Cabin prompt tone interaction method, device and equipment and storage medium

Abstract

The invention discloses a cabin prompt tone interaction method, device and equipment and a storage medium, and relates to the technical field of vehicle-mounted intelligent cabins, and the method comprises the steps: judging the type, direction and degree of a risk according to the obtained environment data around a vehicle, and enabling the degree of the risk to be determined according to a distance parameter, a speed parameter and a risk level threshold value; selecting a loudspeaker at a corresponding position according to the position of the risk; according to the degree of the risk, sound parameters are generated, and the sound parameters comprise volume, rhythm and frequency; and controlling a loudspeaker at a corresponding position to play a sound effect corresponding to the sound parameter. According to the application, the loudspeaker at the corresponding position can be automatically called to produce sound based on the environmental risk orientation, and the dangerous distance is transmitted in combination with volume gradual change and rhythm change, so that the risk direction and the emergency degree can be judged through auditory intuition.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted intelligent cockpit, in particular to a cockpit prompt sound interaction method, device, equipment and storage medium. BACKGROUND

[0002] With the acceleration of the process of automobile intelligence, intelligent cockpit has moved from functional stacking to scenario-based experience competition stage. Cockpit interaction system is redefining the relationship between man and vehicle through multi-modal fusion (voice, vision, and touch), and sound, as the core perception channel of driving safety, its design logic has been stagnant in the primary stage of single warning for a long time.

[0003] Intelligent scenario-driven sound interaction upgrade. After the popularization of L2+ level assisted driving, the system needs to accurately deliver complex environmental information (such as side rear blind area vehicles and crosswalk pedestrian directions), and traditional buzzer prompt sound cannot meet the spatial perception needs. Personalized experience demand: Z generation users have increasing demand for emotional and exclusive cockpit interaction, and the same warning sound is easy to cause experience fatigue, and even reduce users' acceptance of safety prompts due to the abruptness of sound effects.

[0004] Under this background, the traditional one-sound multi-purpose prompt sound system has been difficult to meet the dual demands of safety and experience. How to convert risk information into intuitive spatial perception through directional, hierarchical and personalized sound design has become a key path to improve driving safety and enhance user trust. SUMMARY

[0005] The present application provides a cockpit prompt sound interaction method, device, equipment and storage medium, which can automatically call the speaker at the corresponding position to sound based on the environmental risk direction, and deliver the dangerous distance by combining volume gradient and rhythm change, so that the risk direction and emergency level can be judged by auditory intuition.

[0006] In a first aspect, the embodiments of the present application provide a cockpit prompt sound interaction method, which comprises: determining the type, direction and degree of risk according to the acquired environmental data around the vehicle, wherein the degree of risk is determined according to distance parameters, speed parameters and risk level thresholds; selecting a speaker at a corresponding position according to the direction of the risk; generating sound parameters according to the degree of risk, wherein the sound parameters include volume, rhythm and frequency; controlling the speaker at the corresponding position to play the sound effect corresponding to the sound parameters.

[0007] In combination with the first aspect, in an implementation manner, the method further comprises: when multiple risk types are detected, performing priority arbitration based on a risk index.

[0008] In combination with the first aspect, in an implementation, the priority arbitration based on the risk index comprises: The risk index R is calculated according to the formula: R = a x risk urgency + b x risk severity + g x risk probability; The priority corresponding to the risk is determined according to the value of the risk index R; Before the risk is resolved, the sound effect corresponding to the sound parameter of each risk is played in order according to the priority from high to low; Wherein, a, b, g are weight coefficients, risk urgency corresponds to risk occurrence time, and risk severity corresponds to collision risk and degree.

[0009] In combination with the first aspect, in an implementation, it further comprises an ambient noise compensation step, which comprises: According to the vehicle speed data, window state data and in-vehicle ambient noise data of the vehicle, the equivalent continuous A sound level Leq is calculated, and the interference noise frequency band in the current scene is determined; According to the classification of the degree of the risk, the basic volume and the basic frequency band of the prompt tone in the current scene are determined; According to the formula: target volume = basic volume + max(0, Leq - 50dB) x 0.8, the target volume after volume compensation is calculated; The basic frequency band is adjusted according to the notch filter and frequency band offset algorithm to avoid the interference noise frequency band.

[0010] In combination with the first aspect, in an implementation, it further comprises: According to the difference between the target volume decibel value after compensation and the in-vehicle ambient noise decibel value, the compensation effect is judged; If the difference is less than a first threshold, the target volume decibel value is increased or the interference noise frequency band is further offset; If the difference is greater than a second threshold, the target volume decibel value is reduced; Wherein, the first threshold is less than the second threshold.

[0011] In combination with the first aspect, in an implementation, the classification of the degree of the risk comprises safety class, auxiliary class and interaction class; Wherein, the basic volume of the safety class prompt tone is 71-80dB, and the basic frequency band is 800-1500Hz; The basic volume of the auxiliary class prompt tone is 61-70dB, and the basic frequency band is 400-800Hz; The basic volume of the interaction class prompt tone is 51-60dB, and the basic frequency band is 300-600Hz.

[0012] In combination with the first aspect, in an implementation form, the environment data around the vehicle comprises: visual information in front and side of the ego vehicle, the visual information comprising lane line position, contour and motion trajectory of front target, color of traffic signal light and / or road sign; speed, azimuth angle, radial acceleration and distance relative to the ego vehicle of targets in rear blind area, intersection and long distance of the ego vehicle; distance and position relative to the ego vehicle of close-range targets in front and rear of the ego vehicle.

[0013] In a second aspect, an embodiment of the present application provides a cockpit prompt sound interaction device, the cockpit prompt sound interaction device comprising: a judging module configured to determine a type, a direction and a degree of risk according to the obtained environment data around the vehicle, the degree of risk being determined according to a distance parameter, a speed parameter and a risk level threshold; a selecting module configured to select a loudspeaker at a corresponding position according to the direction of the risk; a generating module configured to generate a sound parameter according to the degree of the risk, the sound parameter comprising a volume, a rhythm and a frequency; a controlling module configured to control the loudspeaker at the corresponding position to play a sound effect corresponding to the sound parameter.

[0014] In a third aspect, an embodiment of the present application provides a cockpit prompt sound interaction device, the cockpit prompt sound interaction device comprising a processor, a memory, and a cockpit prompt sound interaction program stored in the memory and executable by the processor, wherein when the cockpit prompt sound interaction program is executed by the processor, the steps of the cockpit prompt sound interaction method described above are implemented.

[0015] In a fourth aspect, a computer readable storage medium, the computer readable storage medium storing a cockpit prompt sound interaction program, wherein when the cockpit prompt sound interaction program is executed by a processor, the steps of the cockpit prompt sound interaction method described above are implemented.

[0016] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects: The cockpit prompt sound interaction method in the present application determines a type, a direction and a degree of risk according to the obtained environment data around the vehicle, the degree of risk being determined according to a distance parameter, a speed parameter and a risk level threshold; selects a loudspeaker at a corresponding position according to the direction of the risk; generates a sound parameter according to the degree of the risk, the sound parameter comprising a volume, a rhythm and a frequency; and controls the loudspeaker at the corresponding position to play a sound effect corresponding to the sound parameter.

[0017] That is, the intelligent prompt sound design based on the spatial orientation of the present application converts multiple loudspeakers of the vehicle body into "sound radar". Based on the environmental risk orientation (such as left / right side oncoming vehicles, rear obstacles), the system automatically calls the loudspeaker at the corresponding position to sound, combines the volume gradient and rhythm change to deliver the dangerous distance, so that the driver can intuitively judge the risk direction and emergency degree through hearing without thinking. Thus, the present application improves safety while considering the immersion and comfort of the driving scene through tone personalization configuration. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 a flowchart of an embodiment of the cabin prompt sound interaction method of the present application; Figure 2 a structural block diagram of an embodiment of the cabin prompt sound interaction device of the present application; Figure 3 a hardware structure diagram of the cabin prompt sound interaction device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0019] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the drawings.

[0021] In a first aspect, the embodiments of the present application provide a cabin prompt sound interaction method.

[0022] In an embodiment, with reference to Figure 1 , Figure 1 a flowchart of an embodiment of the cabin prompt sound interaction method of the present application. As shown in Figure 1 , the cabin prompt sound interaction method comprises: S1, determining the type, orientation and degree of risk according to the acquired environmental data around the vehicle, wherein the degree of risk is determined according to the distance parameter, the speed parameter and the risk level threshold; In step S1, the environmental data around the vehicle comprises: visual information in front and side of the vehicle, including lane line position, profile and motion trajectory of front target, color of traffic signal lamp and / or road sign; speed, azimuth angle, radial acceleration and distance relative to the vehicle of target in blind area behind the vehicle, intersection and long distance; distance and position relative to the vehicle of near distance target in front and back of the vehicle.

[0023] Preferably, when multiple risk types are detected, priority arbitration is performed based on risk index.

[0024] In a specific implementation, the priority arbitration based on risk index includes: calculating risk index R according to the formula: R = α × risk urgency + β × risk severity + γ × risk probability; determining the priority of the risk according to the value of the risk index R; playing the sound effect corresponding to the sound parameter of each risk in order of priority before the risk is resolved; wherein α, β, γ are weight coefficients, risk urgency corresponds to risk occurrence time, and risk severity corresponds to collision risk and degree.

[0025] S2, selecting a loudspeaker corresponding to the position according to the position of the risk; In this embodiment, a hierarchical position prompting system is used, and the hardware architecture is as follows: Inside the vehicle: a three-dimensional sound field is constructed using distributed loudspeakers in the cabin (left and right doors, A-pillars, headrests, center console, etc.).

[0026] Outside the vehicle: directional loudspeakers are deployed at the front and rear bumpers and wheel arches for low-speed scenarios (such as reversing and pedestrian warning).

[0027] Redundant design: double loudspeakers are used for backup in critical positions (such as left and right sides).

[0028] Sensor linkage: real-time environmental data around the vehicle is obtained through ADAS cameras, millimeter wave radars, and ultrasonic radars to trigger corresponding prompting logic.

[0029] According to the position of the risk, a loudspeaker corresponding to the position is selected, i.e. left / right risks correspond to left / right side loudspeakers to sound, and rear obstacles are prompted by rear loudspeakers.

[0030] S3, generating sound parameters according to the degree of the risk, the sound parameters including volume, rhythm and frequency; In this embodiment, the classification of the degree of the risk includes safety class, auxiliary class and interaction class. Safety class scenarios may have collision risks, such as reversing obstacles. Auxiliary class scenarios such as lane deviation, and interaction class scenarios such as navigation turning.

[0031] S4, controlling the speaker corresponding to the position to play the sound effect corresponding to the sound parameter.

[0032] In this embodiment, the sound effect design principles mainly include azimuth mapping and distance grading.

[0033] Azimuth mapping: left / right risks correspond to left / right speaker sound, rear obstacles are prompted by rear speakers.

[0034] Distance grading: risk approach is represented by increasing volume and pulse frequency (e.g., blind zone vehicle prompt rhythm from slow to fast).

[0035] In addition, there are scene differences according to the degree of risk, namely: Safety class (collision risk): high-frequency short-pulse sound + headrest vibration; auxiliary class (lane deviation): low-frequency continuous sound + corresponding side sound field offset; interactive class (navigation turning): soft tone + directional gradient sound effect.

[0036] For details, see Table 1: Table 1: Scene-sound effect mapping design

[0037] The above steps are further described as follows: In this embodiment, the ADAS camera, millimeter wave radar, and ultrasonic radar are used to obtain real-time environmental data, triggering the corresponding prompt logic, in the following specific manner: 1. ADAS camera Data type: mainly obtains visual information in front and side of the vehicle, including lane line position, front vehicle / pedestrian / non-motor vehicle contour and motion trajectory, traffic signal light color, road signs (such as speed limit signs), etc. For example, when driving on urban roads, the camera can identify pedestrians crossing the road 50 meters ahead, and whether the vehicle deviates from the current lane line; in the highway scene, it can capture the distance change of vehicles in the same lane within 200 meters ahead and the intention of vehicles in the adjacent lane to merge.

[0038] Triggering prompt logic Auxiliary class prompt (lane deviation): when the camera identifies that the wheel is pressing the line for 3 consecutive frames and the driver does not turn on the turn signal, it is determined that there is a risk of lane deviation, triggering the auxiliary class prompt logic. According to the scene differentiation principle, the deviation side A-pillar speaker is called to play a 400Hz low-frequency humming sound for 2 seconds, and at the same time, the vehicle body bus sends a lane deviation warning icon display instruction to the instrument panel, double reminding the driver to correct the driving direction.

[0039] Safety class prompt (front collision): If the camera recognizes that the distance between the front vehicle and the vehicle is less than the safety distance threshold (adjusted dynamically according to the vehicle speed, such as 30 meters when the vehicle speed is 60 km / h, and 80 meters when the vehicle speed is 100 km / h), and the front vehicle is in a deceleration or stationary state, the safety class prompt logic is triggered. At this time, start the high-frequency short pulse sound (1200Hz) in the corresponding direction (the front sound field is realized by the combination of the center console speakers), and at the same time, the headrest vibration module is started, with a vibration period of 500ms, until the driver takes the brake or steering avoidance action.

[0040] 2、Millimeter wave radar Data collection type: It has strong anti-interference ability and can accurately measure the distance, speed, azimuth angle and radial acceleration of the target, mainly used for monitoring the side and rear blind area of the vehicle, the oncoming vehicle at the intersection and the long-distance target. For example, when the vehicle is preparing to change lanes, the millimeter wave radar can detect the vehicle approaching quickly within 30 meters to the side and rear, and obtain the relative speed (such as the opposite vehicle approaching at a relative speed of 50 km / h) and lateral distance (such as 2.5 meters from the vehicle); When turning left at the intersection, the speed of the vehicle coming from the vertical direction within 50 meters (such as 60 km / h) can be identified.

[0041] Trigger prompt logic Safety class prompt (blind area monitoring): When the millimeter wave radar detects that the side and rear vehicle is approaching quickly (relative speed greater than 20 km / h) and the lateral distance is less than 1.5 meters (within the dangerous lane changing range), the safety class prompt logic of blind area monitoring is triggered. According to the direction mapping principle, the corresponding side (left side vehicle triggers the left door speaker, and right side vehicle triggers the right door speaker) door speaker is called to play 3 times of 800Hz pulse sound, and the volume is gradually increased (60 decibels the first time, 70 decibels the second time, and 80 decibels the third time), prompting the driver that there is a collision risk in the current lane changing, and lane changing is prohibited.

[0042] Safety class prompt (intersection warning): At the intersection, if the millimeter wave radar identifies that there is a vehicle approaching at a speed greater than 40 km / h in the vertical direction, and the vehicle has entered the intersection turning area, the safety class prompt logic of intersection collision warning is triggered. At this time, start the high-frequency pulse sound (1500Hz) in the front of the center console and in the corresponding vehicle direction (such as the right side vehicle, and at the same time, start the right door speaker), and the pulse frequency increases with the shortening of the distance (1 time per second when the distance is 30 meters, 2 times per second when the distance is 15 meters, and 3 times per second when the distance is 5 meters), and at the same time, the headrest vibration frequency is also increased, to strengthen the driver's sense of danger.

[0043] 3、Ultrasonic radar Data collection type: mainly used for close-range detection, with an effective detection range of usually 0.1-5 meters, and can accurately identify obstacles (such as walls, stone pillars, other vehicles, and pedestrian feet) in front and rear of the vehicle, and output real-time distance and relative position of the obstacles and the vehicle. For example, in the scenario of reversing, the ultrasonic radar can detect a road edge stone 0.5 meters away and a parked vehicle 1 meter away behind the vehicle; when moving the vehicle at low speed, it can identify an obstacle 0.3 meters away in front of the vehicle.

[0044] Triggering prompt logic Safety class prompt (obstacle in reversing): when the ultrasonic radar detects an object (obstacle) within 0.5 meters behind the vehicle, the safety class prompt logic for obstacle in reversing is triggered. According to the azimuth mapping principle, the rear speakers (such as the speakers on both sides of the trunk) are called to play a continuous buzzer sound of 1 kHz, and the volume is linearly increased with the shortening of the distance (65 decibels at a distance of 0.5 meters, 85 decibels at a distance of 0.3 meters, and 100 decibels at a distance of 0.1 meter, reaching the upper limit of human auditory comfort), and at the same time, the obstacle position and distance are marked on the screen through the reversing image system, reminding the driver to stop immediately.

[0045] Interactive class prompt (low-speed approach to obstacle): when the vehicle is traveling at a speed lower than 10 km / h, and the ultrasonic radar detects an obstacle 1-2 meters away in front of the vehicle, the interactive class prompt logic is triggered. According to scene differentiation design, the front console speakers are called to play a soft prompt sound (such as a 500 Hz tone, with a volume of 50 decibels), and as the distance shortens (from 2 meters to 1 meter), the interval of the prompt sound gradually shortens (from 2 seconds / time to 1 second / time), which not only avoids interfering with the driver, but also gently reminds him to control the vehicle speed.

[0046] As mentioned above, the sound effect design principle in the present embodiment is: Azimuth mapping: left / right risks correspond to left / right side speakers sounding, and rear obstacles are prompted by rear speakers.

[0047] Distance grading: the approaching risk is represented by gradually increasing volume and pulse frequency (such as a gradual prompt rhythm from slow to fast for a blind zone vehicle).

[0048] For example: when the left rear millimeter wave radar detects a vehicle 20 meters away from the left rear at a relative speed of 30 km / h, the system determines that it is a left rear blind zone risk, and immediately activates the left rear speaker, playing 3 times of 800 Hz gradually increasing pulse sound according to the sound characteristics of blind zone monitoring. The driver can quickly determine that the risk comes from the left rear by hearing the sound from the left rear, and avoid blind lane changing. For details, see Table 2.

[0049] Table 2: risk azimuth-speaker

[0050] For the security class, auxiliary class and interactive class in this embodiment: 1. Security class scenario (collision risk) Take the reverse obstacle prompt as an example, based on the distance data collected by ultrasonic radar, it is divided into three distance levels, corresponding to different sound effect parameters: First level distance (0.3-0.5 meters): in a dangerous distance, the rear speaker plays a 1kHz continuous buzzing sound, the volume is 85-100 decibels (the volume increases by 7.5 decibels for every 0.1 meter of distance reduction), and the vehicle alarm light flashes (1 time / second) at the same time, reminding the driver to stop immediately.

[0051] Second level distance (0.5-1 meter): in a medium risk distance, the rear speaker plays a 1kHz buzzing sound, the pulse frequency is 2 times / second (i.e. 0.3 seconds on, 0.2 seconds off), the volume is 70-85 decibels (the volume increases by 5 decibels for every 0.1 meter of distance reduction), and the driver is prompted to slow down when reversing.

[0052] Third level distance (1-2 meters): in a low risk distance, the rear speaker plays a 1kHz buzzing sound, the pulse frequency is 1 time / second (0.3 seconds on, 0.7 seconds off), the volume is 60-70 decibels (the volume increases by 5 decibels for every 0.2 meters of distance reduction), and the driver is gently reminded to pay attention to the situation behind.

[0053] 2. Auxiliary class scenario (lane deviation) Based on the distance of the wheel deviation from the lane line collected by the ADAS camera, it is divided into two levels: Mild deviation (wheel pressing line but not exceeding 1 / 2 of the lane line width): the A-pillar speaker on the deviation side plays a 400Hz low-frequency humming sound for 1 second, with a volume of 60 decibels, reminding the driver to slightly correct the direction.

[0054] Severe deviation (wheel exceeds 1 / 2 of the lane line width): the A-pillar speaker on the deviation side plays a 400Hz low-frequency humming sound for 2 seconds, with a volume of 75 decibels, and the headrest slightly vibrates (1 time), intensifying the reminder to the driver to immediately correct the direction.

[0055] 3. Interactive class scenario (navigation turning) Based on the distance of the vehicle from the turning intersection provided by the navigation system, it is divided into three levels: Long distance (500 meters): the center console speaker plays a soft prompt sound (such as 600Hz single tone, 0.5 seconds on, 2 seconds off), with a volume of 50 decibels, prompting the driver to prepare in advance for the upcoming turning ahead.

[0056] Medium distance (200 meters): the center console speaker plays a prompt sound (600Hz single tone, 0.5 seconds on, 1 second off), with a volume of 55 decibels, and the instrument panel displays a turning arrow, further reminding.

[0057] Close distance (50 meters): center console speaker + steering side door speaker (e.g. left door speaker for left turn) play prompt sound (600Hz tone, 0.5s on, 0.5s off) simultaneously, volume 60 decibels, prompting the driver to perform steering operation immediately.

[0058] Preferably, the embodiment also provides a dynamic sound field control scheme, namely: Environmental noise compensation: automatically adjust the prompt volume and frequency band according to vehicle speed, window state, environmental noise (avoid tire noise / wind noise main frequency band).

[0059] Environmental noise compensation includes data acquisition stage, data processing and analysis stage and compensation algorithm execution stage.

[0060] 1. Data acquisition stage Vehicle speed data: real-time acquisition of vehicle speed signal through vehicle CAN bus, sampling frequency is 10Hz, data range is 0-200km / h, which reflects the influence of vehicle driving state on noise (the higher the speed, the greater the wind noise and tire noise).

[0061] Window state data: obtain the opening degree of four windows (0% for completely closed, 100% for completely opened) through the window control module, sampling frequency is 5Hz, which is used to judge the degree of external noise entering the vehicle (the larger the window opening, the more external noise enters).

[0062] Environmental noise data: install a microphone array (2 microphones, 5cm apart) at the rearview mirror in the vehicle to collect real-time environmental noise, sampling frequency is 44.1kHz, convert time domain signal to frequency domain signal through Fourier transform, analyze noise frequency band distribution (such as tire noise mainly concentrated in 200-500Hz, wind noise mainly concentrated in 800-2000Hz) and decibel value (0-120dB).

[0063] 2. Data processing and analysis stage Noise feature extraction: process the environmental noise signal collected by the microphone using short-time Fourier transform (STFT), divide the signal into multiple 10ms short-time frames, perform Fourier transform on each frame to obtain noise energy value of each frequency band (20Hz-20kHz), and construct "frequency band-energy" distribution matrix. At the same time, calculate the equivalent continuous A sound level (Leq) of the entire noise signal as an index to measure the overall intensity of the noise.

[0064] Interference noise frequency band identification: through the preset vehicle noise database (containing noise frequency band characteristics of different vehicle models at different speeds and window states), combined with the current collected vehicle speed and window state, the main interference noise frequency band in the current scene is screened out. For example: When the vehicle speed is 60km / h and the window is fully closed, the main interference frequency band is 200-500Hz of tire noise and 500-800Hz of engine noise; When the vehicle speed is 120km / h and the window is fully opened, the main interference frequency band is 800-2000Hz of wind noise and 1000-3000Hz of external traffic noise.

[0065] Prompt sound basic parameter determination: According to the scene type of the prompt sound (safety class, auxiliary class, interaction class), the basic volume and the basic frequency band are determined. For example: The basic volume of the safety class prompt sound is 71-80dB (preferably 75dB), and the basic frequency band is 800-1500Hz; The basic volume of the auxiliary class prompt sound is 61-70dB (preferably 65dB), and the basic frequency band is 400-800Hz; The basic volume of the interaction class prompt sound is 51-60dB (preferably 55dB), and the basic frequency band is 300-600Hz.

[0066] 3. Compensation algorithm execution stage Volume compensation algorithm (based on noise intensity dynamic adjustment): An adaptive gain control (AGC) algorithm is used to calculate the target volume of the prompt sound with the equivalent continuous A sound level (Leq) of the environmental noise as the input. The formula is as follows: Target volume = Basic volume + max (0, Leq - 50dB) × 0.8 Wherein, 50dB is the noise value in a quiet environment in the vehicle, when Leq≤50dB, the target volume remains the basic volume; when Leq>50dB, for every 1dB increase in noise, the target volume increases by 0.8dB, ensuring that the prompt sound is 15-20dB higher than the environmental noise (the difference that the human ear can clearly distinguish), and the maximum target volume does not exceed 100dB (to avoid damaging hearing).

[0067] For example: the basic volume of the safety class prompt sound is 75dB, when Leq=60dB, the target volume = 75+(60-50)×0.8=83dB; when Leq=70dB, the target volume = 75+(70-50)×0.8=91dB.

[0068] Frequency band compensation algorithm (avoiding interference frequency band): A notch filter and frequency band offset algorithm are used to adjust the frequency band of the prompt sound to avoid the main interference noise frequency band. The specific steps are as follows: First step: through the wave filter, the part of the prompt tone signal which overlaps with the interference frequency band is attenuated (attenuation amplitude is 15-20 dB), for example, if the interference frequency band is 200-500 Hz, the auxiliary type prompt tone basic frequency band is 400-800 Hz, then the prompt tone signal of 400-500 Hz frequency band is attenuated by 20 dB; Second step: the effective frequency band of the prompt tone is offset to the non-interference frequency band, and the offset amount is determined according to the width of the interference frequency band. For example, after the above-mentioned auxiliary type prompt tone is attenuated in the 400-500 Hz frequency band, the prompt tone signal of the 500-800 Hz frequency band is offset by 100 Hz to the high frequency, forming a new frequency band of 600-900 Hz, so as to ensure that the main energy of the prompt tone is concentrated in the non-interference frequency band and is clearly perceived by the driver.

[0069] Dynamic adjustment and feedback optimization: after the compensated prompt tone signal is output to the corresponding loudspeaker, the microphone array collects the sound in the vehicle (including environmental noise and prompt tone) in real time, and judges the compensation effect through signal-to-noise ratio (SNR) calculation (SNR=prompt tone decibel value-environmental noise decibel value). If SNR<15 dB (the prompt tone is not clear enough), then the target volume is adjusted again (increased by 5-10 dB) or the frequency band is further offset from the interference frequency band; if SNR>25 dB (the prompt tone is too loud), then the target volume is appropriately reduced (by 3-5 dB), forming a closed-loop feedback to ensure that the compensation effect is continuously optimized.

[0070] In addition, the embodiment also solves the conflict of multiple warning tones through an arbitration algorithm (for example, when a left collision and a rear parking risk occur at the same time, the channel is broadcast according to the danger level).

[0071] Specifically, the application adopts a risk index weighted scoring algorithm to quantitatively score the risk event corresponding to each triggered prompt tone, and determines the priority according to the score, that is, the higher the score, the higher the priority. The calculation formula of the risk index (R) is as follows: R=α× risk emergency degree +β× risk severity +γ× risk probability Wherein, α, β, γ are weight coefficients, and α+β+γ=1, according to the driving safety priority, α=0.4 (emergency degree has the greatest influence), β=0.3 (severity is second), and γ=0.3 (occurrence probability assists in judgment). The scoring standards of various parameters are shown in Table 3:

[0072] According to the calculation result of the risk index (R), the priority of the prompt tone is divided into 5 levels (1 level is the lowest, and 5 level is the highest), and the specific classification standards are as follows: 5 level (R≥4.5 points): extremely high priority, must be played exclusively immediately, interrupt all low-priority prompt tones; Level 4 (3.5≤R<4.5): High priority, can be played in a separate channel with the same level prompt sound, interrupting Level 3 and below prompt sound; Level 3 (2.5≤R<3.5): Medium priority, can be played in a separate channel with Level 3 and above prompt sound, and does not interrupt high-priority prompt sound; Level 2 (1.5≤R<2.5): Low priority, only played when there is no Level 3 and above prompt sound; Level 1 (R<1.5): Lowest priority, only played when there is no other prompt sound.

[0073] The following is an example of the application process of the arbitration algorithm when both left collision risk and rear reversing risk occur: 1. Parameter scoring and risk index calculation of left collision risk Triggering scenario: The vehicle is driving at a speed of 60 km / h, preparing to change lanes, and the left rear millimeter wave radar detects a vehicle 15 meters away at a relative speed of 40 km / h (i.e. the other vehicle speed is 100 km / h), with a lateral distance of 1 meter, and the driver has not noticed and has turned on the left turn signal.

[0074] Parameter scoring Risk urgency: Vehicle relative speed 40 km / h, distance 15 meters, meeting time = 15m ÷ (40km / h ÷ 3.6) ≈ 1.35 seconds, corresponding to 4 points; Risk severity: If a collision occurs, it will cause a serious side collision, which may cause vehicle damage and personal injury, corresponding to 5 points; Risk probability: The driver has turned on the left turn signal and is likely to continue changing lanes, with a collision probability >80%, corresponding to 5 points; Risk index calculation: R = 0.4 x 4 + 0.3 x 5 + 0.3 x 5 = 1.6 + 1.5 + 1.5 = 4.6 points, corresponding to priority level 5.

[0075] 2. Parameter scoring and risk index calculation of rear reversing risk Triggering scenario: The vehicle is in reverse (vehicle speed 5 km / h), and the rear ultrasonic radar detects a stone pillar 1 meter behind the vehicle, and the driver has not observed the reversing image.

[0076] Parameter scoring Risk urgency: Vehicle speed 5 km / h, distance 1 meter, meeting time = 1m ÷ (5km / h ÷ 3.6) ≈ 0.72 seconds, corresponding to 4 points; Risk severity: Collision may cause damage to the rear bumper of the vehicle, which is a minor collision risk, corresponding to 2 points; Risk probability: The driver has not observed the image, and the probability of continuing to reverse is about 60%, corresponding to 4 points; Risk index calculation: R = 0.4x4 + 0.3x2 + 0.3x4 = 1.6 + 0.6 + 1.2 = 3.4 points, corresponding to priority level 3.

[0077] 3. Priority judgment and playing strategy Since the priority of the left collision risk (level 5) is higher than that of the rear reversing risk (level 3), the system executes the following playing strategy: Immediately interrupt the prompt sound of the rear reversing risk (level 3) and preferentially play the prompt sound of the left collision risk (level 5): call the left door speaker to play a high-frequency short pulse sound of 1200Hz (1 time / 0.5 seconds), with a volume of 90dB (volume after compensation according to the current environmental noise), and at the same time, the headrest vibrates at a period of 500ms; After the left collision risk is resolved (such as the driver cancels the left turn signal or the vehicle behind the left moves away, and the risk index R<2.5 points), the prompt sound of the rear reversing risk is restored: call the rear speaker to play a pulse beep sound of 1kHz (2 times / second), with a volume of 80dB, to remind the driver to pay attention to the rear stone pier.

[0078] (Three) General judgment rules Based on the above arbitration algorithm, the general rules for multi-sound source priority judgment are summarized to ensure accurate sorting in various multi-risk scenarios: Emergency priority rule: when the emergency scores of two risk events differ by ≥2 points, preferentially select the prompt sound corresponding to the event with higher emergency, even if its severity or probability of occurrence is lower. For example, a pedestrian suddenly appears in front (emergency 5 points) and a vehicle slowly approaches from the side (emergency 2 points), and the front pedestrian prompt sound is preferentially played.

[0079] Severity bottom rule: when the emergency scores of two risk events differ by <2 points, but the severity scores differ by ≥2 points, preferentially select the prompt sound corresponding to the event with higher severity. For example, a side collision risk (severity 5 points, emergency 3 points) and a front minor scratch risk (severity 2 points, emergency 4 points), and the side collision prompt sound is preferentially played.

[0080] Split-channel playing rule: when the priorities of two risk events are the same (such as both are level 4) and the sound directions are different, adopt the split-channel playing strategy, i.e., call the speaker corresponding to the direction to play the prompt sound, to avoid sound superposition interference. For example, a left-coming vehicle risk (level 4, left door speaker) and a front decelerating vehicle risk (level 4, center console speaker), and the two prompt sounds are played at the same time, and the driver can distinguish the risk sources through the direction.

[0081] Priority degradation rule: when a high-priority prompt sound is continuously played for more than 5 seconds (e.g., the driver does not respond), and the risk corresponding to the low-priority prompt sound continues to escalate (e.g., the distance of the rear collision risk is shortened from 1 meter to 0.5 meters), the priority of the low-priority prompt sound can be temporarily increased by 1 level, and the high-priority prompt sound and the low-priority prompt sound are played in different channels. For example, after the left collision prompt sound (level 5) is continuously played for 3 seconds, the distance of the rear collision risk is shortened to 0.5 meters (the risk index is increased from 3.4 points to 4.0 points, and the priority is increased from level 3 to level 4), at this time, the system simultaneously plays the left collision prompt sound (left door) and the rear collision prompt sound (rear speaker), reminding the driver to pay attention to both risks.

[0082] In summary, the cockpit prompt sound interaction method in the present application determines the type, direction, and degree of risk according to the acquired environmental data around the vehicle, the degree of risk is determined according to the distance parameter, the speed parameter, and the risk level threshold; according to the direction of the risk, the speaker at the corresponding position is selected; according to the degree of the risk, the sound parameter is generated, the sound parameter includes volume, rhythm, and frequency; the speaker at the corresponding position is controlled to play the sound effect corresponding to the sound parameter.

[0083] That is, the intelligent prompt sound design based on spatial orientation in the present application converts multiple speakers on the vehicle body into a "sound radar". Based on the environmental risk direction (such as left / right side oncoming vehicle, rear obstacle), the system automatically calls the speaker at the corresponding position to sound, combines the gradual change of volume and the change of rhythm to convey the dangerous distance, so that the driver can intuitively judge the risk direction and emergency degree through hearing without thinking. Thus, while improving safety, the present application also considers the immersion and comfort of the driving scene through tone personalization configuration.

[0084] In a second aspect, the embodiments of the present application also provide a cockpit prompt sound interaction device.

[0085] In an embodiment, referring to Figure 2 , Figure 2 The figure is a functional module schematic diagram of an embodiment of the cockpit prompt sound interaction device of the present application. As shown in the figure, the cockpit prompt sound interaction device includes a judgment module, a selection module, a generation module, and a control module. Figure 2

[0086] The judgment module is configured to determine the type, direction, and degree of risk according to the acquired environmental data around the vehicle, and the degree of risk is determined according to the distance parameter, the speed parameter, and the risk level threshold; The selection module is configured to select the speaker at the corresponding position according to the direction of the risk; The generation module generates the sound parameter according to the degree of the risk, and the sound parameter includes volume, rhythm, and frequency; ​a control module configured to control a speaker corresponding to the position to play a sound effect corresponding to the sound parameter.

[0087] Further, in an embodiment, the judging module is further configured to: perform priority arbitration based on a risk index when multiple risk types are detected.

[0088] Further, in an embodiment, the judging module performs priority arbitration based on a risk index, including: calculating a risk index R according to a formula: R = a x risk urgency + b x risk severity + g x risk probability; determining a priority corresponding to the risk according to a value of the risk index R; playing the sound effect corresponding to the sound parameter of each risk in order of priority before the risk is resolved; wherein a, b, and g are weight coefficients, risk urgency corresponds to risk occurrence time, and risk severity corresponds to collision risk and degree.

[0089] Further, in an embodiment, the system further includes a compensation module configured to: calculate an equivalent continuous A sound level Leq according to vehicle speed data, window state data, and in-vehicle ambient noise data, and determine an interference noise frequency band in a current scenario; determine a base volume and a base frequency band of a prompt tone in the current scenario according to the classification of the degree of the risk; calculate a target volume after volume compensation according to a formula: target volume = base volume + max(0, Leq - 50dB) x 0.8; adjust the base frequency band according to a notch filtering and frequency band offset algorithm to avoid the interference noise frequency band.

[0090] Further, in an embodiment, the compensation module is further configured to: determine a compensation effect according to a difference between a target volume decibel value after compensation and an in-vehicle ambient noise decibel value; if the difference is less than a first threshold value, increase the target volume decibel value or further offset the interference noise frequency band; if the difference is greater than a second threshold value, decrease the target volume decibel value; wherein the first threshold value is less than the second threshold value.

[0091] The functions of each module in the cockpit prompt tone interaction device correspond to the steps in the cockpit prompt tone interaction method embodiments, and their functions and implementation processes will not be repeated here.

[0092] In a third aspect, the embodiments of the present application provide a cockpit prompt sound interaction device. The cockpit prompt sound interaction device can be a personal computer (PC), a notebook computer, a server, or the like.

[0093] Reference Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a hardware structure of a cockpit prompt sound interaction device according to an embodiment of the present application. In the embodiment of the present application, the cockpit prompt sound interaction device can include a processor, a memory, a communication interface, and a communication bus.

[0094] The communication bus can be of any type and used to interconnect the processor, the memory, and the communication interface.

[0095] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and the like, which are used to interconnect devices inside the cockpit prompt sound interaction device, and interfaces used to interconnect the cockpit prompt sound interaction device with other devices (for example, other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, or the like; and the user device can be a display (Display), a keyboard (Keyboard), or the like.

[0096] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), or the like.

[0097] The processor can be a general-purpose processor, which can invoke a cockpit prompt sound interaction program stored in the memory and execute the cockpit prompt sound interaction method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed by the cockpit prompt sound interaction program when invoked can refer to various embodiments of the cockpit prompt sound interaction method of the present application, which will not be described herein.

[0098] Those skilled in the art can understand that Figure 3The hardware structure shown in the figures is not intended to limit the present application, and can include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0099] In a fourth aspect, the embodiments of the present application further provide a readable storage medium.

[0100] The readable storage medium of the present application stores a cabin prompt tone interaction program, wherein the cabin prompt tone interaction program, when executed by a processor, implements the steps of the cabin prompt tone interaction method described above.

[0101] The method implemented when the cabin prompt tone interaction program is executed can refer to the embodiments of the cabin prompt tone interaction method of the present application, which will not be described here.

[0102] It should be noted that the serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0103] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for causing a terminal device to execute the methods described in the embodiments of the present application.

[0104] The terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above-described drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0105] In the description of the embodiments of the present application, "exemplary", "for example", "for instance" or the like means to serve as an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary", "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0106] In the description of the embodiments of the present application, unless otherwise specified, " / " means the meaning of or, for example, A / B can mean A or B; "and / or" in the text only describes the relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0107] In some processes described in the embodiments of the present application, a plurality of operations or steps are included, which appear in a specific order, but it should be understood that these operations or steps can be executed or executed in parallel without the order in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0108] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cockpit chime interaction method, characterized in that, The cabin prompt sound interaction method comprises: According to the acquired environmental data around the vehicle, the type, direction and degree of risk are determined, and the degree of risk is determined according to distance parameters, speed parameters and risk level thresholds; According to the direction of the risk, a speaker at a corresponding position is selected; According to the degree of risk, sound parameters are generated, including volume, rhythm and frequency; The speaker at the corresponding position plays the sound effect corresponding to the sound parameters.

2. The cockpit chime interaction method of claim 1, wherein, Also includes: When multiple risk types are detected, priority arbitration is performed based on a risk index.

3. The cockpit chime interaction method of claim 2, wherein, The priority arbitration based on the risk index comprises: According to the formula: R = α × risk urgency + β × risk severity + γ × risk probability, the risk index R is calculated; According to the value of the risk index R, the priority corresponding to the risk is determined; Before the risk is removed, the sound effect corresponding to the sound parameters of each risk is played in order of priority from high to low; Wherein, α, β, γ are weight coefficients, risk urgency corresponds to risk occurrence time, and risk severity corresponds to collision risk and degree.

4. The cockpit chime interaction method of claim 1, wherein, Also includes an environmental noise compensation step, which comprises: According to the speed data, window state data and in-vehicle environmental noise data of the vehicle, the equivalent continuous A sound level Leq is calculated, and the interference noise frequency band in the current scene is determined; According to the classification of the degree of risk, the basic volume and basic frequency band of the prompt sound in the current scene are determined; According to the formula: target volume = basic volume + max(0, Leq - 50dB) × 0.8, the target volume after volume compensation is calculated; The basic frequency band is adjusted according to the notch filter and frequency band offset algorithm to avoid the interference noise frequency band.

5. The cockpit chime interaction method of claim 4, wherein, Also includes: According to the difference between the target volume decibel value after compensation and the in-vehicle environmental noise decibel value, the compensation effect is determined; If the difference is less than a first threshold, the target volume decibel value is increased or the interference noise frequency band is further offset; If the difference is greater than a second threshold, the target volume decibel value is reduced; Wherein, the first threshold is less than the second threshold.

6. The cabin prompt sound interaction method of claim 4, wherein: The classification of the degree of risk comprises safety class, auxiliary class and interaction class; Wherein, the basic volume of the safety class prompt sound is 71-80dB, and the basic frequency band is 800-1500Hz; The basic volume of the auxiliary class prompt sound is 61-70dB, and the basic frequency band is 400-800Hz; The basic volume of the interaction class prompt sound is 51-60dB, and the basic frequency band is 300-600Hz.

7. The cockpit chime interaction method of claim 1, wherein, The environmental data around the vehicle comprises: Visual information in front of and to the side of the vehicle, including lane line position, profile and motion trajectory of front target, traffic signal light color and / or road sign; The speed, azimuth angle, radial acceleration and distance relative to the vehicle of the target in the blind area to the side and rear of the vehicle, intersection and long distance; The distance and position of the near distance target relative to the vehicle in front and rear of the vehicle.

8. A cockpit chime interaction device, characterized by, The cabin prompt sound interaction device comprises: a judging module configured to judge a type, a direction and a degree of a risk according to the acquired environmental data around the vehicle, the degree of the risk being determined according to a distance parameter, a speed parameter and a risk level threshold; a selecting module configured to select a speaker at a corresponding position according to the direction of the risk; a generating module configured to generate a sound parameter according to the degree of the risk, the sound parameter including a volume, a rhythm and a frequency; a controlling module configured to control the speaker at the corresponding position to play a sound effect corresponding to the sound parameter.

9. A cockpit chime interaction device, comprising: The cockpit prompt sound interaction device comprises a processor, a memory, and a cockpit prompt sound interaction program stored in the memory and executable by the processor, wherein the cockpit prompt sound interaction program, when executed by the processor, implements the steps of the cockpit prompt sound interaction method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The cockpit prompt sound interaction program is stored in the computer readable storage medium, and when executed by the processor, implements the steps of the cockpit prompt sound interaction method according to any one of claims 1 to 7.

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