message carries the vehicle identification information and location information of the second device. The vehicle identification information includes one or more of the following: VIN code and license plate number. The location information includes one or more of the following: latitude and longitude, and heading. Optionally, the second device sends the message periodically.

[0231] If the first device confirms that it has received a message containing the vehicle identification information of the second device from the second device within a preset time period, the first device determines that the distance between the second device and the first device is less than a preset value. Thus, if the first device can receive the first message broadcast by the second device, it indicates that the distance between the first device and the second device is within the preset value.

[0232] Optionally, the first device receives a first message sent by the second device, specifically including: the first device receiving a first message broadcast by the second device via V2X communication technology. V2X communication technology is based on a shared channel for broadcasting, and its implementation does not rely on a cellular network, resulting in faster message transmission.

[0233] It should be noted that the first message sent from the second device to the first device also carries the timestamp of the second device sending the first message (e.g., time 1).

[0234] The first device receives the first message at time two, which is later than the first time. When the first device determines whether the second device is near the first device based on the vehicle identification information of the second device carried in the first message, the first device will search whether it has received any message sent by the second device in the vicinity of time one (e.g., within 50ms before or after). If it has, the first device will determine that the second device is near the first device based on the message sent by the second device received in the vicinity of time one.

[0235] After determining that the second device is near the first device, the first device will determine the first orientation and first distance of the second device relative to the first device based on the driving information (or location information) of the second vehicle carried in the message sent by the second device received around time one. This ensures the accuracy of the orientation and distance of the second device relative to the first device.

[0236] S1003, the first device determines the first orientation and first distance of the second device relative to the first device based on the location information of the first device and the location information of the second device.

[0237] The first device determines the first bearing of the second device relative to the first device based on the position information of the first device and the position information of the second device. Specifically, the first device determines the first heading of the first device based on the position information of the first device; the first device determines the first deviation angle of the second device on the first heading based on the first heading of the first device, the position information of the first device and the position information of the second device; and the first device determines the first bearing of the second device relative to the first device based on the first deviation angle.

[0238] S1004, the first device adjusts the gain of the audio output device located at the first position to be greater than the gain of the audio output device located at a non-first position based on the first position and first distance of the second device relative to the first device.

[0239] S1005, The first device plays the first message through multiple audio output devices after gain adjustment.

[0240] In one possible implementation, the method further includes: a first device receiving a second message sent by a third device; if the first device determines that the distance between the third device and the first device is less than a preset value, the first device acquires the location information of the first device and the location information of the third device; the first device determines a second orientation and a second distance of the third device relative to the first device based on the location information of the first device and the location information of the third device; the second orientation is different from the first orientation, and / or the second distance is different from the first distance; the first device adjusts the gain of the audio output device located at the second orientation to be greater than the gain of the audio output device located at a non-second orientation based on the second orientation and the second distance of the third device relative to the first device; the first device plays the second message through multiple audio output devices with adjusted gain. In this way, the first device adjusts the gain of the audio output devices differently for different orientations and / or different vehicles at different orientations, further demonstrating the effect that users can perceive vehicles at different orientations and distances through the volume output of the audio output devices.

[0241] Optionally, when the second location is the same as the first location, the audio output device at the second location is the same as the audio output device at the first location. In one possible implementation, if the second distance is the same as the first distance, the gain of the audio output device at the second location adjusted by the first device for the third device is the same as the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at the same distance in the same location, the user hears the same audio effect when the first device plays the first message and the second message. In other possible implementations, if the second distance is different from the first distance, the gain of the audio output device at the second location adjusted by the first device for the third device is different from the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at different distances in the same location, the user hears different audio effects when the first device plays the first message and the second message.

[0242] Optionally, when the second location is different from the first location, the audio output device at the second location is different from the audio output device at the first location. In one possible implementation, the second distance is the same as the first distance. Therefore, the gain of the audio output device at the second location adjusted by the first device for the third device is the same as the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at the same distance in different locations, the audio effect heard by the user when the first device plays the first message and the second message is different. In other possible implementations, the second distance is different from the first distance. Therefore, the gain of the audio output device at the second location adjusted by the first device for the third device is also different from the gain of the audio output device at the first location adjusted by the first device for the second device. That is, when the second device and the third device are at different distances in different locations, the audio effect heard by the user when the first device plays the first message and the second message is also different.

[0243] In one possible implementation, after the first device plays the first message through multiple audio output devices with gain adjustment, the method further includes: the first device restoring the gain of the multiple audio output devices to the gain before playing the first message.

[0244] The method provided in the first aspect allows users to perceive the location and distance of the device sending the audio message relative to their vehicle, enhancing the fun and experience of "roadside chat".

[0245] The various embodiments of this application can be combined arbitrarily to achieve different technical effects.

[0246] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0247] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0248] In summary, the above description is merely an embodiment of the technical solution of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made according to the disclosure of the present invention should be included within the scope of protection of the present invention.

Claims

1. An audio playback method, characterized in that, The method includes: The first device receives the first message sent by the second device; If the first device determines that the distance between the second device and the first device is less than a preset value, the first device obtains the location information of the first device and the location information of the second device. The first device determines the first orientation and first distance of the second device relative to the first device based on the location information of the first device and the location information of the second device; The first device determines the initial gain of multiple audio output devices in multiple locations based on a first distance between the second device and the first device, wherein the first distance is greater than a preset distance, and the initial gain of the multiple audio output devices is less than the default gain of the multiple audio output devices. The first device determines the target gain of the plurality of audio output devices based on the first position of the second device relative to the first device and the initial gain of the plurality of audio output devices. The target gain of the audio output device in the first position is greater than the target gain of the audio output device located outside the first position. The target gain of the audio output device in the first position is greater than the initial gain of the audio output device in the first position. The target gain of at least one audio output device outside the first position is less than the initial gain of the at least one audio output device outside the first position. The first device adjusts the gain of the plurality of audio output devices to the target gain of the plurality of audio output devices; The first device plays the first message through the plurality of audio output devices with gain adjustment.

2. The method according to claim 1, characterized in that, The method further includes: The first device receives the second message sent by the third device; If the first device determines that the distance between the third device and the first device is less than a preset value, the first device obtains the location information of the first device and the location information of the third device. The first device determines a second orientation and a second distance of the third device relative to the first device based on the location information of the first device and the location information of the third device; the second orientation is different from the first orientation, and / or the second distance is different from the first distance; The first device adjusts the gain of the audio output device located at the second position to be greater than the gain of the audio output device located at a position other than the second position, based on the second position and the second distance of the third device relative to the first device; The first device plays the second message through the plurality of audio output devices with gain adjustment.

3. The method according to any one of claims 1-2, characterized in that, The first device determines the first orientation of the second device relative to the first device based on the location information of the first device and the location information of the second device, specifically including: The first device determines its first heading based on its location information; The first device determines the first deviation angle of the second device on the first heading based on the first heading of the first device, the position information of the first device, and the position information of the second device; The first device determines the first orientation of the second device relative to the first device based on the first deviation angle.

4. The method according to any one of claims 1-3, characterized in that, The first device obtains the location information of the second device, specifically including: The first device receives a first message sent by the second device. The first message carries the vehicle identification information and location information of the second device. The vehicle identification information of the second device includes one or more of the following: VIN code and license plate number. The location information of the second device includes one or more of the following: latitude and longitude and heading.

5. The method according to claim 4, characterized in that, The first device receives a first message periodically sent by the second device, specifically including: The first device receives the first message broadcast by the second device via V2X communication technology.

6. The method according to any one of claims 1-5, characterized in that, The first message includes the vehicle identification information of the second device; the first device determines that the distance between the second device and the first device is less than a preset value, specifically including: If the first device confirms that it has received a message containing the vehicle identity information of the second device from the second device within a preset time, the first device determines that the distance between the second device and the first device is less than a preset value.

7. The method according to any one of claims 1-6, characterized in that, After the first device plays the first message through the plurality of audio output devices with gain adjustment, the method further includes: The first device restores the gain of the plurality of audio output devices to the gain before the first message was played.

8. The method according to any one of claims 1-7, characterized in that, The first device is any one of the following: intelligent vehicle, portable terminal device; The second device is any one of the following: intelligent vehicle, portable terminal device.

9. A device, specifically a first device, characterized in that, The first device includes: one or more processors and one or more memories; the one or more memories are coupled to the one or more processors, the one or more memories are used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the first device to perform the method of any one of claims 1-8.

10. A computer-readable storage medium storing instructions that, when executed on a device, cause the first device to perform the method as described in any one of claims 1-8.

11. A computer program product, characterized in that, When the computer program product is run on the first device, it causes the first device to perform the method as described in any one of claims 1-8.

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