Method of controlling a vehicle, device for controlling a vehicle and vehicle

Abstract

This application provides a method for controlling a vehicle, a device for controlling a vehicle, and a vehicle. The method relates to the field of vehicle control technology. The vehicle is equipped with a speaker array; the method includes: acquiring first position information of each speaker in the speaker array and second position information of a target object around the vehicle; determining audio output parameters of each speaker based on the first position information of each speaker and the second position information of the target object; and controlling each speaker to output a target audio signal based on the audio output parameters, the target audio signal being used to warn the target object. This method can improve the warning effect of the vehicle on the target object.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a method for controlling a vehicle, a device for controlling a vehicle, and a vehicle in the field of vehicle control technology. Background Technology

[0002] Currently, electric vehicles are required to be equipped with a vehicle acoustic warning system when driving at low speeds to compensate for insufficient motor noise. The existing warning methods output sound waves that are relatively dispersed, which not only warn the target object but also cause noise impact on non-target objects, resulting in low accuracy in warning the target object and poor vehicle warning effect.

[0003] Therefore, how to improve the warning effect of vehicles on target objects is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method for controlling a vehicle, a device for controlling a vehicle, and a vehicle, the method of which can improve the warning effect of the vehicle on target objects.

[0005] In a first aspect, a method for controlling a vehicle equipped with a speaker array is provided; the method includes: Acquire the first position information of each speaker in the speaker array and the second position information of target objects around the vehicle; Based on the first position information of each speaker and the second position information of the target object, the audio output parameters of each speaker are determined; Based on the audio output parameters, each speaker is controlled to output the target audio, which is used to warn the target object.

[0006] In the above technical solution, for vehicles equipped with speaker arrays, by combining the first position information of each speaker in the speaker array with the second position information of target objects around the vehicle, the audio output parameters corresponding to each speaker are accurately matched and the speakers are controlled to output target audio for warning target objects. This can achieve targeted warning for target objects, improve the pertinence and effectiveness of vehicle warnings to surrounding target objects, avoid noise interference caused by indiscriminate audio warnings, and improve the warning effect of vehicle active safety warning to target objects.

[0007] In conjunction with the first aspect, in some possible implementations, the second position information includes the target azimuth angle and target distance of the target object relative to the vehicle, and the audio output parameters of each speaker include the target output phase and the target output amplitude; Based on the first position information of each speaker and the second position information of the target object, the audio output parameters of each speaker are determined, including: Based on the first position information of each loudspeaker and the target azimuth angle, determine the target output phase of each loudspeaker; Based on the first position information of each speaker and the target distance, the target output amplitude of each speaker is determined.

[0008] In the above technical solution, the second position information of the target object is refined into the target azimuth angle and the target distance. The target output phase and the target output amplitude in the corresponding matching audio output parameters are used to determine the target output phase of the speaker by combining the first position information of each speaker and the target azimuth angle of the target object. The target output amplitude of the speaker is determined by combining the first position information of the speaker and the target distance of the target object. This makes the phase adjustment of the speaker suitable for the direction of the azimuth angle and the amplitude adjustment suitable for distance differences, further improving the accuracy of the directional propagation of sound waves and ensuring that the warning audio can be efficiently directed to the location of the target object, thereby improving the warning effect.

[0009] Combining the first aspect and the above implementation methods, in some possible implementation methods, the target output phase of each loudspeaker is determined based on the first position information of each loudspeaker and the target azimuth angle, including: Based on the first position information of each loudspeaker, the first position information of the reference loudspeaker in the loudspeaker array, and the target azimuth angle, the arrival time difference of the sound waves output by each loudspeaker is determined. The arrival time difference refers to the difference between the time required for the sound waves of each loudspeaker and the sound waves of the reference loudspeaker to reach the direction corresponding to the target azimuth angle. Based on the time difference of arrival and the frequency of the target audio, the phase difference of each loudspeaker relative to the reference loudspeaker is determined, and the phase difference is positively correlated with the time difference of arrival. The target output phase of each speaker is determined based on the reference phase and phase difference of the reference speaker.

[0010] In the above technical solution, by determining the arrival time difference between the arrival time of the sound waves of each speaker in the direction corresponding to the azimuth angle and the arrival time of the sound waves of the reference speaker in the direction corresponding to the target azimuth angle, and combining the phase difference with the frequency of the target audio, the target output phase of each speaker is finally determined. This can accurately compensate for the phase deviation of the sound wave propagation from different speakers to the target azimuth, ensure that the sound waves output by the speaker array are coherently superimposed at the target azimuth, and improve the sound wave convergence effect of vehicle directional warning.

[0011] Combining the first aspect and the above implementation methods, in some possible implementation methods, the arrival time difference of the sound waves output by each loudspeaker is determined based on the first position information of each loudspeaker, the first position information of the reference loudspeaker in the loudspeaker array, and the target azimuth angle, including: Based on the first position information of each loudspeaker and the first position information of the reference loudspeaker, the relative position difference of each loudspeaker relative to the reference loudspeaker is determined; Based on the relative position difference and the target azimuth angle, the equivalent distance difference between each loudspeaker and the reference loudspeaker is obtained; The arrival time difference is obtained based on the equivalent distance difference and the speed of sound wave propagation.

[0012] In the above technical solution, the equivalent distance difference for the target azimuth angle is determined by the relative position difference between each loudspeaker and the reference loudspeaker. Then, the arrival time difference is calculated by combining the equivalent distance difference and the sound wave propagation speed. This transforms the spatial position difference into a calculable time difference value, simplifies the phase compensation calculation process, improves the computational efficiency and accuracy of phase parameter determination, and provides a reliable data foundation for the subsequent accurate solution of phase difference and target output phase.

[0013] Combining the first aspect and the above implementation methods, in some possible implementation methods, the target output amplitude of each speaker is determined based on the first position information of each speaker and the target distance, including: Based on the first position information and target distance of each loudspeaker, the target sound pressure level of each loudspeaker is determined; The target output amplitude of each loudspeaker is determined based on its target sound pressure level.

[0014] In the above technical solution, by combining the first position information of the loudspeaker and the target distance of the target object, the target sound pressure level of each loudspeaker is first determined, and then the target output amplitude of each loudspeaker is derived in reverse from the target sound pressure level, so that the output amplitude of the loudspeaker matches the distance characteristics of the target object, ensuring that the sound pressure intensity that meets the warning requirements can be obtained at the location of the target object. This avoids the sound pressure being too high when the distance is too close, causing disturbance to the public or overloading the equipment, and also prevents the warning audio intensity from being insufficient and failing to play a warning role when the distance is too far.

[0015] Combining the first aspect and the above implementation methods, in some possible implementation methods, the target sound pressure level of each loudspeaker is determined based on the first position information of each loudspeaker and the target distance, including: Based on the first position information of each speaker, determine the weight of each speaker; Based on the target distance, determine the total sound pressure level, which refers to the sound pressure level that the loudspeaker array needs to achieve at the location of the target object; The target sound pressure level of each speaker is obtained based on the weight of each speaker and the total sound pressure level.

[0016] In the above technical solution, the weight of each speaker is determined based on the first position information of each speaker; then, the target sound pressure level of each speaker is allocated according to the total sound pressure level corresponding to the target distance and the weight, and the output task is allocated differently according to the advantages of the speaker layout. This achieves a reasonable distribution of warning sound pressure in the speaker array, ensuring that the total warning sound pressure at the location of the target object meets the standard, while optimizing the workload of each speaker in the speaker array and improving the stability of the overall warning audio output.

[0017] Combining the first aspect and the above implementation methods, in some possible implementation methods, the weights corresponding to each speaker are determined based on the first position information of each speaker, including: Based on the first position information of each speaker, determine the position offset of each speaker relative to the reference speaker in the speaker array; The weights of each speaker are determined based on the position offset, and the weights are negatively correlated with the position offset.

[0018] In the above technical solution, the weight of each speaker is determined according to the positional offset of each speaker relative to the reference speaker. The weight is negatively correlated with the offset, so that the speakers with a more directional advantage in the speaker array can bear a higher sound pressure output ratio, further enhancing the directionality of the audio warning, maximizing the use of the spatial layout advantage of the speaker array, improving the concentration of the warning sound waves in the target direction, avoiding interference to irrelevant directions, and thus improving the overall warning effect.

[0019] In combination with the first aspect and the above implementation methods, in some possible implementations, the method further includes: Obtain the reference sound pressure level corresponding to the preset reference distance; Based on the target distance, determine the total sound pressure level, including: Determine the target ratio based on the target distance and the preset baseline distance; The total sound pressure level is determined based on the target ratio and the reference sound pressure level.

[0020] In the above technical solution, the total sound pressure level is calculated by setting a preset reference distance and a reference sound pressure level, and combining the target ratio between the target distance and the preset reference distance. A standardized mapping relationship between distance and sound pressure level is established. There is no need to repeatedly calibrate the sound pressure parameters. The total warning sound pressure level can be dynamically adapted according to the real-time distance of the target object, realizing the adaptive adjustment of the warning sound pressure, meeting the warning needs at different distances, and avoiding unnecessary energy waste.

[0021] Secondly, a device for controlling a vehicle equipped with a speaker array is provided; the device includes: The acquisition module is used to acquire the first position information of each speaker in the speaker array and the second position information of target objects around the vehicle. The processing module is used to determine the audio output parameters of each speaker based on the first position information of each speaker and the second position information of the target object; based on the audio output parameters, it controls each speaker to output the target audio, which is used to warn the target object.

[0022] In conjunction with the second aspect, in some possible implementations, the second position information includes the target azimuth angle and target distance of the target object relative to the vehicle, and the audio output parameters of each speaker include the target output phase and target output amplitude; the processing module is further configured to determine the target output phase of each speaker based on the first position information and target azimuth angle of each speaker; and to determine the target output amplitude of each speaker based on the first position information and target distance of each speaker.

[0023] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is further configured to determine the arrival time difference of the output sound waves of each speaker based on the first position information of each speaker, the first position information of the reference speaker in the speaker array, and the target azimuth angle. The arrival time difference refers to the difference between the time required for the sound waves of each speaker and the sound waves of the reference speaker to reach the direction corresponding to the target azimuth angle, respectively. Based on the arrival time difference and the frequency of the target audio, the module determines the phase difference of each speaker relative to the reference speaker. The phase difference is positively correlated with the arrival time difference. Based on the reference phase of the reference speaker and the phase difference, the module determines the target output phase of each speaker.

[0024] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is further configured to determine the relative position difference between each speaker and the reference speaker based on the first position information of each speaker and the first position information of the reference speaker; obtain the equivalent distance difference between each speaker and the reference speaker based on the relative position difference and the target azimuth angle; and obtain the arrival time difference based on the equivalent distance difference and the sound wave propagation speed.

[0025] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is also used to determine the target sound pressure level of each loudspeaker based on the first position information and target distance of each loudspeaker; and to determine the target output amplitude of each loudspeaker based on the target sound pressure level of each loudspeaker.

[0026] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is also used to determine the weight of each loudspeaker based on the first position information of each loudspeaker; determine the total sound pressure level based on the target distance, where the total sound pressure level refers to the sound pressure level that the loudspeaker array needs to reach at the position of the target object; and obtain the target sound pressure level of each loudspeaker based on the weight of each loudspeaker and the total sound pressure level.

[0027] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is further configured to determine the position offset of each speaker relative to the reference speaker in the speaker array based on the first position information of each speaker; and determine the weight corresponding to each speaker based on the position offset, wherein the weight is negatively correlated with the position offset.

[0028] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the acquisition module is further used to acquire the reference sound pressure level corresponding to the preset reference distance; the processing module is further used to determine the target ratio based on the target distance and the preset reference distance; and to determine the total sound pressure level based on the target ratio and the reference sound pressure level.

[0029] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0030] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0031] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a scenario provided in an embodiment of this application; Figure 2 This is a schematic diagram of a vehicle speaker provided in an embodiment of this application; Figure 3 This is a schematic flowchart illustrating a method for controlling a vehicle according to an embodiment of this application; Figure 4 This is a schematic flowchart of another method for controlling a vehicle provided in an embodiment of this application; Figure 5 This is a schematic flowchart illustrating another method for controlling a vehicle provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0033] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0034] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0035] According to regulations, electric vehicles must be equipped with an Acoustic Vehicle Alerting System (AVAS) when driving at low speeds, using external warning sounds to compensate for the weak noise from the motor. Figure 1 This is a schematic diagram of a scenario provided in an embodiment of this application. For example... Figure 1 As shown, current AVAS systems all employ a uniform sound emission mode, where the alert tone propagates in all directions around the vehicle at the same sound pressure level. This standardized warning method has significant drawbacks: when there are few pedestrians around the vehicle, or only pedestrians in a specific direction, the indiscriminate sound emission can cause unnecessary noise interference to people outside the target area, especially at night or in quiet residential areas, where such noise can easily become pollution. At the same time, because the sound energy is dispersed in all directions, the effective sound pressure level received by the pedestrians who actually need to be alerted may not be optimal, thus affecting the actual warning effect of the system.

[0036] In view of the problems existing in the prior art, this application provides a method for controlling a vehicle, a device for controlling a vehicle, and a vehicle equipped with a speaker array, the speaker array including multiple speakers; the method acquires first position information of each speaker in the speaker array and second position information of a target object existing around the vehicle; then, based on the first position information of the speakers and the second position information of the target object, determines the audio output parameters of each speaker; and then, based on the audio data parameters, controls each speaker to output a target audio for warning the target object. This method can improve the accuracy of the vehicle's warning of the target object, thereby enhancing the vehicle's warning effect.

[0037] Figure 2 This is a schematic diagram of a vehicle speaker provided in an embodiment of this application. A speaker array refers to a system composed of multiple speaker units arranged in a certain geometric shape (e.g., linear or planar). A vehicle equipped with such an array... Figure 2 Taking the 8-unit speaker matrix shown as an example, the 8 speaker units are respectively arranged around the vehicle. For example, speaker A and speaker B are arranged on both sides of the front bumper or grille, speaker C and speaker H are respectively arranged below the rearview mirror or above the front wheel arch, speaker D and speaker G are respectively arranged below the rear door or above the rear wheel arch, and speaker E and speaker F are respectively arranged below the rear bumper or taillights.

[0038] It should be noted that the above speaker matrix configuration is only an example, and the number of speakers in the speaker matrix and the location of the speakers are not specifically limited in this application embodiment; for example, the speaker matrix may also include 4-unit speakers or 12-unit speakers, etc.

[0039] The following is combined with Figures 3 to 5 The method for controlling a vehicle provided in the embodiments of this application will be described in detail.

[0040] Figure 3 This is a schematic flowchart illustrating a method for controlling a vehicle according to an embodiment of this application. It should be understood that this method can be applied to, for example... Figure 2 The vehicle shown; or, the processor used in the vehicle; or, the chip used in the processor installed in the vehicle.

[0041] For example, such as Figure 3 As shown, the method 200 includes: S201, Obtain the first position information of each speaker in the speaker array and the second position information of the target object around the vehicle.

[0042] For example, the vehicle is equipped with a speaker array, which includes multiple speakers, and the vehicle stores the first position information of each speaker in the speaker array. Simultaneously, the vehicle is also equipped with onboard sensing devices such as radar sensors (e.g., ultrasonic radar). Taking ultrasonic radar sensors as an example, each radar sensor periodically emits ultrasonic waves and receives echoes. By calculating the distance to a target object (e.g., a pedestrian) using the time-of-flight method, the second position information of the target object around the vehicle can be obtained.

[0043] Alternatively, the speaker array setup can be found above. Figure 2 The structure shown; radar sensors can be configured in locations such as the vehicle's front bumper and side skirts to form a detection network that can cover the front and front sides of the vehicle.

[0044] In one implementation, when a vehicle is traveling at high speed, pedestrians and other people nearby can easily notice its presence; however, when the vehicle is traveling at a low speed, the noise from the motor may be too low for the target to notice. Therefore, the vehicle's speed can be detected, and when the vehicle enters a low-speed driving mode, for example, when the speed is less than 30 km / h, the method provided in this application embodiment is executed.

[0045] S202, based on the first position information of each speaker and the second position information of the target object, determine the audio output parameters of each speaker.

[0046] For example, after obtaining the first position information of each speaker and the second position information of the target object, the audio output parameters of each speaker can be determined by combining the first position information and the second position information.

[0047] In one implementation, the second position information may include the target azimuth angle and target distance of the target object relative to the vehicle, and the audio output parameters of each speaker may include the target output phase and the target output amplitude. The process of determining the audio output parameters of each speaker based on the first position information of each speaker and the second position information of the target object may specifically include: Based on the first position information of each loudspeaker and the target azimuth angle, determine the target output phase of each loudspeaker; Based on the first position information of each speaker and the target distance, the target output amplitude of each speaker is determined.

[0048] Among them, the target azimuth angle is used to indicate the horizontal angle of the target object relative to the reference point on the vehicle, and the target distance is used to indicate the straight-line distance from the target object to the reference point on the vehicle.

[0049] For example, the vehicle system can cluster and classify radar point cloud data collected by radar sensors, and use machine learning algorithms or motion feature-based rules to identify target objects that match pedestrian characteristics. Once a target object is identified, the vehicle system can activate a target tracking algorithm (such as a Kalman filter algorithm) to continuously output the target object's azimuth and distance relative to the vehicle coordinate system.

[0050] Optionally, vehicle manufacturers can set the reference points in the vehicle themselves. For example, the reference points on the vehicle can be the vehicle's centerline, the vehicle's center, or other preset reference points, etc.

[0051] For example, by combining the first position information of each speaker in the speaker matrix and the target azimuth angle of the target object, the target output phase of each speaker can be determined; at the same time, by combining the first position information of each speaker and the target distance of the target object, the target output amplitude of each speaker can be determined.

[0052] In this embodiment, the second position information of the target object is refined into the target azimuth angle and the target distance. The target output phase and the target output amplitude in the corresponding matching audio output parameters are used to determine the target output phase of the speaker by combining the first position information of each speaker and the target azimuth angle of the target object. The target output amplitude of the speaker is determined by combining the first position information of the speaker and the target distance of the target object. This makes the phase adjustment of the speaker suitable for the direction of the azimuth angle and the amplitude adjustment suitable for distance differences, further improving the accuracy of the directional propagation of sound waves and ensuring that the warning audio can be efficiently directed to the location of the target object, thereby improving the warning effect.

[0053] In one implementation, the process of determining the target output phase of each loudspeaker based on the first position information of each loudspeaker and the target azimuth angle may specifically include: Based on the first position information of each loudspeaker, the first position information of the reference loudspeaker in the loudspeaker array, and the target azimuth angle, the arrival time difference of the sound waves output by each loudspeaker is determined. The arrival time difference refers to the difference between the time required for the sound waves of each loudspeaker and the sound waves of the reference loudspeaker to reach the direction corresponding to the target azimuth angle. Based on the time difference of arrival and the frequency of the target audio, the phase difference of each loudspeaker relative to the reference loudspeaker is determined, and the phase difference is positively correlated with the time difference of arrival. The target output phase of each speaker is determined based on the reference phase and phase difference of the reference speaker.

[0054] For example, after obtaining the first position information of the speakers and the target azimuth angle of the target object, the arrival time difference between the time required for the sound waves output by each speaker and the sound waves from the reference speaker in the speaker array to reach the direction corresponding to the target azimuth angle can be determined based on the first position information of each speaker, the first position information of the reference speaker in the speaker array, and the target azimuth angle. Then, based on the arrival time difference and the frequency of the target audio to be played, the phase difference between each speaker and the reference speaker can be determined. Finally, combining the reference phase of the reference speaker and the phase difference, the target output phase of each speaker can be determined. When each speaker outputs audio with its corresponding target output phase, the sound waves output by each speaker can be superimposed in the same direction in the direction of the target azimuth angle, thus increasing the sound pressure and meeting the warning requirements for the target object in the current scene; while the sound waves in other directions can be partially or completely canceled out, thus reducing the sound pressure and avoiding interference to non-target objects.

[0055] Optionally, the reference speaker is a pre-fixed speaker in the speaker array. It can be the speaker at the center of the speaker array or a speaker at other positions. For example, the speaker closest to the target object can be designated as the reference speaker. The embodiments of this application do not specifically limit the setting of the reference speaker.

[0056] For example, the calculation process for determining the phase difference based on the time difference of arrival and the frequency of the target audio can be found in the following formula: (Formula 1) In Formula 1, Used to represent the phase difference between the i-th loudspeaker and the reference loudspeaker, in radians (rad). Used to represent the frequency of the target audio; Used to represent the arrival time difference between the i-th loudspeaker and the reference loudspeaker.

[0057] For example, after determining the phase difference between each loudspeaker and the reference loudspeaker according to Formula 1 above, the target output phase of each loudspeaker can be determined according to the reference phase and phase difference of the reference loudspeaker, combined with Formula 2 below.

[0058] (Formula 2) In Formula 2, Reference phase used to indicate the reference loudspeaker; This is used to represent the target output phase of the i-th loudspeaker, where the target output phase ranges from [0, 2π]. When the calculated value exceeds this range, according to... The modulus is taken to obtain the final target output phase.

[0059] For example, taking the reference phase of the reference loudspeaker as 0°, if the phase difference is determined to be approximately 454.4°, which exceeds the range, then the modulus of 454.4° is applied. 360° = 94.4°, so the phase value is 94.4°; therefore, the target output phase of the first loudspeaker can be determined to be 0° + 94.4° = 94.4°.

[0060] In this embodiment, by determining the arrival time difference between the arrival time of the sound waves of each speaker in the direction corresponding to the azimuth angle and the arrival time of the sound waves of the reference speaker in the direction corresponding to the target azimuth angle, and combining the phase difference with the frequency of the target audio, the target output phase of each speaker is finally determined. This can accurately compensate for the sound wave propagation phase deviation from different speakers to the target azimuth, ensuring that the sound waves output by the speaker array are coherently superimposed at the target azimuth, thus improving the sound wave convergence effect of vehicle directional warning.

[0061] In one implementation, the process of determining the arrival time difference of the sound waves output by each loudspeaker based on the first position information of each loudspeaker, the first position information of the reference loudspeaker in the loudspeaker array, and the target azimuth angle may specifically include: Based on the first position information of each loudspeaker and the first position information of the reference loudspeaker, the relative position difference of each loudspeaker relative to the reference loudspeaker is determined; Based on the relative position difference and the target azimuth angle, the equivalent distance difference between each loudspeaker and the reference loudspeaker is obtained; The arrival time difference is obtained based on the equivalent distance difference and the speed of sound wave propagation.

[0062] For example, in determining the time difference of arrival between the sound waves of each speaker and the sound waves of the reference speaker, the offset between each speaker and the reference speaker, i.e., the relative position difference between each speaker and the reference speaker, can be determined first based on the first position information of each speaker and the first position information of the reference speaker. Then, by combining the relative position difference and the target azimuth angle of the target object, the equivalent distance difference between each speaker and the reference speaker can be determined. Finally, by combining the equivalent distance difference and the propagation speed of the sound waves, the time difference of arrival can be calculated.

[0063] For example, the calculation process for determining the relative position difference based on the first position information can be found in Formulas 3 and 4 below: (Formula 3) (Formula 4) Formula 3 above is used to calculate the relative position difference between the i-th loudspeaker and the reference loudspeaker in the x-axis direction. Formula 4 above is used to calculate the relative position difference between the i-th loudspeaker and the reference loudspeaker in the y-axis direction. .in,( , Let be the coordinates of the i-th speaker. , () is the coordinate of the reference loudspeaker.

[0064] For example, after determining the relative position difference ( , Then, according to Formula 5 below, the difference between the equivalent distance between each speaker and the target object and the equivalent distance between the reference speaker can be determined.

[0065] (Formula 5) In formula five above, Used to represent the equivalent distance difference between the i-th loudspeaker, the reference loudspeaker, and the target object; This is used to represent the target azimuth angle of the target object. Specifically, by projecting the spatial position difference between each loudspeaker and the reference loudspeaker onto the direction of the target azimuth angle, the equivalent distance difference that affects the sound wave arrival time can be obtained.

[0066] Then, the arrival time difference can be determined according to Formula Six below.

[0067] (Formula Six) In Formula Six above, Used to represent the arrival time difference between the i-th loudspeaker and the reference loudspeaker; The value of c represents the equivalent distance difference between the i-th loudspeaker, the reference loudspeaker, and the target object; c represents the speed of sound wave propagation, which is approximately 343 m / s at room temperature.

[0068] For example, when When, it indicates that the sound wave from the i-th loudspeaker arrives at the target azimuth direction later than the sound wave from the reference loudspeaker arrives at the target azimuth direction; when When, it indicates that the sound wave of the i-th loudspeaker arrives at the direction of the target azimuth earlier than the sound wave of the reference loudspeaker arrives at the direction of the target azimuth.

[0069] In this embodiment, the equivalent distance difference for the target azimuth angle is determined by the relative position difference between each loudspeaker and the reference loudspeaker. Then, the arrival time difference is calculated by combining the equivalent distance difference and the sound wave propagation speed. This transforms the spatial position difference into a calculable time difference value, simplifies the phase compensation calculation process, improves the computational efficiency and accuracy of phase parameter determination, and provides a reliable data foundation for the subsequent accurate solution of phase difference and target output phase.

[0070] In one implementation, the process of determining the target output amplitude of each loudspeaker based on the first position information of each loudspeaker and the target distance may include: Based on the first position information and target distance of each loudspeaker, the target sound pressure level of each loudspeaker is determined; The target output amplitude of each loudspeaker is determined based on its target sound pressure level.

[0071] For example, the required audio output amplitude varies depending on the distance between the target object and the vehicle. To effectively warn the target object, the target sound pressure level required for each speaker can be determined by combining the initial position information of each speaker and the target distance between the target object and the vehicle. Then, based on the target sound pressure level, the target output amplitude of each speaker when outputting the target audio can be determined, so that the speaker's output audio can be effectively transmitted to the location of the target object without causing excessive interference.

[0072] For example, the calculation process for determining the target output amplitude based on the target sound pressure level can be found in the following formula seven: (Formula 7) In the above formula seven, Used to represent the target output amplitude of the i-th loudspeaker; Used to represent the target sound pressure level of the i-th loudspeaker; C is used to represent the global scaling factor, used to scale the amplitude to a preset range, such as [0,1].

[0073] In this embodiment, by combining the first position information of the loudspeaker and the target distance of the target object, the target sound pressure level of each loudspeaker is first determined, and then the target output amplitude of each loudspeaker is derived in reverse from the target sound pressure level, so that the output amplitude of the loudspeaker matches the distance characteristics of the target object, ensuring that the sound pressure intensity that meets the warning requirements can be obtained at the location of the target object. This avoids the sound pressure being too high when the distance is too close, causing disturbance to the public or overloading the equipment, and also prevents the warning audio intensity from being insufficient and failing to play a warning role when the distance is too far.

[0074] In one implementation, the process of determining the target sound pressure level of each loudspeaker based on the first position information of each loudspeaker and the target distance may specifically include: Based on the first position information of each speaker, determine the weight of each speaker; Based on the target distance, determine the total sound pressure level, which refers to the sound pressure level that the loudspeaker array needs to achieve at the location of the target object; The target sound pressure level of each speaker is obtained based on the weight of each speaker and the total sound pressure level.

[0075] For example, when outputting target audio through multiple speakers, the weight of each speaker can be determined by combining the first position information of each speaker. At the same time, the total sound pressure level that the speaker array needs to achieve at the location of the target object can be determined by combining the target distance of the target object. Finally, the total sound pressure level is allocated according to the weight of each speaker, thereby determining the target sound pressure level that each speaker needs to achieve.

[0076] Optionally, the process of determining the weight of each speaker may include assigning the weight of each speaker according to the alignment between the speaker and the target direction, for example, the closer the speaker is to the target direction, the higher the weight is assigned.

[0077] For example, the angle between the sound-emitting direction of the i-th loudspeaker and the target azimuth angle is determined. Then, combine the following formula eight with the included angle. Determine the weight of each speaker.

[0078] (Formula 8) In the above formula eight, Used to represent the weight of the i-th speaker; The angle between the sound direction of the i-th loudspeaker and the target azimuth angle is used; N is used to represent the total number of loudspeakers in the loudspeaker array.

[0079] In one implementation, the process of determining the weight of each speaker based on the first position information of each speaker may further include: Based on the first position information of each speaker, determine the position offset of each speaker relative to the reference speaker in the speaker array; The weights of each speaker are determined based on the position offset, and the weights are negatively correlated with the position offset.

[0080] For example, based on the first position information of each speaker in the speaker array, the position offset of each speaker relative to the reference speaker can be determined; then, combined with the position offset, the weight of each speaker can be determined, and the weight of each speaker is negatively correlated with the position offset, that is, the smaller the position offset, the greater the weight of the speaker that is closer to the reference speaker; the greater the position offset, the smaller the weight of the speaker that is farther from the reference speaker.

[0081] For example, the process of determining the position offset can be found in the following formula nine: (Formula Nine) In Formula Nine above, Used to represent the positional offset between the i-th speaker and the reference speaker; , Let be the coordinates of the i-th speaker. , () is the coordinate of the reference loudspeaker.

[0082] Optionally, the negative correlation between the weight and the position offset can be linear, inversely proportional, or exponentially negative, etc.; the specific relationship can be determined by combining actual vehicle tests; this application does not specifically limit this.

[0083] In this embodiment, the weight of each speaker is determined according to the positional offset of each speaker relative to the reference speaker, and the weight is negatively correlated with the offset. This allows the speakers with a more directional advantage in the speaker array to bear a higher sound pressure output ratio, further enhancing the directionality of the audio warning, maximizing the use of the spatial layout advantage of the speaker array, improving the concentration of the warning sound waves in the target direction, avoiding interference to irrelevant directions, and thus improving the overall warning effect.

[0084] Optionally, in addition to determining the weights based on the first position information of the speakers, the weights can also be adjusted by considering the performance of each speaker. For example, speakers with better performance and more accurate orientation will have higher weights.

[0085] It should be noted that in determining the weight of each speaker, it is necessary to ensure that the sum of the weights of multiple speakers in the speaker array is 1.

[0086] In one implementation, the reference sound pressure level corresponding to a preset reference distance is obtained; The process of determining the total sound pressure level based on the target distance may specifically include: Determine the target ratio based on the target distance and the preset baseline distance; The total sound pressure level is determined based on the target ratio and the reference sound pressure level.

[0087] For example, the system may preset or obtain a reference sound pressure level corresponding to a preset reference distance, such as 62 dB at a distance of 2 meters directly in front of the vehicle. After obtaining the target distance between the target object and the vehicle, the target ratio between the target distance and the preset reference distance can be calculated. Then, based on the target ratio and the reference sound pressure level, the total sound pressure level corresponding to the current target distance can be determined. When the target object is close to the vehicle, a lower total sound pressure level can be determined to avoid excessively startling the target object due to excessively high sound pressure levels; when the target object is far from the vehicle, a higher total sound pressure level can be determined to ensure the audibility of the target audio.

[0088] In another implementation, considering that the attenuation of sound waves in the air is approximately inversely proportional to the square of the distance, the total sound pressure level can be calculated by combining the following formula.

[0089] (Formula 10) In the above formula ten, Used to indicate the total sound pressure level corresponding to the target distance; Used to indicate a preset reference distance The corresponding reference sound pressure level; d is used to represent the target distance.

[0090] Optionally, to ensure the warning effect while avoiding excessive noise, a preset range can be set for the total sound pressure level, for example, setting the total sound pressure level to be between 75dB and 90dB.

[0091] In this embodiment, the total sound pressure level is calculated by setting a preset reference distance and a reference sound pressure level, and combining the target ratio between the target distance and the preset reference distance. A standardized mapping relationship between distance and sound pressure level is established. There is no need to repeatedly calibrate the sound pressure parameters. The total warning sound pressure level can be dynamically adapted according to the real-time distance of the target object, realizing adaptive adjustment of the warning sound pressure, meeting the warning needs at different distances, and avoiding unnecessary energy waste.

[0092] In this embodiment, the weight of each speaker is determined based on the first position information of each speaker; then the target sound pressure level of each speaker is allocated according to the total sound pressure level corresponding to the target distance and the weight. The output task is allocated differently according to the advantages of the speaker layout, so as to realize the reasonable distribution of warning sound pressure in the speaker array. While ensuring that the total warning sound pressure at the location of the target object meets the standard, the workload of each speaker in the speaker array is optimized, and the stability of the overall warning audio output is improved.

[0093] S203 controls each speaker to output target audio based on audio output parameters. The target audio is used to warn the target object.

[0094] The target audio can be a preset warning sound (such as imitating the sound of an engine running or a specific homonym), a warning word output by voice, or an AVAS warning sound, etc.

[0095] For example, after determining the audio data parameters corresponding to each speaker, the target audio can be output by each speaker in the speaker array according to the audio output parameters to warn the target object that there is a vehicle nearby and avoid collision between the target object and the vehicle.

[0096] For example, the audio output parameters include the target output phase and the target output amplitude. Based on the calculated target output phase and target output amplitude, the audio processing module decomposes the original target audio into multiple channels with specific phase and amplitude relationships, and then drives the corresponding speaker units through a multi-channel power amplifier to control each speaker in the vehicle's speaker array to synchronously play the target audio with its own target output phase and target output amplitude.

[0097] In one implementation, the performance of the speaker array is verified. For example, a reference microphone is placed at a specific location at the front of the vehicle to monitor whether the actual radiated sound field matches the expectation. If a deviation is detected, the system can activate an adaptive calibration algorithm to fine-tune the audio output parameters of the speakers to ensure the stability of the sound field focusing effect. For instance, if the output effect of the target audio is inconsistent with the expectation due to speaker characteristic drift or obstruction, the parameters of the abnormal speakers can be adjusted.

[0098] In summary, in this embodiment of the application, for a vehicle equipped with a speaker array, by combining the first position information of each speaker in the speaker array with the second position information of the target object around the vehicle, the audio output parameters corresponding to each speaker are accurately matched and the speaker is controlled to output target audio for warning the target object. This enables targeted warnings to the target object, improves the pertinence and effectiveness of the vehicle's warnings to surrounding target objects, avoids noise interference caused by indiscriminate audio warnings, and enhances the warning effect of the vehicle's active safety warnings to the target object.

[0099] Figure 4 This is a schematic flowchart illustrating another method for controlling a vehicle provided in an embodiment of this application. It should be understood that this method can be applied to... Figure 2 The vehicle shown; or, the processor used in the vehicle; or, the chip used in the processor installed in the vehicle.

[0100] For example, such as Figure 4 As shown, the method 300 includes: S301, acquire the first position information of each speaker in the speaker array and the second position information of the target object around the vehicle. The second position information includes the target azimuth angle and target distance of the target object relative to the vehicle.

[0101] For example, the first position information of each speaker in the speaker array in the vehicle coordinate system is obtained, including its spatial coordinates and other parameters. At the same time, the second position information of the target objects around the vehicle is obtained in real time through the vehicle-mounted sensing device (such as radar, camera, etc.). This information specifically includes the target azimuth angle and target distance of the target object relative to the vehicle.

[0102] S302, based on the first position information of each loudspeaker, the first position information of the reference loudspeaker in the loudspeaker array, and the target azimuth angle, determine the arrival time difference of the sound waves output by each loudspeaker.

[0103] The arrival time difference refers to the difference between the time required for the sound waves of each loudspeaker and the sound waves of the reference loudspeaker to reach the direction corresponding to the target azimuth angle.

[0104] For example, the arrival time difference of the sound waves output by each speaker is calculated based on the first position information of each speaker, the first position information of the reference speaker in the speaker array, and the target azimuth angle.

[0105] For example, first calculate the positional offset of each speaker relative to the reference speaker, then project the offset onto the target azimuth direction to obtain the equivalent distance difference, and finally divide the equivalent distance difference by the speed of sound in the air to obtain the time difference between the sound waves of each speaker and the reference speaker reaching the target direction.

[0106] Alternatively, the implementation of S302 can be found in [reference needed]. Figure 3 The relevant description of S202 is not repeated here in the embodiments of this application.

[0107] S303 determines the phase difference between each speaker and the reference speaker based on the arrival time difference and the frequency of the target audio. The phase difference is positively correlated with the arrival time difference.

[0108] For example, the phase difference between each speaker and the reference speaker can be determined based on the arrival time difference obtained in step S302 and the frequency of the target audio.

[0109] Alternatively, the implementation of S303 can be found in [reference needed]. Figure 3 The relevant description of S202 is not repeated here in the embodiments of this application.

[0110] S304 determines the target output phase of each speaker based on the reference phase and phase difference of the reference speaker.

[0111] For example, based on the reference phase of the reference loudspeaker (which can typically be set to 0 or a fixed value) and the phase difference between each loudspeaker and the reference loudspeaker obtained in step S303, the target output phase of each loudspeaker is calculated by phase superposition.

[0112] For example, to ensure the normal operation of the audio driver module, the final phase value needs to be normalized to the range of [0, 2π) to ensure that the sound waves of each speaker are superimposed in phase in the target direction.

[0113] S305 determines the weight of each speaker based on the first position information of each speaker.

[0114] For example, based on the first position information of each speaker, its corresponding weight can be determined. The weight can reflect the contribution of the speaker in the array.

[0115] For example, the weight can be negatively correlated with the positional offset of the loudspeaker relative to the reference loudspeaker, that is, the smaller the offset, the higher the weight; or it can be calculated in combination with factors such as the sensitivity and orientation of the loudspeaker, and finally the sum of all weights is ensured to be 1 through normalization, so as to provide a basis for subsequent sound pressure level allocation.

[0116] Alternatively, the implementation of S305 can be found in [reference needed]. Figure 3 The relevant description of S202 is not repeated here in the embodiments of this application.

[0117] S306, determine the total sound pressure level based on the target distance.

[0118] For example, based on the target distance and according to the attenuation law of sound waves in the air, the total sound pressure level that the speaker array needs to reach at the target object location can be dynamically calculated.

[0119] For example, when the target is close, the total sound pressure level should be appropriately reduced to avoid excessive fright; when the target is far away, the total sound pressure level should be increased to ensure the warning is audible, while the total sound pressure level should be clamped within the effective warning range allowed by regulations (e.g., 75~90dB).

[0120] S307, based on the weight of each speaker and the total sound pressure level, obtains the target sound pressure level of each speaker.

[0121] For example, based on the weights of each loudspeaker obtained in step S305 and the total sound pressure level determined in step S306, the total sound pressure level is assigned to each loudspeaker according to the weights to obtain the target sound pressure level of each loudspeaker.

[0122] S308 determines the target output amplitude of each speaker based on the target sound pressure level of each speaker.

[0123] For example, based on the target sound pressure level of each loudspeaker obtained in step S307, the target output amplitude of each loudspeaker is calculated in a logarithmic-to-linear manner.

[0124] For example, the target sound pressure level is first converted into a linear sound pressure level, and then the linear sound pressure level is converted into an amplitude value that can be directly used to drive the loudspeaker according to the system gain coefficient. Usually, the amplitude needs to be normalized to the range of [0,1] to avoid hardware output overflow.

[0125] S309 controls each speaker to output target audio based on the target output phase and target output amplitude. The target audio is used to warn the target object.

[0126] For example, based on the target output phase of each speaker obtained in step S304 and the target output amplitude of each speaker obtained in step S308, each speaker is controlled to synchronously output the target audio. By controlling the phase, the sound waves are superimposed in phase in the target direction to form a directional sound field. By controlling the amplitude, the warning intensity is dynamically adjusted, ultimately achieving accurate and effective acoustic warning to the target object, while reducing noise interference to non-target areas.

[0127] In summary, in this embodiment, by combining the first position information of the loudspeaker with the azimuth and distance of the target object, the target output phase and target output amplitude of each loudspeaker are calculated respectively, achieving directional and precise acoustic warning of the target object. Phase control ensures that sound waves are superimposed in phase in the target direction, forming a more directional sound field and improving warning efficiency. Simultaneously, amplitude control dynamically adjusts the sound pressure level, ensuring effective warning loudness at the target location while avoiding excessive interference with the surrounding environment. Furthermore, it dynamically adapts the warning intensity according to the target distance, enhancing the safety and practicality of the vehicle-mounted external sound system.

[0128] Figure 5 This is a schematic flowchart illustrating another method for controlling a vehicle provided in an embodiment of this application. It should be understood that this method can be applied to... Figure 2 The vehicle shown; or, the processor used in the vehicle; or, the chip used in the processor installed in the vehicle.

[0129] For example, such as Figure 5 As shown, the method 400 includes: S401 uses an ultrasonic radar cluster to scan the area around the vehicle when the vehicle speed is less than a preset speed threshold.

[0130] For example, when the vehicle speed is less than a preset speed threshold (e.g., in a low-speed driving or reversing scenario), that is, when the vehicle is in a low-speed driving mode, the system activates an ultrasonic radar cluster to perform a full-range scan of the area around the vehicle. By working together with multiple radars, the system obtains the raw echo data of the environment around the vehicle, providing basic perception information for subsequent target detection.

[0131] S402, Extract the target point cloud data of the target object.

[0132] For example, the system processes the raw echo data collected by the ultrasonic radar cluster and extracts the target point cloud data of the target object from the environmental data through target detection and point cloud extraction algorithms. This data may include features such as the target's spatial location and reflection intensity, which are used to accurately identify and locate the target object.

[0133] S403 outputs the target azimuth and target distance of the target object.

[0134] For example, based on the extracted target point cloud data of the target object, and combined with the vehicle coordinate system for calculation, the target azimuth angle and target distance of the target object relative to the vehicle can be output, providing key input for the subsequent phase and amplitude calculation of the decision layer.

[0135] For example, S401 to S403 can be performed by the perception layer 501 in the vehicle system.

[0136] S404 calculates the weight of each speaker based on the target azimuth angle.

[0137] For example, based on the target azimuth angle obtained in step S403, and combined with the position information of each speaker in the speaker array, the weight corresponding to each speaker is calculated. The weight reflects the contribution of the speaker to directional sound generation, and is usually related to factors such as the alignment of the speaker relative to the target direction and the position offset. Finally, normalization processing is used to ensure that the sum of all weights is 1.

[0138] Alternatively, the implementation of S404 can be found in [reference needed]. Figure 3 The relevant description of S202 is not repeated here in the embodiments of this application.

[0139] S405, calculate the target sound pressure level based on the target distance.

[0140] For example, based on the target distance obtained in step S403, the target sound pressure level is dynamically calculated according to the attenuation law of sound waves in air.

[0141] For example, when the target is close, the sound pressure level can be appropriately reduced to avoid excessive fright, and when the target is far away, the sound pressure level can be increased to ensure the warning is audible, while clamping the sound pressure level within the effective warning range allowed by regulations.

[0142] Alternatively, the implementation of S405 can be found in [reference needed]. Figure 3 The relevant description of S202 is not repeated here in the embodiments of this application.

[0143] S406 synthesizes the target audio based on weights and the target sound pressure level, and generates a multi-channel drive signal.

[0144] For example, based on the speaker weights obtained in step S404 and the target sound pressure level obtained in step S405, the total sound pressure level can be allocated to each speaker according to the weights, the target audio for warning the target object can be synthesized, and a multi-channel drive signal containing phase and amplitude information can be generated to provide instructions for the sound control of the execution layer.

[0145] For example, S404 to S406 can be executed by the decision layer 502 in the vehicle system.

[0146] The S407 amplifies the drive signals of each channel through a multi-channel power amplifier.

[0147] For example, the multi-channel drive signal generated in step S406 is amplified by a multi-channel power amplifier to convert the low-power digital drive signal or analog drive signal into a high-power signal sufficient to drive the speaker array, ensuring that each speaker can output the corresponding sound wave according to the instruction.

[0148] S408 controls the loudspeaker array to emit phase-controllable sound waves.

[0149] For example, based on the multi-channel drive signal amplified by the power amplifier, the speaker array is controlled to emit sound waves with controllable phase and adjustable amplitude, so that each speaker emits sound synchronously according to preset phase and amplitude parameters, providing a basis for subsequent sound field superposition.

[0150] S409, the sound field is superimposed on the direction of the target object to form a sound pressure focus.

[0151] For example, the sound waves emitted by each speaker are superimposed in phase in the direction of the target object to form a sound pressure focus, which significantly increases the sound pressure level at the target location while reducing noise interference to non-target areas, thus achieving precise and directional acoustic warning.

[0152] For example, S407 to S409 can be executed by execution layer 503 in the vehicle system.

[0153] In summary, this embodiment of the application achieves precise directional acoustic warnings to target objects through a three-layer architecture consisting of a perception layer, a decision layer, and an execution layer. The perception layer acquires the target's location and distance in real time using an ultrasonic radar cluster; the decision layer dynamically calculates the speaker weights and target sound pressure level based on the location information; and the execution layer achieves phase-controllable sound wave emission through multi-channel driving and power amplifier control, ultimately forming a sound pressure focal point in the target direction. This approach ensures effective warning loudness at the target location while avoiding excessive interference with the surrounding environment. Furthermore, it improves pedestrian and vehicle interaction safety in low-speed scenarios, enhancing the practicality and intelligence of the vehicle-mounted external sound system.

[0154] The above text combined Figures 2 to 5 The method for controlling a vehicle provided in the embodiments of this application has been described in detail; the following will be combined with Figure 6 and Figure 7 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0155] Figure 6 This is a schematic diagram of a device for controlling a vehicle provided in an embodiment of this application.

[0156] For example, such as Figure 6 As shown, the device 600 includes: The acquisition module 601 is used to acquire the first position information of each speaker in the speaker array and the second position information of the target object around the vehicle. The processing module 602 is used to determine the audio output parameters of each speaker based on the first position information of each speaker and the second position information of the target object; based on the audio output parameters, it controls each speaker to output target audio, which is used to warn the target object.

[0157] In one possible implementation, the second position information includes the target azimuth angle and target distance of the target object relative to the vehicle, and the audio output parameters of each speaker include the target output phase and target output amplitude; the processing module 602 is further configured to determine the target output phase of each speaker based on the first position information and target azimuth angle of each speaker; and to determine the target output amplitude of each speaker based on the first position information and target distance of each speaker.

[0158] In one possible implementation, the processing module 602 is further configured to: determine the arrival time difference of the sound waves output by each speaker based on the first position information of each speaker, the first position information of the reference speaker in the speaker array, and the target azimuth angle; determine the phase difference between each speaker and the reference speaker based on the arrival time difference and the frequency of the target audio; and determine the target output phase of each speaker based on the reference phase of the reference speaker and the phase difference.

[0159] In one possible implementation, the processing module 602 is further configured to determine the relative position difference between each speaker and the reference speaker based on the first position information of each speaker and the first position information of the reference speaker; obtain the equivalent distance difference between each speaker and the reference speaker based on the relative position difference and the target azimuth angle; and obtain the arrival time difference based on the equivalent distance difference and the sound wave propagation speed.

[0160] In one possible implementation, the processing module 602 is further configured to determine the target sound pressure level of each loudspeaker based on the first position information and target distance of each loudspeaker; and to determine the target output amplitude of each loudspeaker based on the target sound pressure level of each loudspeaker.

[0161] In one possible implementation, the processing module 602 is further configured to determine the weight of each speaker based on the first position information of each speaker; determine the total sound pressure level based on the target distance, where the total sound pressure level refers to the sound pressure level that the speaker array needs to reach at the position of the target object; and obtain the target sound pressure level of each speaker based on the weight of each speaker and the total sound pressure level.

[0162] In one possible implementation, the processing module 602 is further configured to determine the position offset of each speaker relative to the reference speaker in the speaker array based on the first position information of each speaker; and to determine the weight corresponding to each speaker based on the position offset, wherein the weight is negatively correlated with the position offset.

[0163] In one possible implementation, the acquisition module 601 is further configured to acquire the reference sound pressure level corresponding to the preset reference distance; the processing module 602 is further configured to determine the target ratio based on the target distance and the preset reference distance; and determine the total sound pressure level based on the target ratio and the reference sound pressure level.

[0164] It should be noted that the aforementioned vehicle control devices are embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0165] For example, a "module" can be a software program, a hardware circuit, or a combination of both that implements the above functions. The hardware circuit may include an application-specific integrated circuit (ASIC), electronic circuits, a processor (e.g., a shared processor, a proprietary processor, or a group processor) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0166] Therefore, the units of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0167] Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0168] For example, such as Figure 7As shown, the vehicle 100 includes a memory 701 and a processor 702, wherein the memory 701 stores executable program code 703, and the processor 702 is used to call and execute the executable program code 703 to perform a method for controlling the vehicle.

[0169] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling a vehicle provided in embodiments of this application.

[0170] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0171] When the functional modules are divided according to their respective functions, the device may also include an acquisition module, a processing module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module, and will not be repeated here.

[0172] It should be understood that the device provided in this embodiment is used to execute the above-described method for controlling a vehicle, and therefore can achieve the same effect as the above-described implementation method.

[0173] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

[0174] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0175] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0176] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0177] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives, and magneto-optical disks, read-only memory (ROMs), random access memory (RAMs), erasable programmable read-only memory (EPROMs), electrically erasable programmable read-only memory (EEPROMs), dynamic random access memory (DRAMs), video random access memory (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0178] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a method for controlling a vehicle provided in the above embodiment.

[0179] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0180] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0181] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0182] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle is equipped with a speaker array; the method includes: Acquire the first position information of each speaker in the speaker array and the second position information of the target objects around the vehicle; Based on the first position information of each speaker and the second position information of the target object, the audio output parameters of each speaker are determined; Based on the audio output parameters, each speaker is controlled to output target audio, which is used to warn the target object.

2. The method according to claim 1, characterized in that, The second location information includes the target azimuth angle and target distance of the target object relative to the vehicle, and the audio output parameters of each speaker include the target output phase and the target output amplitude; The step of determining the audio output parameters of each speaker based on the first position information of each speaker and the second position information of the target object includes: Based on the first position information of each speaker and the target azimuth angle, the target output phase of each speaker is determined; Based on the first position information of each speaker and the target distance, the target output amplitude of each speaker is determined.

3. The method according to claim 2, characterized in that, Determining the target output phase of each loudspeaker based on the first position information of each loudspeaker and the target azimuth angle includes: Based on the first position information of each loudspeaker, the first position information of the reference loudspeaker in the loudspeaker array, and the target azimuth angle, the arrival time difference of the sound waves output by each loudspeaker is determined. The arrival time difference refers to the difference between the time required for the sound waves of each loudspeaker and the sound waves of the reference loudspeaker to reach the direction corresponding to the target azimuth angle. Based on the arrival time difference and the frequency of the target audio, the phase difference between each loudspeaker and the reference loudspeaker is determined, and the phase difference is positively correlated with the arrival time difference; The target output phase of each speaker is determined based on the reference phase of the reference speaker and the phase difference.

4. The method according to claim 3, characterized in that, The step of determining the arrival time difference of the sound waves output by each speaker based on the first position information of each speaker, the first position information of the reference speaker in the speaker array, and the target azimuth angle includes: Based on the first position information of each speaker and the first position information of the reference speaker, the relative position difference of each speaker relative to the reference speaker is determined; Based on the relative position difference and the target azimuth angle, the equivalent distance difference between each loudspeaker and the reference loudspeaker is obtained; The arrival time difference is obtained based on the equivalent distance difference and the sound wave propagation speed.

5. The method according to any one of claims 2 to 4, characterized in that, Determining the target output amplitude of each speaker based on the first position information of each speaker and the target distance includes: Based on the first position information of each loudspeaker and the target distance, the target sound pressure level of each loudspeaker is determined; The target output amplitude of each loudspeaker is determined based on the target sound pressure level of each loudspeaker.

6. The method according to claim 5, characterized in that, Determining the target sound pressure level of each loudspeaker based on the first position information of each loudspeaker and the target distance includes: Based on the first position information of each speaker, the weight corresponding to each speaker is determined; Based on the target distance, the total sound pressure level is determined, whereby the loudspeaker array needs to achieve the sound pressure level at the location of the target object. The target sound pressure level of each loudspeaker is obtained based on the weight of each loudspeaker and the total sound pressure level.

7. The method according to claim 6, characterized in that, The step of determining the weight corresponding to each speaker based on the first position information of each speaker includes: Based on the first position information of each speaker, the position offset of each speaker relative to the reference speaker in the speaker array is determined; Based on the position offset, the weights corresponding to each speaker are determined, and the weights are negatively correlated with the position offset.

8. The method according to claim 6, characterized in that, The method further includes: Obtain the reference sound pressure level corresponding to the preset reference distance; Determining the total sound pressure level based on the target distance includes: The target ratio is determined based on the target distance and the preset benchmark distance; The total sound pressure level is determined based on the target ratio and the reference sound pressure level.

9. A device for controlling a vehicle, characterized in that, The vehicle is equipped with a speaker array; the device includes: The acquisition module is used to acquire the first position information of each speaker in the speaker array and the second position information of the target object around the vehicle; The processing module is configured to determine the audio output parameters of each speaker based on the first position information of each speaker and the second position information of the target object; and control each speaker to output target audio based on the audio output parameters, the target audio being used to alert the target object.

10. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 8.

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