Vehicle and method of controlling vehicle

Abstract

A vehicle and a method for controlling the vehicle are provided for adjusting the sound pressure of a virtual engine sound based on external noise. The vehicle may include: a speaker for outputting the virtual engine sound; a microphone for receiving external sound generated outside the vehicle; and a controller configured to extract the noise by separating the virtual engine sound from the external sound, determine each of a plurality of peak sound pressures as a peak point, determine a plurality of equalizer (EQ) filters having a predetermined bandwidth, generate an amplification filter by combining the plurality of EQ filters, apply the amplification filter to the virtual engine sound, and control the speaker to output the virtual engine sound.

Description

Technical Field

[0001] The present disclosure relates to a vehicle for outputting a virtual engine sound and a method of controlling the vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] Generally, an electric vehicle may be driven by a motor and may generate little noise due to the low noise characteristics of the motor. Therefore, since the noise is small even when the electric vehicle approaches, pedestrians may not notice and the probability of an accident may increase.

[0004] Recently, a virtual engine sound system (VESS) has been installed in an electric vehicle, which virtually outputs an engine sound so that pedestrians can recognize the approach of the electric vehicle.

[0005] Recently, a technology has been developed that collects ambient noise through a microphone of a vehicle and amplifies a virtual engine sound based on the frequency average of the ambient noise. However, despite the amplification by the frequency average, distortion may occur due to a masking effect.

[0006] The method of creating an amplification equalizer equal to the ambient noise is problematic in terms of calculation speed and design cost because it requires an infinite number of digital filters. In the amplification method for each frequency band, unnecessary sound pressure may be amplified to cause distortion of the virtual engine sound. Summary of the invention

[0007] Therefore, an aspect of the present disclosure is to provide a vehicle and a method of controlling the vehicle which adjusts the sound pressure of a virtual engine sound based on external noise.

[0008] According to aspects of the present disclosure, a vehicle includes: a speaker for outputting a virtual engine sound; a microphone for receiving an external sound generated outside the vehicle; and a controller configured to extract noise by separating the virtual engine sound from the external sound, determine a plurality of EQ (equalizer) filters having a peak point at each of a plurality of peak sound pressures of the noise and having a predetermined bandwidth, generate an amplification filter by combining the plurality of EQ filters, apply the amplification filter to the virtual engine sound and control the speaker to output the virtual engine sound after the amplification filter is applied.

[0009] The controller is configured to separate the noise into a plurality of regions according to frequency and determine at least one peak sound pressure in each of the plurality of regions.

[0010] The controller is configured to divide a region in the noise corresponding to a frequency range of the output virtual engine sound into a plurality of regions.

[0011] The controller is configured to separate the noise into a plurality of regions based on a logarithmic scale.

[0012] The controller is configured to determine the peak sound pressures such that a frequency between the peak sound pressures in the same area is equal to or greater than a critical bandwidth.

[0013] The EQ filter is any one of a masking curve having a frequency corresponding to the peak sound pressure as a center frequency, an A-weighted filter, and a B-weighted filter.

[0014] The vehicle also includes a camera for acquiring image data of the front of the vehicle.

[0015] The controller is configured to determine whether a pedestrian is present in front of the vehicle based on the image data.

[0016] The controller is configured to adjust the frequency of the virtual engine sound to which the amplification filter is applied to increase the frequency when a pedestrian is present in front of the vehicle.

[0017] The controller is configured to control the speaker to output the virtual engine sound to which the amplification filter is applied and whose frequency is adjusted.

[0018] According to aspects of the present disclosure, a method for controlling a vehicle, the vehicle including a speaker for outputting a virtual engine sound and a microphone for receiving an external sound generated outside the vehicle, the method including: extracting noise by separating the virtual engine sound from the external sound; determining a plurality of EQ (equalizer) filters having a peak point at each of a plurality of peak sound pressures of the noise and having a predetermined bandwidth; generating an amplification filter by combining the plurality of EQ filters; applying the amplification filter to the virtual engine sound; and controlling the speaker to output the virtual engine sound to which the amplification filter is applied.

[0019] The method also includes: dividing the noise into a plurality of regions according to frequency; and determining at least one peak sound pressure in each of the plurality of regions.

[0020] Dividing the noise into a plurality of regions according to frequency includes dividing a region in the noise corresponding to a frequency range of the output virtual engine sound into a plurality of regions.

[0021] Dividing the noise into a plurality of regions according to frequency includes dividing the noise into a plurality of regions based on a logarithmic scale.

[0022] Determining at least one peak sound pressure in each of the plurality of regions includes determining the peak sound pressures such that a frequency between peak sound pressures in the same region is equal to or greater than a critical bandwidth.

[0023] The EQ filter is any one of a masking curve having a frequency corresponding to the peak sound pressure as a center frequency, an A-weighted filter, and a B-weighted filter.

[0024] The vehicle includes a camera for acquiring image data of the front of the vehicle.

[0025] The method also includes determining whether a pedestrian is present in front of the vehicle based on the image data.

[0026] The method further includes adjusting a frequency of the virtual engine sound to which the amplification filter is applied to increase the frequency when a pedestrian is present in front of the vehicle.

[0027] The method further includes controlling a speaker to output a virtual engine sound to which an amplification filter is applied and whose frequency is adjusted.

[0028] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order that the present disclosure may be better understood, various forms thereof will now be described by way of example with reference to the accompanying drawings, in which:

[0030] Figure 1 is a control block diagram of a vehicle in one form of the present disclosure.

[0031] Figure 2 : is a graph showing the peak sound pressure of vehicle extracted noise in one form of the present disclosure.

[0032] Figure 3 is a diagram showing a situation where a vehicle generates an amplification filter in one form of the present disclosure.

[0033] Figure 4 is a diagram illustrating a case where a vehicle applies an amplification filter to a virtual engine sound in one form of the present disclosure.

[0034] Figure 5 is a diagram showing a case where a vehicle adjusts the frequency of a virtual engine sound in one form of the present disclosure.

[0035] Figure 6 1 is a flowchart illustrating a case where a virtual engine sound to which an amplification filter is applied is output in a method of controlling a vehicle in one form of the present disclosure.

[0036] Figure 7 is a flowchart illustrating a case where the frequency of a virtual engine sound is adjusted in a method of controlling a vehicle in one form of the present disclosure.

[0037] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0038] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0039] It should be understood that when an element is referred to as being “connected” to another element, it may be directly or indirectly connected to the other element, where the indirect connection includes “connection” via a wireless communication network.

[0040] In addition, when a component “includes” or “comprises” an element, unless there is a specific description contrary thereto, the component may further include other elements, not excluding the other elements.

[0041] As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0042] As used herein, the terms "part", "unit", "block", "component" and "module" refer to units that can perform at least one function or operation. For example, these terms may refer to at least one process performed by at least one hardware (such as a field programmable gate array (FPGA) and an application specific integrated circuit (ASIC)) and at least one software stored in a memory or a processor.

[0043] The identification codes are used to facilitate the description, but are not intended to indicate the order of each step. Unless the context clearly indicates otherwise, each step can be implemented in an order different from the order shown.

[0044] Hereinafter, some forms of a vehicle and a method of controlling the vehicle according to one aspect will be described in detail with reference to the accompanying drawings.

[0045] Figure 1 is a control block diagram of a vehicle in some forms of the present disclosure.

[0046] refer to Figure 1 , the vehicle 10 in some forms of the present disclosure may include: a microphone 110 for receiving external sounds generated from outside the vehicle 10; a camera for acquiring image data about the front of the vehicle 10; a controller 130 for adjusting the virtual engine sound based on the external noise; a speaker 140 for outputting the virtual engine sound to the outside of the vehicle 10; and a memory 150 that can store various types of information required to control the vehicle 10.

[0047] The vehicle 10 in some forms of the present disclosure may include a motor (not shown) driven by electricity, and may be an electric vehicle that obtains power by using the motor (not shown).

[0048] In this case, the electric vehicle may include a battery electric vehicle (BEV), a hybrid electric vehicle (HEV), and a plug-in HEV. Any vehicle that receives power from a motor may be included in the electric vehicle without any limitation.

[0049] The microphone 110 in some forms of the present disclosure may be provided in a body (not shown) of the vehicle 10 to receive external sound generated from the outside. The microphone 110 may be provided without limitation as long as it can receive external sound generated from the outside of the vehicle 10, and the number of installations that may be provided is not limited.

[0050] In this case, the external sound received by the microphone 110 may include noise generated from the outside and a virtual engine sound output from the speaker 140 of the vehicle 10 .

[0051] The camera 120 in some forms of the present disclosure may be provided in a body (not shown) of the vehicle 10 to acquire image data in front of the vehicle 10 by photographing the front of the vehicle 10. The camera 120 may be provided without limitation as long as it can photograph the front of the vehicle 10, and the number of installations that may be provided is also unlimited.

[0052] The controller 130 in some forms of the present disclosure may extract noise generated outside the vehicle 10 by separating a virtual engine sound from external sounds received through the microphone 110 .

[0053] The controller 130 in some forms of the present disclosure may adjust the virtual engine sound based on the extracted noise.

[0054] Specifically, the controller 130 can adjust the virtual engine sound by determining multiple peak sound pressures of the noise, determining multiple EQ (equalizer) filters with each of the multiple peak sound pressures as a peak point and with a predetermined bandwidth, generating an amplification filter by combining the multiple EQ filters, and applying the generated amplification filter to the currently output virtual engine sound.

[0055] Thereafter, the controller 130 may control the speaker 140 to output the virtual engine sound to which the amplification filter is applied. Adjusting the virtual engine sound based on the extracted noise will be described in detail later.

[0056] The controller 130 in some forms of the present disclosure may determine whether a pedestrian is present in front of the vehicle 10 based on image data acquired by the camera 120 , and adjust the frequency of the virtual engine sound according to whether the pedestrian is present in front of the vehicle 10 .

[0057] Specifically, when a pedestrian exists in front of the vehicle 10 , the controller 130 may adjust the frequency of the virtual engine sound to which the amplification filter is applied to increase the frequency.

[0058] Thereafter, the controller 130 may control the speaker 140 to output the virtual engine sound to which the amplification filter is applied and whose frequency is adjusted. Adjusting the frequency of the virtual engine sound according to the presence or absence of a pedestrian will be described in detail later.

[0059] The controller 130 may include at least one memory in which a program for performing the above-mentioned operations and operations described later is stored, and at least one processor for executing the stored program. In the case of multiple memories and processors, they may be integrated into one chip, or may be arranged in physically separate locations.

[0060] The speaker 140 in some forms of the present disclosure may be provided in a body (not shown) of the vehicle 10 to output a virtual engine sound to the outside of the vehicle 10. The speaker 140 may be provided without limitation as long as it can output a virtual engine sound to the outside of the vehicle 10, and there is no limitation on the number of installations that may be provided.

[0061] The memory 150 in some forms of the present disclosure may store various information required to control the vehicle 10, such as data about virtual engine sounds, bandwidth information based on the type of EQ filter, sound processing algorithms for separating and combining sounds, and image processing algorithms for extracting pedestrians from image data.

[0062] The memory 150 may be implemented as at least one of a nonvolatile memory device (e.g., a cache, a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory), a volatile storage device (e.g., a random access memory (RAM)), or a storage medium (e.g., a hard disk drive (HDD) and a compact disk read-only memory (CD-ROM)), but is not limited to these.

[0063] Hereinabove, various configurations of the vehicle 10 have been described in detail. Hereinafter, adjustment of the virtual engine sound based on noise by the controller 130 of the vehicle 10 is described in detail.

[0064] Figure 2 is a graph showing peak sound pressure of vehicle extracted noise in some forms of the present disclosure. Figure 3 is a diagram illustrating how a vehicle generates an amplification filter in some forms of the present disclosure. Figure 4 is a diagram illustrating a situation in which a vehicle applies an amplification filter to a virtual engine sound in some forms of the present disclosure.

[0065] The controller 130 in some forms of the present disclosure may separate the virtual engine sound output through the speaker 140 from the external sound received through the microphone 110 to extract the noise generated from the outside of the vehicle 10 .

[0066] Figure 2 An example of the sound pressure of noise distributed according to frequency is shown, and the noise may indicate irregular sound pressure based on frequency.

[0067] like Figure 2 As shown, the controller 130 may determine the peak sound pressure based on the extracted noise.

[0068] In some forms of the disclosure, the peak sound pressure may correspond to a sound pressure at a frequency having a higher sound pressure than surrounding frequencies.

[0069] In addition, in some forms of the present disclosure, the peak sound pressure may correspond to a sound pressure at a frequency having a higher sound pressure than surrounding frequencies in each of a plurality of regions divided according to frequency.

[0070] In detail, the controller 130 may divide the noise into a plurality of regions according to frequencies, and determine at least one peak sound pressure in each of the plurality of regions.

[0071] In this case, the controller 130 may divide the region corresponding to the frequency range (e.g., 100 Hz to 1600 Hz) of the output virtual engine sound into a plurality of regions. That is, the controller 130 may not consider noise outside the frequency range (e.g., less than 100 Hz and greater than 1600 Hz) of the output virtual engine sound.

[0072] In some forms of the present disclosure, the controller 130 may separate the noise such that each of the plurality of regions has the same frequency range, and may separate the noise such that each of the plurality of regions has a different frequency range.

[0073] Additionally, in some forms of the present disclosure, the controller 130 may separate the noise into a plurality of regions based on a logarithmic scale. Figure 2 As shown, the controller 130 can divide the noise into a plurality of regions based on 100 Hz, 200 Hz, 400 Hz, 800 Hz, and 1600 Hz. In this way, the controller 130 can be divided into a plurality of regions according to the octave, and finally, the virtual engine sound of each octave can be controlled in consideration of the hearing of pedestrians.

[0074] Additionally, in some forms of the present disclosure, controller 130 may determine the peak sound pressures such that the frequency between the peak sound pressures in the same area is equal to or greater than a critical bandwidth.

[0075] Generally, human hearing has a threshold band for each specific frequency, like a combination of filters for each frequency band. That is, human hearing processes sound signals of a specific frequency region at a time, such as composed of several auditory filters. In this case, the bandwidth corresponding to the specific frequency region is defined as the threshold bandwidth, and the memory 150 stores the threshold bandwidth of the channel corresponding to the auditory filter according to the bandwidth characteristics of the human auditory filter.

[0076] That is, the controller 130 can provide a virtual engine sound without a difference in sound quality while ultimately reducing the amount of calculation by determining the peak sound pressure so that the frequency between the peak sound pressures in the same area is greater than or equal to the threshold bandwidth in the noise divided into multiple areas. In other words, the controller 130 can obtain an amplification filter that is most similar to the noise by using a small number of EQ filters by determining that the interval between the peak sound pressures is higher than the threshold bandwidth.

[0077] For example, Figure 3 As shown, since the critical bandwidth between 100 Hz and 400 Hz is 100 Hz, the controller 130 can determine 110 Hz as the first peak sound pressure within the range of 50 Hz left and right based on 100 Hz. Considering the threshold bandwidth, the controller 130 can determine 170 Hz as the second peak sound pressure within the range of 50 Hz left and right based on 200 Hz.

[0078] After determining a plurality of peak sound pressures of the noise, the controller 130 may determine a plurality of EQ (equalizer) filters having each of the plurality of peak sound pressures of the noise as a peak point and having a predetermined bandwidth.

[0079] In this case, the EQ filter may be any one of a masking curve having a frequency corresponding to the peak sound pressure as a center frequency, an A-weighted filter, and a B-weighted filter. In addition, the memory 150 may store information about the correlation between the type of the EQ filter and the quality factor (Q factor). That is, the memory 150 may store the quality factor according to the type of the EQ filter, and the controller 130 may determine the bandwidth corresponding to the type of the EQ filter based on the quality factor corresponding to the type of the EQ filter.

[0080] For example, Figure 3 As shown, the controller 130 may determine a masking curve having the first peak sound pressure as a peak point and a frequency corresponding to the first peak sound pressure as a center frequency as a first EQ filter corresponding to the first peak sound pressure.

[0081] The controller 130 may determine a masking curve having the second peak sound pressure as a peak point and a frequency corresponding to the second peak sound pressure as a center frequency as a second EQ filter corresponding to the second peak sound pressure.

[0082] The controller 130 in some forms of the present disclosure may generate an amplification filter by combining the determined plurality of EQ filters.

[0083] For example, Figure 3 As shown, the controller 130 may generate an amplification filter by combining a first EQ filter corresponding to a first peak sound pressure and a second EQ filter corresponding to a second peak sound pressure.

[0084] In this case, the amplification filter is a filter applied to the virtual engine sound output through the speaker 140 , and the controller 130 may apply the amplification filter to the virtual engine sound output through the speaker 140 .

[0085] For example, Figure 4 As shown, the controller 130 may amplify a frequency region of the virtual engine sound that may be masked by noise by adding an amplification filter to the output virtual engine sound having a frequency between 100 Hz and 1600 Hz.

[0086] Thereafter, the controller 130 may control the speaker 140 to output the virtual engine sound to which the amplification filter is applied.

[0087] Hereinbefore, the adjustment of the virtual engine sound based on noise by the controller 130 of the vehicle 10 has been described in detail. Hereinafter, the adjustment of the frequency of the virtual engine sound according to the presence or absence of a pedestrian by the controller 130 of the vehicle 10 will be described in detail.

[0088] Figure 5 is a diagram illustrating a situation in which a vehicle adjusts the frequency of a virtual engine sound in some forms of the present disclosure.

[0089] The controller 130 in some forms of the present disclosure may determine whether a pedestrian is present in front of the vehicle 10 based on image data acquired by the camera 120 , and may adjust the frequency of the virtual engine sound according to whether the pedestrian is present in front of the vehicle 10 .

[0090] Specifically, when a pedestrian exists in front of the vehicle 10 , the controller 130 may adjust the frequency of the virtual engine sound to which the amplification filter is applied to increase the frequency.

[0091] For example, Figure 5As shown, when a pedestrian exists in front of the vehicle 10 , the controller 130 may adjust the frequency of the virtual engine sound to which the amplification filter is applied by moving the entire frequency of the virtual engine sound to which the amplification filter is applied to increase by 300 Hz.

[0092] Thereafter, the controller 130 may control the speaker to output the virtual engine sound to which the amplification filter is applied and whose frequency is adjusted. Thus, the recognition ability of the pedestrian located in front of the vehicle 10 to the vehicle may be improved.

[0093] Hereinafter, a method of controlling the vehicle 10 in some forms of the present disclosure will be described. In the description of the method of controlling the vehicle 10, the vehicle 10 in some forms of the present disclosure may be used. Figures 1 to 5 The description is equally applicable to the method of controlling the vehicle 10 .

[0094] Figure 6 is a flowchart illustrating a case where a virtual engine sound to which an amplification filter is applied is output in a method of controlling a vehicle in some forms of the present disclosure.

[0095] refer to Figure 6 , the vehicle 10 in some forms of the present disclosure may extract noise by separating the virtual engine sound from the external sound ( 610 ).

[0096] That is, the controller 130 of the vehicle 10 may extract noise by removing the virtual engine sound reproduced through the speaker 140 from the external sound received through the microphone 110 .

[0097] The vehicle 10 in some forms of the present disclosure may determine a plurality of EQ (equalizer) filters that will have a peak point and a predetermined bandwidth (620) at each of a plurality of peak sound pressures of the noise.

[0098] That is, the controller 130 of the vehicle 10 may determine the peak sound pressure from the extracted noise.

[0099] In detail, the controller 130 may divide the noise into a plurality of regions according to frequencies, and determine at least one peak sound pressure in each of the plurality of regions.

[0100] At this time, the controller 130 may divide the noise into a plurality of regions based on a logarithmic scale according to the form.

[0101] Additionally, in some forms of the present disclosure, controller 130 may determine the peak sound pressures such that the frequency between the peak sound pressures in the same area is equal to or greater than a critical bandwidth.

[0102] After determining a plurality of peak sound pressures of the noise, the controller 130 may determine a plurality of EQ (equalizer) filters having each of the plurality of peak sound pressures of the noise as a peak point and having a predetermined bandwidth.

[0103] In this case, the EQ filter may be any one of a masking curve having a frequency corresponding to the peak sound pressure as a center frequency, an A-weighted filter, and a B-weighted filter.

[0104] The vehicle 10 in some forms of the present disclosure may generate an amplification filter by combining a plurality of EQ filters ( 630 ) and applying the amplification filter to the virtual engine sound ( 640 ).

[0105] In this case, the amplification filter is a filter applied to the virtual engine sound output through the speaker 140 , and the controller 130 may apply the amplification filter to the virtual engine sound output through the speaker 140 .

[0106] Thereafter, the vehicle 10 may control the speaker 140 to output the virtual engine sound to which the amplification filter is applied ( 650 ).

[0107] Figure 7 is a flow chart illustrating a situation in which the frequency of a virtual engine sound is adjusted in a method of controlling a vehicle in some forms of the present disclosure.

[0108] refer to Figure 7 , the vehicle 10 in some forms of the present disclosure may acquire image data regarding the front of the vehicle 10 ( 710 ).

[0109] When a pedestrian exists in front of the vehicle 10 ( 720 ), the vehicle 10 may adjust the frequency of the virtual engine sound to which the amplification filter is applied to increase the frequency ( 730 ).

[0110] That is, the controller 130 in some forms of the present disclosure may determine whether a pedestrian is present in front of the vehicle 10 based on image data acquired by the camera 120, and when a pedestrian is present in front of the vehicle 10, the frequency of the virtual engine sound to which the amplification filter is applied may be adjusted to increase the frequency.

[0111] Thereafter, the vehicle 10 may control the speaker 140 to output the virtual engine sound to which the amplification filter is applied and whose frequency is adjusted ( 740 ). Thus, the recognition ability of the pedestrians located in front of the vehicle 10 to the vehicle may be improved.

[0112] According to some forms of the vehicle and method of controlling the vehicle, by adjusting the sound pressure of the virtual engine sound based on the external noise, pedestrians can recognize the approach of the vehicle even in the presence of a large amount of external noise, thereby reducing the possibility of an accident.

[0113] At the same time, some forms of the present disclosure may be implemented in the form of a recording medium storing instructions that can be executed by a computer. The instructions may be stored in the form of program code, and when executed by a processor, the instructions may generate a program module that performs the operations of some forms of the present disclosure. The recording medium may be implemented as a computer-readable recording medium.

[0114] The computer-readable recording medium may include all kinds of recording media storing commands that can be interpreted by a computer. For example, the computer-readable recording medium may be a ROM, RAM, a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like.

[0115] The description of the present disclosure is merely exemplary in nature, and thus, variations that do not depart from the essence of the present disclosure are intended to fall within the scope of the present disclosure. Such variations should not be regarded as a departure from the spirit and scope of the present disclosure.

Claims

1. A vehicle comprising: a speaker configured to output a virtual engine sound; a microphone configured to receive external sound generated outside the vehicle; and The controller is configured as: extracting noise by separating the virtual engine sound from the external sound; determining each peak sound pressure of the plurality of peak sound pressures as a peak point; determining a plurality of equalizer filters having predetermined bandwidths; generating an amplification filter by combining the plurality of equalizer filters; applying the amplification filter to the virtual engine sound; and Controlling the speaker to output the virtual engine sound; dividing the noise into a plurality of regions based on frequency; and At least one peak sound pressure is determined in each of the plurality of regions.

2. The vehicle according to claim 1, wherein: The controller is configured to: An area of ​​the noise corresponding to a frequency range in which the virtual engine sound is output is divided into a plurality of areas.

3. The vehicle according to claim 1, wherein: The controller is configured to: The noise is divided into the plurality of regions based on a logarithmic scale.

4. The vehicle according to claim 1, wherein: The controller is configured to: The peak sound pressure is determined so that the frequency between the peak sound pressures in the same area is equal to or greater than a critical bandwidth.

5. The vehicle according to claim 1, wherein: The equalizer filter is at least one of a masking curve having a frequency corresponding to the peak sound pressure as a center frequency, an A-weighted filter, and a B-weighted filter.

6. The vehicle according to claim 1, wherein: The vehicle further comprises: A camera is configured to acquire image data of the front of the vehicle.

7. The vehicle according to claim 6, wherein: The controller is configured to: It is determined whether a pedestrian is present in front of the vehicle based on the image data.

8. The vehicle according to claim 7, wherein: The controller is configured to: When the pedestrian is present in front of the vehicle, the frequency of the virtual engine sound is increased.

9. The vehicle according to claim 8, wherein: The controller is configured to: The speaker is controlled to output the virtual engine sound with an increased frequency.

10. A method for controlling a vehicle, comprising the steps of: extracting the noise by separating a virtual engine sound from external sounds by a controller; The controller determines each peak sound pressure of a plurality of peak sound pressures as a peak point; determining, by the controller, a plurality of equalizer filters having predetermined bandwidths; generating, by the controller, an amplification filter by combining the plurality of equalizer filters; applying, by the controller, the amplification filter to the virtual engine sound; The controller controls the speaker to output the virtual engine sound; dividing, by the controller, the noise into a plurality of regions based on frequency; and At least one peak sound pressure is determined by the controller in each of the plurality of zones.

11. The method according to claim 10, wherein: Dividing the noise into the plurality of regions comprises: An area of ​​the noise corresponding to a frequency range in which the virtual engine sound is output is divided into a plurality of areas.

12. The method according to claim 10, wherein: Dividing the noise into the plurality of regions comprises: The noise is divided into the plurality of regions based on a logarithmic scale.

13. The method according to claim 10, wherein: Determining at least one peak sound pressure comprises: The peak sound pressure is determined so that the frequency between the peak sound pressures in the same area is equal to or greater than a critical bandwidth.

14. The method according to claim 10, wherein: The equalizer filter is at least one of a masking curve having a frequency corresponding to the peak sound pressure as a center frequency, an A-weighted filter, and a B-weighted filter.

15. The method according to claim 10, wherein: The method comprises: Image data of the front of the vehicle is acquired by a camera.

16. The method according to claim 15, wherein: The method further comprises: It is determined whether a pedestrian is present in front of the vehicle based on the image data.

17. The method according to claim 16, wherein: The method further comprises: When the pedestrian is present in front of the vehicle, the frequency of the virtual engine sound is increased.

18. The method according to claim 17, wherein: The method further comprises: The speaker is controlled to output the virtual engine sound with an increased frequency.

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