Vehicle warning tone generation method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicle active safety, in particular to a vehicle warning tone generation method and device, a vehicle and a storage medium, and the method comprises the steps that driving noise data of the vehicle, a sound transfer function and a frequency response curve of a loudspeaker are acquired, the sound transfer function is a transfer function that the prompt tone is transferred from a loudspeaker outside the vehicle to the interior of the vehicle; generating a basic harmonic sound source of the vehicle warning tone according to the driving noise data, the sound transfer function and the frequency response curve, and selecting the characteristic frequency of the vehicle warning tone according to the loudness curve and the sound insulation curve of the vehicle; and mixing the basic sound source of the vehicle warning tone with the characteristic frequency to obtain a final sound source of the vehicle warning tone, and playing the final sound source through a loudspeaker outside the vehicle when the vehicle warning tone is triggered. Therefore, the problems that when the low-speed warning tone is designed in the related technology, the warning performance of the warning tone outside the automobile is insufficient or perception is weak, and noise in the automobile interferes with a driver or causes dysphoria are solved.

Description

Technical Field

[0001] This application relates to the field of low-speed pedestrian warning technology in vehicle active safety technology, and in particular to a method, device, vehicle and storage medium for generating vehicle warning sounds. Background Technology

[0002] Electric vehicles, lacking an engine, experience significantly lower external noise levels at low speeds compared to traditional internal combustion engine vehicles. They need to actively emit low-speed warning sounds to alert pedestrians. However, many related technologies use simulated engine sounds or artificially synthesized musical tones. While these sounds fall within the sensitive frequency range for the human ear, they are easily affected by ambient noise outside the vehicle, resulting in insufficient warning effectiveness. Furthermore, a large amount of these sounds are transmitted into the cabin, increasing interior noise and negatively impacting the driver's experience. Summary of the Invention

[0003] This application provides a method, device, vehicle, and storage medium for generating vehicle warning sounds, in order to solve the problems that are easily encountered in the design of low-speed warning sounds in related technologies, such as insufficient warning or weak perception of external warning sounds, and noise inside the vehicle interfering with the driver or causing irritability.

[0004] The first aspect of this application provides a method for generating vehicle alert sounds, comprising the following steps: acquiring vehicle driving noise data, a sound transfer function, and a speaker frequency response curve, wherein the sound transfer function is the transfer function of the alert sound from the speaker outside the vehicle to the interior of the vehicle; generating a basic harmonic source of the vehicle alert sound based on the driving noise data, the sound transfer function, and the frequency response curve; selecting a characteristic frequency of the vehicle alert sound based on a loudness curve and a sound insulation curve of the vehicle; mixing the basic sound source and the characteristic frequency of the vehicle alert sound to obtain a final sound source of the vehicle alert sound; and playing the final sound source through a speaker outside the vehicle when the vehicle alert sound is triggered.

[0005] Based on the aforementioned technical means, this application embodiment designs vehicle alert sounds through multi-dimensional acoustic data fusion: first, it acquires vehicle driving noise, the sound transfer function from the external speaker to the vehicle interior, and the speaker frequency response curve to generate a basic harmonic source; then, it selects characteristic frequencies by combining the loudness curve and the vehicle sound insulation curve; finally, it mixes the basic sound source and the characteristic frequencies to obtain the alert sound, which is then played through the external speaker. Because the external alert sound is designed by combining driving noise data and speaker characteristics, it maintains high perceptibility in complex environments, effectively warning pedestrians; by optimizing the alert sound based on the sound transfer function and sound insulation curve, it reduces the transmission of the alert sound into the vehicle, lowers noise interference to the driver, and improves the driving experience; thus achieving a balance between external warning effectiveness and in-vehicle comfort.

[0006] Optionally, before acquiring the vehicle's driving noise data, sound transfer function, and speaker frequency response curve, the method further includes: acquiring at least one test environment for the test vehicle; generating at least one test condition based on the at least one test environment; collecting driving noise data of the test vehicle under each test condition; and determining the target vehicle speed based on the current gear of the test vehicle when collecting driving noise data.

[0007] Based on the aforementioned technical means, this application embodiment is a pre-processing data acquisition and optimization step for vehicle alert tone generation: first, at least one test environment for the test vehicle is determined, and then corresponding test conditions are generated based on the test environment; driving noise data is collected under each test condition, and the target vehicle speed is determined according to the current gear position during collection, providing data support for subsequent alert tone design. This covers different scenarios of actual vehicle driving, avoiding the limitations of noise data under a single test condition, and ensuring that the subsequently generated alert tones are adapted to diverse actual scenarios; combining the target vehicle speed data with the current gear position conforms to the correlation characteristics of "gear-vehicle speed" in actual vehicle driving, making the collected driving noise data closer to the actual driving state and improving the accuracy of subsequent alert tone design.

[0008] Optionally, the duration for which driving noise data is collected is less than a preset duration, and the target vehicle speed is less than a preset vehicle speed.

[0009] Based on the aforementioned technical means, this application embodiment clarifies two core constraints for driving noise data collection: first, the collection time does not exceed a preset time, which can avoid redundant data collection, reduce data processing costs, and accelerate the subsequent prompt sound design process; second, the target vehicle speed during collection does not exceed a preset vehicle speed, ensuring that the collected driving noise data matches the low-speed operating conditions for which the prompt sound needs to take effect, providing data support that meets actual needs for the subsequent generation of prompt sounds adapted to low-speed scenarios, and avoiding interference from high-speed operating condition data on the design of low-speed prompt sounds.

[0010] Optionally, the formula for calculating the basic harmonic source of the vehicle warning tone is: M1 = M2 / (F*T) Where M1 is the low-speed warning sound source; M2 is the basic sound source; F is the frequency-response characteristic of the low-speed warning sound speaker; and T is the sound transfer function from the low-speed warning sound speaker mounting point outside the vehicle to the driver's ear inside the vehicle.

[0011] Optionally, before generating the basic harmonic source of the vehicle warning sound based on the driving noise data, sound transfer function, and frequency response curve, the method further includes: performing random noise removal processing on the driving noise data.

[0012] Based on the above technical means, the embodiments of this application improve the purity of driving noise data by eliminating random noise. The driving noise data can more realistically reflect the inherent noise characteristics of the vehicle when driving at low speed, avoiding invalid data from interfering with subsequent design. The generation of basic harmonic wave sources based on pure driving noise data can reduce the deviation of sound source frequency and loudness caused by random noise, laying a reliable data foundation for balancing external warning and internal low interference. This allows the subsequent accurate basic harmonic wave sources to be combined with characteristic frequencies to more accurately match actual needs, avoiding the problem of insufficient external warning or excessive internal noise caused by impurities in the original data.

[0013] Optionally, the characteristic frequency of the vehicle warning sound is selected based on the loudness curve and the vehicle's sound insulation curve, including: obtaining the correspondence between the characteristic frequency of the harmonic sound, the loudness curve, and the sound insulation curve; using the loudness curve and the sound insulation curve as indexes, querying the correspondence to obtain the characteristic frequency of the harmonic sound, and using the characteristic frequency of the harmonic sound as the characteristic frequency of the vehicle warning sound.

[0014] Based on the aforementioned technical means, this application embodiment, by combining loudness curve selection, ensures that the characteristic frequency has sufficient loudness outside the vehicle to achieve a warning effect; by combining vehicle sound insulation curve selection, it reduces the transmission of the characteristic frequency into the vehicle, balancing external warning effectiveness with low-interference performance inside the vehicle from the source; through preset correspondence and hyperbolic index lookup, it improves the efficiency and accuracy of characteristic frequency selection, reduces manual intervention, and ensures that the frequency selection result matches the actual usage scenario. This allows for subsequent mixing of the accurately adapted characteristic frequency with the basic sound source, further enhancing the recognizability of the external warning sound while reducing noise interference inside the vehicle, meeting the requirements for low-speed warning sounds.

[0015] Optionally, the final sound source of the vehicle alert tone is obtained by mixing the basic sound source and the characteristic frequency, including: mixing the basic sound source and the characteristic frequency; adjusting the sound pressure level of the two sound sources during the mixing process to obtain the adjusted mixing score; determining the final mixing ratio of the two sound sources based on the mixing score; and mixing the basic sound source and the characteristic frequency based on the final mixing ratio to obtain the final sound source of the vehicle alert tone.

[0016] Based on the aforementioned technical means, this application embodiment, by adjusting the sound pressure level and reference mixing score, can prevent the basic sound source and characteristic frequency from masking each other (e.g., if the characteristic frequency is too weak, the external warning will be insufficient, or if the basic sound source is too strong, it will increase the interference inside the vehicle), ensuring that the two functions complement each other and avoiding sound source imbalance; using the mixing score as the basis for determining the ratio, rather than subjective setting, reduces human error, so that the final sound source can stably meet the needs of high external perception and low internal interference in different scenarios (e.g., different vehicle speeds and environmental noise), ensuring the stability of the final sound source effect; the basic sound source ensures the basic warning, and the characteristic frequency adapts to the hardware and vehicle sound insulation characteristics. After reasonable mixing, it can further improve the external recognition, while reducing the noise transmitted inside the vehicle, optimizing the overall user experience, and strengthening the targeting of the warning sound.

[0017] A second aspect of this application provides a vehicle alert sound generation device, comprising: an acquisition module for acquiring vehicle driving noise data, a sound transfer function, and a speaker frequency response curve, wherein the sound transfer function is the transfer function of the alert sound from the speaker outside the vehicle to the interior of the vehicle; a generation module for generating a basic harmonic source of the vehicle alert sound based on the driving noise data, the sound transfer function, and the frequency response curve, and selecting a characteristic frequency of the vehicle alert sound based on a loudness curve and a sound insulation curve of the vehicle; and a mixing module for mixing the basic sound source and the characteristic frequency of the vehicle alert sound to obtain a final sound source of the vehicle alert sound, and playing the final sound source through a speaker outside the vehicle when the vehicle alert sound is triggered.

[0018] Optionally, it also includes a testing module for acquiring at least one test environment for the test vehicle before acquiring the vehicle's driving noise data, sound transfer function, and speaker frequency response curve; generating at least one test condition based on the at least one test environment; acquiring driving noise data of the test vehicle under each test condition; and determining the target vehicle speed based on the current gear of the test vehicle when acquiring driving noise data of the test vehicle.

[0019] Optionally, the duration for which driving noise data is collected is less than a preset duration, and the target vehicle speed is less than a preset vehicle speed.

[0020] Optionally, the formula for calculating the basic harmonic source of the vehicle warning tone is: M1 = M2 / (F*T) Where M1 is the low-speed warning sound source; M2 is the basic sound source; F is the frequency-response characteristic of the low-speed warning sound speaker; and T is the sound transfer function from the low-speed warning sound speaker mounting point outside the vehicle to the driver's ear inside the vehicle.

[0021] Optionally, it also includes a noise reduction module for performing random noise reduction processing on the driving noise data before generating the basic harmonic source of the vehicle alert tone based on the driving noise data, sound transfer function and frequency response curve.

[0022] Optionally, the generation module is further configured to select the characteristic frequency of the vehicle alert sound based on the loudness curve and the vehicle's sound insulation curve, including: obtaining the correspondence between the characteristic frequency of the harmonic sound, the loudness curve, and the sound insulation curve; using the loudness curve and the sound insulation curve as indexes, querying the correspondence to obtain the characteristic frequency of the harmonic sound, and using the characteristic frequency of the harmonic sound as the characteristic frequency of the vehicle alert sound.

[0023] Optionally, the mixing module is further used to mix the basic sound source and characteristic frequency of the vehicle prompt sound to obtain the final sound source of the vehicle prompt sound, including: mixing the basic sound source and characteristic frequency; adjusting the sound pressure level of the two sound sources during the mixing process to obtain the adjusted mixing score; determining the final mixing ratio of the two sound sources based on the mixing score; and mixing the basic sound source and characteristic frequency based on the final mixing ratio to obtain the final sound source of the vehicle prompt sound.

[0024] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the vehicle prompt sound generation method as described in the above embodiments.

[0025] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle alert tone generation method as described in the above embodiments.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram showing the location of the low-speed warning speaker and the direction of sound propagation in related technologies. Figure 2 This is a schematic diagram of a loudness curve provided according to an embodiment of this application; Figure 3 This is a flowchart of a vehicle alert sound generation method according to an embodiment of this application; Figure 4 This is a schematic diagram of the microphone arrangement according to an embodiment of this application; Figure 5 This is a schematic diagram of the sound transmission path provided according to an embodiment of this application; Figure 6 This is a schematic diagram of the transfer function curve provided according to an embodiment of this application; Figure 7 This is a schematic diagram of the frequency response curve of a low-speed alert sound speaker provided according to an embodiment of this application; Figure 8 This is a schematic diagram of the sound spectrum of audio M2 and M1 provided according to embodiments of this application; Figure 9 This is a schematic diagram of the sound transmission process provided according to an embodiment of this application; Figure 10 This is a schematic diagram of sound absorption and insulation of an automotive acoustic package according to an embodiment of this application; Figure 11 This is a schematic diagram of the sound insulation curve for a certain type of vehicle. Figure 12 This is a schematic diagram of the audio spectrum before and after adding characteristic harmonics according to an embodiment of this application; Figure 13 This is a schematic diagram of the audio spectrum before and after adding characteristic harmonics according to an embodiment of this application; Figure 14 This is a flowchart illustrating an implementation of a vehicle alert sound generation method according to another embodiment of this application; Figure 15 This is a block diagram of a vehicle alert sound generation device provided according to an embodiment of this application; Figure 16 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0028] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0029] Because pure electric vehicles lack an engine, their external noise levels are significantly lower than those of traditional internal combustion engine vehicles when traveling at speeds below 20 km / h. This makes it difficult for other road users to detect the approaching vehicle, increasing the risk of traffic accidents. Therefore, electric vehicles need to actively emit low-speed warning sounds to alert pedestrians. However, adding a low-speed warning sound system also transmits the sound into the cabin, increasing interior noise and exposing the driver to annoying noise, thus affecting the driving experience. A diagram illustrating the placement and sound propagation direction of the low-speed warning sound speaker is shown below. Figure 1As shown, the low-speed warning sounds used in these technologies are mainly divided into two categories based on their sound style: simulating the engine sound of a traditional gasoline-powered vehicle and artificially synthesized musical sounds (sounds with rich harmonics, giving them a technological feel, or musical melodies). Both types of sounds fall within the frequency range that the human ear is most sensitive to. While alerting pedestrians, they are also easily transmitted into the vehicle and perceived by the driver, leading to complaints.

[0030] The following description, with reference to the accompanying drawings, outlines a vehicle alert sound generation method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the issues mentioned in the background section regarding insufficient external warning or weak perception of low-speed alert sounds, and the potential for in-vehicle noise to interfere with or irritate the driver, this application provides a method for designing low-speed alert sounds for electric vehicles. Based on the vehicle's inherent noise characteristics, and by analyzing the vehicle's sound transfer function, combined with psychoacoustic principles and equal-loudness curves, the low-speed alert sound is specifically designed to be highly perceptible outside the vehicle, effectively alerting pedestrians, while simultaneously possessing low perceptibility inside the vehicle, reducing noise impact on the driver and improving the user's driving experience.

[0031] It should be noted that the psychoacoustic principles involved in this application include the loudness principle and the cocktail party effect, as detailed below: (1) Loudness Principle: According to psychoacoustic research, the human ear's perception of the "loudness" of sound is related not only to sound pressure but also to frequency. Sounds with the same sound pressure level but different frequencies sound louder. Based on the characteristics of human ear's perception of sound, the subjective acoustic quantity of sound perceived by a person is determined according to sound pressure and frequency, called loudness level, with the unit being cubic meters (dB). The human ear is sensitive to high-frequency noise in the range of 1000–5000 Hz, but not sensitive to low-frequency sounds. For example, a loudness level of 40 DB corresponds to a sound pressure level of 40 dB for a 1000 Hz sound; 37 dB for a 4000 Hz sound; 52 dB for a 100 Hz sound; and 78 dB for a 30 Hz sound. In other words, a low-frequency sound of 80 dB sounds the same as a high-frequency sound of 37 dB. The loudness curve is shown below. Figure 2 As shown. Based on this psychoacoustic phenomenon, when designing low-speed warning sounds, the sound entering the vehicle should be predominantly low-frequency to avoid frequencies sensitive to human hearing. However, sounds emitted outside the vehicle should include frequencies sensitive to human hearing to increase their effectiveness and alert pedestrians to the vehicle.

[0032] (2) Cocktail Party Effect: In a noisy indoor environment, such as a cocktail party, there are many different sound sources simultaneously: the sounds of multiple people talking, the clinking of cutlery, music, and reflected sounds from walls and objects in the room. During the transmission of sound waves, sound waves from different sources, as well as direct and reflected sound, superimpose in the propagation medium (usually air) to form complex mixed sound waves. Therefore, in the mixed sound waves reaching the listener's external auditory canal, there are no independent sound waves corresponding to each sound source. However, in this acoustic environment, the listener can understand the target statement to a considerable extent. This phenomenon is because people can separate and focus on specific sound information in a noisy environment. When a person's auditory attention is focused on something, the conscious mind excludes some irrelevant sound stimuli, while the unconscious mind is constantly monitoring external stimuli. Once there are some special stimuli related to oneself, they can immediately attract attention. This effect is actually an adaptive ability of the auditory system. Simply put, our brain makes a certain judgment about the sound before deciding whether to listen or not.

[0033] Based on the aforementioned psychoacoustic principles, when driving at low speeds, users typically perceive tire noise as normal and familiar, based on their driving experience. However, the presence of additional frequencies will trigger alertness in the user's brain, drawing their attention. Therefore, when designing low-perception, low-speed warning sounds, the in-vehicle sound should be made as consistent as possible with the frequency components of road noise during low-speed driving to avoid eliciting special attention or perception from the driver; while adding frequencies sensitive to the human ear outside the vehicle to adequately attract the attention of pedestrians.

[0034] Specifically, Figure 3 This is a flowchart illustrating a method for generating vehicle alert sounds provided in an embodiment of this application.

[0035] like Figure 3 As shown, the method for generating vehicle alert sounds includes the following steps: In step S301, the vehicle's driving noise data, sound transfer function, and speaker frequency response curve are acquired, wherein the sound transfer function is the transfer function of the prompt sound from the speaker outside the vehicle to the inside of the vehicle.

[0036] It is understood that the data obtained in this application's embodiments cover the vehicle's own noise environment, the sound propagation characteristics inside and outside the vehicle, and the speaker hardware output characteristics, to avoid subsequent warning tone design deviating from the actual scenario or hardware capabilities due to data gaps; the sound transfer function is clearly defined as the transmission characteristics from the external speaker to the inside of the vehicle, providing data basis for reducing the transmission of warning tones into the vehicle and balancing external warnings with in-vehicle comfort; driving noise data ensures that the warning tone can be adapted to the vehicle's own noise level, and the speaker frequency response curve ensures that the warning tone is not distorted after being played by the hardware, improving the reliability of the warning tone effect in subsequent designs.

[0037] In this embodiment of the application, before acquiring the vehicle's driving noise data, sound transfer function, and speaker frequency response curve, the method further includes: acquiring at least one test environment for the test vehicle; generating at least one test condition based on the at least one test environment; collecting driving noise data of the test vehicle under each test condition; and determining the target vehicle speed based on the current gear of the test vehicle when collecting driving noise data of the test vehicle.

[0038] It is understood that the embodiments of this application involve a pre-processing data acquisition and optimization step for vehicle alert tone generation: first, at least one test environment for the test vehicle is determined, and then corresponding test conditions are generated based on the test environment; driving noise data is collected under each test condition, and the target vehicle speed is determined based on the current gear position during collection, providing data support for subsequent alert tone design. This covers different scenarios of actual vehicle driving, avoiding the limitations of noise data under a single test condition, and ensuring that the subsequently generated alert tones are adapted to diverse actual scenarios; combining the target vehicle speed data with the current gear position conforms to the correlation characteristics of "gear-vehicle speed" in actual vehicle driving, making the collected driving noise data closer to the actual driving state and improving the accuracy of subsequent alert tone design.

[0039] Specifically, the procedure for collecting low-speed vehicle noise is as follows: The test environment must meet the following conditions: sunny weather, smooth asphalt road surface without rain or snow; the microphone is positioned at position A on the right side of the driver's headrest inside the vehicle (positioning as shown in the image). Figure 4 As shown in the image, this data was used to collect in-vehicle noise. The data collection conditions included driving at a constant speed of 15 km / h in D gear and at a constant speed of 6 km / h in R gear. The collection time for each condition was 10 seconds, and the collected data was ultimately stored as an audio file in .wav format, denoted as M. O-D15 and M O-R6 .

[0040] In this embodiment of the application, the duration for which driving noise data is collected is less than a preset duration, and the target vehicle speed is less than a preset vehicle speed.

[0041] It is understood that the embodiments of this application clearly define two core constraints for the collection of driving noise data: first, the collection time does not exceed the preset time, which can avoid redundant data collection, reduce data processing costs, and speed up the subsequent prompt sound design process; second, the target vehicle speed during collection does not exceed the preset vehicle speed, ensuring that the collected driving noise data matches the low-speed operating conditions for which the prompt sound needs to take effect, providing data support that meets actual needs for the subsequent generation of prompt sounds adapted to low-speed scenarios, and avoiding interference from high-speed operating condition data on the design of low-speed prompt sounds.

[0042] It should be noted that the preset duration is set based on the stability requirements of noise characteristics under low-speed driving conditions, avoiding noise data redundancy caused by speed fluctuations due to excessively long collection duration, or data lacking statistical representativeness due to excessively short duration; the preset vehicle speed is the low-speed warning sound trigger speed threshold specified in the standard, ensuring that the collected driving noise data accurately matches the low-speed scenarios where the warning sound needs to take effect. This application does not specify the specific values ​​or implementation methods of the preset duration and preset vehicle speed.

[0043] In step S302, the basic harmonic source of the vehicle warning sound is generated based on the driving noise data, sound transfer function and frequency response curve, and the characteristic frequency of the vehicle warning sound is selected based on the loudness curve and the vehicle's sound insulation curve.

[0044] It is understood that the generation of the basic harmonic wave source in this application embodiment combines the actual noise environment of the vehicle, the sound propagation characteristics, and the performance of the speaker hardware to ensure that it can adapt to the vehicle's own noise and is not distorted after being played through the speaker, thus providing a reliable basis for the alert tone. The selection of characteristic frequencies is based on the loudness curve (to ensure sufficient perception outside the vehicle) and the vehicle's sound insulation characteristics (to reduce transmission inside the vehicle), achieving a balance of "easy to perceive outside the vehicle and low interference inside the vehicle" from the source, laying a precise frequency foundation for the final alert tone effect. All of these are based on actual measurement data to avoid subjective design deviations and improve the adaptability of the alert tone to the vehicle scene and hardware.

[0045] In this embodiment of the application, the calculation formula for the basic harmonic source of the vehicle warning sound is as follows: M1 = M2 / (F*T) Where M1 is the low-speed warning sound source; M2 is the basic sound source; F is the frequency-response characteristic of the low-speed warning sound speaker; and T is the sound transfer function from the low-speed warning sound speaker mounting point outside the vehicle to the driver's ear inside the vehicle.

[0046] Specifically, the measurement method for the vehicle sound transfer function is as follows: This application uses the volumetric sound source method to measure the transfer function of sound transmitted from the location of the low-speed warning speaker outside the vehicle (point B) to the location of the driver's headrest inside the vehicle (point A). This transfer function is denoted as T, and the transmission path and measurement point locations are as follows. Figure 5 As shown, the transfer function curve is as follows: Figure 6As shown; the measurement method for the frequency response curve of the low-speed alert tone speaker is as follows: The frequency response curve of the low-speed alert tone speaker is measured, and the corresponding frequency response curve (denoted as F) is finally obtained. The frequency response curve F is shown in the figure. Figure 7 As shown. The design logic of the basic sound source in this application is as follows: Based on the principles of psychoacoustics, if the low-speed warning sound is transmitted to the vehicle at a low frequency and its frequency components are close to the road noise inside the vehicle, it can reduce the driver's extra attention and complaints.

[0047] Therefore, its design principle is to use lower frequency sounds to ensure that the frequency components and audible quality of the warning tone are consistent with the road noise inside the vehicle after it is transmitted into the cabin. The low-speed driving noise audio, after preprocessing (i.e., eliminating random noise), is used as the base sound (denoted as M2), and the low-speed warning tone source is denoted as M1. After M1 is emitted from the low-speed warning tone speaker, it is affected by the speaker's frequency response characteristics (F); during its transmission from outside the vehicle to inside, it is also affected by the sound transfer function (T, i.e., the transfer function from the speaker's mounting point outside the vehicle to the driver's ear inside the vehicle). Therefore, the following relationship is satisfied: M1*F*T=M2. From this, we can deduce: M1=M2 / (F*T), and the sound spectrum diagrams of audio M2 and M1 are as follows: Figure 8 As shown in the diagram, the sound transmission process is illustrated below. Figure 9 Through the above operation process, the basic sound source of the low-speed warning sound can be transmitted from outside the vehicle to inside the vehicle, and it can have the same frequency characteristics and hearing as the road noise inside the vehicle at the same speed, so as to achieve natural integration with the road noise and reduce the driver's perception of the warning sound.

[0048] In this embodiment of the application, before generating the basic harmonic source of the vehicle warning sound based on the driving noise data, the sound transfer function and the frequency response curve, the method further includes: performing random noise elimination processing on the driving noise data.

[0049] It is understood that the embodiments of this application improve the purity of driving noise data by eliminating random noise. The driving noise data can more realistically reflect the inherent noise characteristics of the vehicle when driving at low speeds, avoiding invalid data from interfering with subsequent design. The generation of basic harmonic sources based on pure driving noise data can reduce the deviation of sound source frequency and loudness caused by random noise, laying a reliable data foundation for balancing external warning and internal low interference. This allows the subsequent accurate basic harmonic sources to be combined with characteristic frequencies to more accurately match actual needs, avoiding the problem of insufficient external warning or excessive internal noise caused by impurities in the original data.

[0050] Specifically, for the preprocessing of low-speed driving noise audio, it is necessary to first clarify that random road defects or abnormal vehicle vibrations will generate random noise during vehicle operation. Therefore, the in-vehicle noise collected under the condition of constant speed driving at 15km / h in D gear and 6km / h in R gear cannot be directly used as a sound source. The audio data needs to be preprocessed by sound processing software to eliminate random noise and ensure the accuracy of subsequent sound source use.

[0051] In this embodiment of the application, the characteristic frequency of the vehicle warning sound is selected based on the loudness curve and the vehicle's sound insulation curve, including: obtaining the correspondence between the characteristic frequency of the harmonic sound, the loudness curve, and the sound insulation curve; using the loudness curve and the sound insulation curve as indexes, querying the correspondence to obtain the characteristic frequency of the harmonic sound, and using the characteristic frequency of the harmonic sound as the characteristic frequency of the vehicle warning sound.

[0052] It is understood that the embodiments of this application, by combining loudness curve selection, can ensure that the characteristic frequency has sufficient loudness outside the vehicle to achieve the warning effect; by combining vehicle sound insulation curve selection, the transmission of the characteristic frequency into the vehicle can be reduced, balancing the external warning effect and the low interference inside the vehicle from the source; through preset correspondence and hyperbolic index query, the efficiency and accuracy of characteristic frequency selection are improved, manual intervention is reduced, and the frequency selection result is ensured to match the actual use scenario. So that after the accurately adapted characteristic frequency is mixed with the basic sound source, the recognizability of the external warning sound can be further enhanced, while reducing noise interference inside the vehicle, which meets the requirements of low speed warning sound.

[0053] It should be noted that the matching relationship aims to ensure that the prompts are clearly audible both inside and outside the vehicle without interfering with driving. It uses both loudness curves (reflecting the human ear's sensitivity to different frequencies) and vehicle sound insulation curves (reflecting the attenuation of sound penetrating the vehicle body at different frequencies) as dual constraints to match the harmonic sound characteristic frequency range that satisfies the requirement of clear perception by pedestrians outside the vehicle and keeps interior noise within acceptable limits. Specifically, if a frequency shows sufficient output intensity on the loudness curve and the sound insulation curve shows that the sound attenuation of that frequency when penetrating the vehicle body is moderate (neither too much attenuation making it inaudible outside the vehicle nor too little attenuation making it too noisy inside the vehicle), then that frequency will be included in the matching relationship's range. The vehicle acoustic package consists of sound-absorbing and sound-insulating components specifically designed to improve the overall acoustic performance of the vehicle. It acts on the transmission medium, effectively reducing airborne sound and noise propagation, thereby improving driving comfort.

[0054] Acoustic packages typically include components such as engine compartment sound insulation pads, inner front bulkhead sound insulation pads, passenger compartment carpets, headliner, and trunk sound insulation pads. These components work together to provide occupants with a comfortable driving environment. A schematic diagram of its sound absorption and insulation is shown below. Figure 10As shown, the shape of a material's sound insulation curve reflects its sound insulation capability. The sound insulation performance of a material may differ for different sound frequencies. The location and amplitude of the main sound insulation areas can indicate at which frequency the sound insulation effect is best. Figure 11 This is the sound insulation curve for a certain vehicle. The horizontal axis represents frequency, and the vertical axis represents sound transmission loss. The curve shows that the sound transmission loss is highest around 2000Hz, indicating that sound around 2000Hz is most easily blocked by the acoustic package.

[0055] Therefore, when designing a low-impact, low-speed warning sound, a frequency component with significant sound transmission loss (a frequency component that is easily blocked by the vehicle's acoustic package) should be added outside the vehicle to prevent its sound from entering the vehicle.

[0056] Specifically, the design of the characteristic frequency of the low-speed warning sound is crucial. If the low-speed warning sound is perceived to be the same as road noise, it will not easily attract the attention of pedestrians outside the vehicle and will lack warning effectiveness. Therefore, it is necessary to add frequency components that are sensitive to the human ear to the basic sound source of the low-speed warning sound to increase its warning effectiveness outside the vehicle. At the same time, the added frequency components should be located near the peak of the vehicle's sound insulation curve, so that they are easily isolated by the vehicle's acoustic package and do not easily transmit into the vehicle, thus avoiding driver complaints. Based on the loudness curve and the vehicle's sound insulation curve, harmonic sounds in the range of 1000Hz-2000Hz are generally selected. This frequency band satisfies the sensitivity of the human ear and can be effectively isolated by the vehicle's acoustic package. In addition, compared with single-frequency sounds, harmonic sounds can improve the harmony of the sound and enhance the perceived sound quality. (Sound harmonics refer to the fluctuation phenomenon where the frequency is an integer multiple of the fundamental frequency. When an object vibrates, its vibration mode can be decomposed into a set of harmonics with frequencies that are integer multiples of the fundamental frequency. These harmonics determine the intensity, pitch, and timbre of the sound.) At the same time, clear characteristic frequency orders are beneficial for increasing the frequency shift of low-speed prompts.

[0057] In step S303, the basic sound source and characteristic frequency of the vehicle prompt sound are mixed to obtain the final sound source of the vehicle prompt sound, and the final sound source is played through the external speaker when the vehicle prompt sound is triggered.

[0058] It is understood that the embodiments of this application realize the final generation and application of the alert sound. The basic sound source ensures the basic warning characteristics of the alert sound, and the characteristic frequency is adapted to the speaker performance and vehicle sound insulation requirements. The combination of the two makes the final sound source have high perceptibility outside the vehicle (meeting the need to warn pedestrians) and low interference inside the vehicle (reducing noise disturbance to the driver), thus resolving the core contradiction. Playing through the external speaker ensures that the final sound source mainly acts on the external warning scenario, further reducing the ineffective transmission of sound into the vehicle and avoiding additional in-vehicle noise. Triggered playback is in line with the usage scenario of low-speed alert sounds (only needing to be activated under specific conditions), avoiding noise output during unnecessary periods and improving the user experience.

[0059] In this embodiment of the application, the method of mixing the basic sound source and characteristic frequency of the vehicle prompt sound to obtain the final sound source of the vehicle prompt sound includes: mixing the basic sound source and characteristic frequency; adjusting the sound pressure level of the two sound sources during the mixing process to obtain the adjusted mixing score; determining the final mixing ratio of the two sound sources based on the mixing score; and mixing the basic sound source and characteristic frequency based on the final mixing ratio to obtain the final sound source of the vehicle prompt sound.

[0060] It is understood that, by adjusting the sound pressure level and the reference mixing score, the embodiments of this application can prevent the basic sound source and the characteristic frequency from masking each other (such as insufficient external warning due to a weak characteristic frequency, or excessive internal interference due to a strong basic sound source), ensuring that the two functions complement each other and avoiding sound source imbalance; using the mixing score as the basis for determining the ratio, rather than subjective setting, reduces human error, so that the final sound source can stably meet the needs of high external perception and low internal interference in different scenarios (such as different vehicle speeds and environmental noise), ensuring the stability of the final sound source effect; the basic sound source ensures the basic warning, and the characteristic frequency adapts to the hardware and vehicle sound insulation characteristics. After reasonable mixing, it can further improve the external recognition, while reducing the noise transmitted inside the vehicle, optimizing the overall user experience, and strengthening the targeting of the warning sound.

[0061] Specifically, in this application, the characteristic frequency is selected from harmonic sounds with a fundamental frequency in the range of 1000Hz-2000Hz. After selecting the characteristic frequency, the fundamental sound source and the characteristic harmonics are mixed. During the mixing process, the sound pressure levels of the two sound sources need to be repeatedly adjusted, while subjective evaluation is also incorporated to finally obtain a suitable ratio. The spectrum diagrams and sound spectrum diagrams of the audio before and after adding the characteristic harmonics are shown below. Figure 12 and Figure 13 The synthesized low-speed warning sound source is then stored in the vehicle's infotainment system flash memory, and the external sound pressure level and frequency shift are calibrated. During calibration, the sound pressure level at the 1 / 3 octave band frequency can be fine-tuned to ensure it fully complies with the specific requirements for the 1 / 3 octave band sound pressure level in the standard. After completing the vehicle calibration, professional subjective evaluation personnel are organized to conduct subjective evaluations of the listening comfort, environmental recognition, and compliance adaptability of the vehicle's warning sound. For issues such as harshness, insufficient recognition, or compliance deviations found during the evaluation, timely technical optimizations and improvements are made. After the rectification and verification are passed, the final version of the low-speed warning sound source is completed and output.

[0062] According to the vehicle alert sound generation method proposed in this application, the vehicle alert sound is designed through multi-dimensional acoustic data fusion: first, the vehicle driving noise, the sound transfer function from the external speaker to the vehicle interior, and the speaker frequency response curve are acquired to generate a basic harmonic source; then, the loudness curve and the vehicle sound insulation curve are combined to select characteristic frequencies; finally, the basic sound source and the characteristic frequencies are mixed to obtain the alert sound, which is then played through the external speaker. Because the external alert sound is designed by combining driving noise data and speaker characteristics, it can maintain high perceptibility in complex environments and effectively warn pedestrians; through optimization of the sound transfer function and sound insulation curve, the transmission of the alert sound into the vehicle is reduced, lowering noise interference to the driver and improving the driving experience; thus, a balance is achieved between external warning effects and in-vehicle comfort.

[0063] The implementation process of the vehicle alert sound generation method of this application will be described in detail below through a specific embodiment, such as... Figure 14 As shown, the specific steps are as follows: In step one, in-vehicle noise is measured. Under clear weather conditions and on a smooth asphalt road surface without rain or snow, a microphone is placed on the right side of the driver's headrest to collect in-vehicle noise under constant speed conditions of 15 km / h in D gear and 6 km / h in R gear. Each condition is recorded for 10 seconds and stored as .wav format audio files of MO-D15 and MO-R6 respectively.

[0064] In step two, audio preprocessing is performed. Since road defects and abnormal vibrations generate random noise during vehicle operation, sound processing software is needed to perform random noise cancellation on the in-vehicle noise collected in step one at 15km / h in D gear and 6km / h in R gear, obtaining a basic sound source that can be used for subsequent design.

[0065] In step three, the external-to-internal sound transfer function is measured. Using the volumetric sound source method, the sound transfer function is measured from the installation point of the low-speed warning speaker outside the vehicle (point B) to the position of the driver's headrest inside the vehicle (point A), and denoted as T (reflecting the attenuation and frequency change of sound during its transmission between the inside and outside of the vehicle).

[0066] In step four, the frequency response curve of the loudspeaker is measured. In an anechoic chamber, the frequency response curve of the low-speed alert loudspeaker is measured and denoted as F (reflecting the loudspeaker's ability to reproduce sounds of different frequencies).

[0067] In step five, the basic sound source is designed. The audio processed in step two is used as the basic sound M2, and the low-speed warning sound source to be designed is denoted as M1. Since M1 is affected by the frequency response characteristic F of the speaker when it is emitted from the speaker, and is affected by the external-in-vehicle transfer function T when it is transmitted into the vehicle, the basic sound source M1 of the low-speed warning sound is obtained by calculating M1=M2 / (F*T) using the formula M1=M2 / (F*T).

[0068] In step six, characteristic frequencies are added. Harmonic sounds with a fundamental frequency in the range of 1000Hz-2000Hz are selected as characteristic frequencies (this range satisfies human ear sensitivity, can be effectively isolated by the vehicle's acoustic package, and harmonics can enhance the harmony and quality of the sound); the basic sound source M1 is mixed with the characteristic harmonics, and the sound pressure levels of both are repeatedly adjusted during the process, combined with subjective evaluation, to finally determine a suitable mixing ratio.

[0069] In step seven, vehicle calibration is performed. The sound source synthesized in step six is ​​stored in the vehicle's infotainment system flash memory, and the external sound pressure level and frequency shift are calibrated. During calibration, the sound pressure level at the 1 / 3 octave band frequency of the sound source can be finely adjusted to ensure that it meets the requirements.

[0070] In step eight, subjective evaluation and problem improvement are conducted. Professional personnel are organized to conduct subjective evaluations of the actual vehicle's warning sounds, focusing on the perceptibility of the warning sounds to the driver inside the vehicle and the sensitivity of pedestrians outside the vehicle. Based on the problems found in the evaluation (such as harshness or insufficient recognition), the sound source is fine-tuned until the subjective evaluation is satisfactory.

[0071] In step nine, the final sound source is output. After completing the actual vehicle calibration and subjective evaluation, the final vehicle prompt sound source is determined and output; subsequently, when the vehicle prompt sound is triggered (such as in scenarios like low-speed driving or reversing), this final sound source is played through the vehicle's external speakers.

[0072] In summary, this application has at least the following beneficial effects: (1) Using the original road noise as the basic sound source for low speed warning sound can greatly reduce the driver's perception.

[0073] (2) Adding characteristic frequencies that are sensitive to the human ear to the basic low-speed warning sound source can improve the warning effect on pedestrians outside the vehicle. At the same time, the characteristic frequencies can be isolated by the vehicle's acoustic package, making them difficult to perceive inside the vehicle and ensuring the quietness inside the vehicle.

[0074] (3) The basic sound source of the low speed warning sound is designed based on the frequency response characteristics of the low speed warning sound speaker and the sound transfer function characteristics of the vehicle, which can ensure the accuracy of sound reproduction in the vehicle.

[0075] (4) The characteristic frequency is added to the basic sound source in the form of harmonics. Compared with a single frequency, the harmonic sound can improve the harmony of the sound and improve the sound quality. At the same time, the characteristic frequency order is clear, which is conducive to increasing the frequency shift of the low speed prompt sound.

[0076] Next, the vehicle alert sound generation device according to the embodiments of this application is described with reference to the accompanying drawings.

[0077] Figure 15 This is a block diagram of a vehicle alert sound generation device according to an embodiment of this application.

[0078] like Figure 15 As shown, the vehicle alert sound generation device 150 includes: an acquisition module 1501, a generation module 1502, and a mixing module 1503.

[0079] The acquisition module 1501 is used to acquire vehicle driving noise data, sound transfer function, and frequency response curve of the speaker, wherein the sound transfer function is the transfer function of the prompt sound from the speaker outside the vehicle to the inside of the vehicle; the generation module 1502 is used to generate the basic harmonic source of the vehicle prompt sound based on the driving noise data, sound transfer function, and frequency response curve, and select the characteristic frequency of the vehicle prompt sound based on the loudness curve and the sound insulation curve of the vehicle; the mixing module 1503 is used to mix the basic sound source and characteristic frequency of the vehicle prompt sound to obtain the final sound source of the vehicle prompt sound, and play the final sound source through the speaker outside the vehicle when the vehicle prompt sound is triggered.

[0080] In this embodiment of the application, the apparatus 150 further includes a testing module.

[0081] The testing module is used to acquire at least one test environment for the test vehicle before acquiring the vehicle's driving noise data, sound transfer function, and speaker frequency response curve; generate at least one test condition based on the at least one test environment; collect driving noise data of the test vehicle under each test condition; and determine the target vehicle speed based on the current gear of the test vehicle when collecting driving noise data.

[0082] In this embodiment of the application, the duration for which driving noise data is collected is less than a preset duration, and the target vehicle speed is less than a preset vehicle speed.

[0083] In this embodiment of the application, the calculation formula for the basic harmonic source of the vehicle warning sound is as follows: M1 = M2 / (F*T) Where M1 is the low-speed warning sound source; M2 is the basic sound source; F is the frequency-response characteristic of the low-speed warning sound speaker; and T is the sound transfer function from the low-speed warning sound speaker mounting point outside the vehicle to the driver's ear inside the vehicle.

[0084] In this embodiment of the application, the apparatus 150 further includes an elimination module.

[0085] The elimination module is used to perform random noise elimination processing on the driving noise data before generating the basic harmonic source of the vehicle prompt sound based on the driving noise data, sound transfer function and frequency response curve.

[0086] In this embodiment of the application, the generation module 1501 is further used to select the characteristic frequency of the vehicle warning sound according to the loudness curve and the sound insulation curve of the vehicle, including: obtaining the correspondence between the characteristic frequency of the harmonic sound, the loudness curve and the sound insulation curve; using the loudness curve and the sound insulation curve as indexes, querying the correspondence to obtain the characteristic frequency of the harmonic sound, and using the characteristic frequency of the harmonic sound as the characteristic frequency of the vehicle warning sound.

[0087] In this embodiment of the application, the mixing module 1503 is further used to mix the basic sound source and characteristic frequency of the vehicle prompt sound to obtain the final sound source of the vehicle prompt sound, including: performing mixing processing on the basic sound source and characteristic frequency; adjusting the sound pressure level of the two sound sources during the mixing processing to obtain the adjusted mixing score; determining the final mixing ratio of the two sound sources according to the mixing score; and mixing the basic sound source and characteristic frequency according to the final mixing ratio to obtain the final sound source of the vehicle prompt sound.

[0088] It should be noted that the foregoing explanation of the vehicle alert tone generation method embodiment also applies to the vehicle alert tone generation device of this embodiment, and will not be repeated here.

[0089] The vehicle alert sound generation device proposed in this application design uses multi-dimensional acoustic data fusion to design the vehicle alert sound: first, it acquires vehicle driving noise, the sound transfer function from the external speaker to the vehicle interior, and the speaker frequency response curve to generate a basic harmonic source; then, it selects characteristic frequencies by combining the loudness curve and the vehicle sound insulation curve; finally, it mixes the basic sound source and the characteristic frequencies to obtain the alert sound, which is then played through the external speaker. Because the external alert sound is designed by combining driving noise data and speaker characteristics, it maintains high perceptibility in complex environments, effectively alerting pedestrians; through optimization of the sound transfer function and sound insulation curve, it reduces the transmission of the alert sound into the vehicle, lowers noise interference to the driver, and improves the driving experience; thus, it achieves a balance between external warning effects and in-vehicle comfort.

[0090] Figure 16 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include: The memory 1601, the processor 1602, and the computer program stored on the memory 1601 and executable on the processor 1602.

[0091] When the processor 1602 executes the program, it implements the vehicle prompt sound generation method provided in the above embodiments.

[0092] Furthermore, the vehicle also includes: Communication interface 1603 is used for communication between memory 1601 and processor 1602.

[0093] The memory 1601 is used to store computer programs that can run on the processor 1602.

[0094] The memory 1601 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0095] If the memory 1601, processor 1602, and communication interface 1603 are implemented independently, then the communication interface 1603, memory 1601, and processor 1602 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 16 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0096] Optionally, in a specific implementation, if the memory 1601, processor 1602, and communication interface 1603 are integrated on a single chip, then the memory 1601, processor 1602, and communication interface 1603 can communicate with each other through an internal interface.

[0097] The processor 1602 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0098] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle alert sound generation method described above.

[0099] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0100] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0101] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0102] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0103] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0104] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle chime generation method characterized by, The method comprises the following steps: acquiring driving noise data, a sound transfer function and a frequency response curve of a speaker of a vehicle, wherein the sound transfer function is a transfer function of a prompt sound from the speaker outside the vehicle to the inside of the vehicle; generating a basic harmonic sound source of the vehicle prompt sound according to the driving noise data, the sound transfer function and the frequency response curve, and selecting a characteristic frequency of the vehicle prompt sound according to a loudness curve and a sound insulation curve of the vehicle; mixing the basic sound source and the characteristic frequency of the vehicle prompt sound to obtain a final sound source of the vehicle prompt sound, and playing the final sound source through the speaker outside the vehicle when the vehicle prompt sound is triggered.

2. The vehicle chime generation method of claim 1, wherein, Before acquiring the driving noise data, the sound transfer function and the frequency response curve of the speaker of the vehicle, the method further comprises: acquiring at least one test environment of a test vehicle; generating at least one test working condition according to the at least one test environment; acquiring driving noise data of the test vehicle under each test working condition, and determining a target vehicle speed according to a current gear of the test vehicle when the test vehicle acquires the driving noise data.

3. The vehicle chime generation method of claim 2, wherein, The acquisition time length of the driving noise data is less than a preset time length, and the target vehicle speed is less than a preset vehicle speed.

4. The vehicle chime generation method of claim 1, wherein The calculation formula of the basic harmonic sound source of the vehicle prompt sound is: M1 = M2 / (F * T) wherein M1 is a low-speed prompt sound source, M2 is a basic sound source, F is a frequency-response characteristic of a low-speed prompt sound speaker, and T is a sound transfer function from a mounting point of the low-speed prompt sound speaker outside the vehicle to an ear of a driver inside the vehicle.

5. The vehicle chime generating method according to claim 1 or 4, characterized by, Before generating the basic harmonic sound source of the vehicle prompt sound according to the driving noise data, the sound transfer function and the frequency response curve, the method further comprises: performing random noise elimination processing on the driving noise data.

6. The vehicle chime generation method of claim 1, wherein The selecting of the characteristic frequency of the vehicle prompt sound according to the loudness curve and the sound insulation curve of the vehicle comprises: acquiring a corresponding relationship of a characteristic frequency, a loudness curve and a sound insulation curve of a harmonic sound; querying the corresponding relationship to obtain the characteristic frequency of the harmonic sound by taking the loudness curve and the sound insulation curve as indexes, and taking the characteristic frequency of the harmonic sound as the characteristic frequency of the vehicle prompt sound.

7. The vehicle chime generation method of claim 1, wherein The mixing of the basic sound source and the characteristic frequency of the vehicle prompt sound to obtain the final sound source of the vehicle prompt sound comprises: performing sound mixing processing on the basic sound source and the characteristic frequency; adjusting sound pressure levels of the two sound sources in the sound mixing processing process, and acquiring an adjusted sound mixing score; determining a final mixing ratio of the two sound sources according to the sound mixing score, and mixing the basic sound source and the characteristic frequency according to the final mixing ratio to obtain the final sound source of the vehicle prompt sound.

8. A vehicle chime generating apparatus characterized by comprising: The method comprises: an acquiring module configured to acquire driving noise data, a sound transfer function and a frequency response curve of a speaker of a vehicle, wherein the sound transfer function is a transfer function of a prompt sound from the speaker outside the vehicle to the inside of the vehicle; The generating module is configured to generate a basic harmonic sound source of the vehicle prompt sound according to the driving noise data, the sound transmission function and the frequency response curve, and select a characteristic frequency of the vehicle prompt sound according to the loudness curve and a sound insulation curve of the vehicle. The mixing module is configured to mix the basic harmonic sound source and the characteristic frequency to obtain a final sound source of the vehicle prompt sound, and play the final sound source through a loudspeaker outside the vehicle when the vehicle prompt sound is triggered.

9. A vehicle characterized by comprising: The vehicle prompt sound generation method comprises the following steps: A memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle prompt sound generation method according to any one of claims 1-7.

10. A computer readable storage medium having stored thereon a computer program or instructions, characterized in that, The computer program or instructions are executed to implement the vehicle prompt sound generation method according to any one of claims 1-7.

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