Audio processing method, electronic device, wearable device, vehicle, and storage medium

Abstract

The present disclosure provides an audio processing method, an electronic device, a wearable device, a vehicle and a storage medium. The audio processing method comprises: obtaining first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system and second multi-degree-of-freedom information of the vehicle based on a second coordinate system; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system; and determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device. The present disclosure can accurately perceive audio information of a corresponding position using a wearable device stereo system, and can ensure the privacy of the audio information.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to an audio processing method, an electronic device, a wearable device, a vehicle and a storage medium. BACKGROUND

[0002] With the development of science and technology, intelligent wearable devices have brought great convenience to people's life. At present, the coupling mode of the sound generating device on the intelligent wearable device and the human ear is mostly open coupling, which is simple and comfortable to wear. In the cabin of a vehicle, the driver or passenger in the vehicle can wear a wearable device according to the corresponding scene to meet their own or others' needs. SUMMARY

[0003] At least one embodiment of the present disclosure provides an audio processing method, including: obtaining first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system and second multi-degree-of-freedom information of the vehicle based on a second coordinate system; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system; and determining a target spatial rendering audio signal based on the second relative position and a head transfer function of the wearable device.

[0004] For example, in the audio processing method provided by at least one embodiment of the present disclosure, determining a target spatial rendering audio signal based on the second relative position and a head transfer function of the wearable device includes: obtaining an object audio signal at the first relative position; and performing spatial audio rendering on the object audio signal based on the second relative position and the head transfer function of the wearable device to determine the target spatial rendering audio signal.

[0005] For example, in the audio processing method provided by at least one embodiment of the present disclosure, performing spatial audio rendering on the object audio signal based on the second relative position and the head transfer function of the wearable device to determine the target spatial rendering audio signal includes: taking the second relative position as an input of the head transfer function to obtain a binaural impulse response function; and performing convolution calculation on the binaural impulse response function and the object audio signal to obtain a stereo signal to determine the target spatial rendering audio signal.

[0006] For example, the audio processing method provided in at least one embodiment of the present disclosure further includes: obtaining orientation information of the set object relative to the vehicle based on the set object, to obtain the first relative orientation in the second coordinate system; and wherein the second relative orientation includes orientation information of the set object relative to the target part in the first coordinate system.

[0007] For example, in the audio processing method provided in at least one embodiment of the present disclosure, obtaining the object audio signal on the first relative orientation includes: generating the object audio signal in response to a distance between the set object and the vehicle being less than a preset distance threshold; and / or generating the object audio signal in response to direction information of the set object relative to the vehicle indicating that the set object is close to the vehicle.

[0008] For example, in the audio processing method provided in at least one embodiment of the present disclosure, the head transfer function includes horizontal orientation information; or the head transfer function includes horizontal orientation information and vertical orientation information.

[0009] For example, the audio processing method provided in at least one embodiment of the present disclosure further includes: playing the target space rendering audio signal through the wearable device.

[0010] For example, in the audio processing method provided in at least one embodiment of the present disclosure, the number of degrees of freedom of the first multi-degree-of-freedom information, the number of degrees of freedom of the second multi-degree-of-freedom information, and the number of degrees of freedom of the relative multi-degree-of-freedom information are the same.

[0011] For example, the audio processing method provided in at least one embodiment of the present disclosure further includes: obtaining the first multi-degree-of-freedom information through a first inertial measurement unit of the wearable device, and obtaining the second multi-degree-of-freedom information through a second inertial measurement unit of the vehicle.

[0012] For example, in the audio processing method provided in at least one embodiment of the present disclosure, a wearer of the wearable device is a driver of the vehicle, the target part includes a head of the wearer of the wearable device, and the wearable device includes glasses.

[0013] The at least one embodiment of the present disclosure further provides an electronic device, comprising a processor and a memory, wherein the memory is coupled to the processor, and the memory is configured to store computer program codes comprising computer instructions, and when the processor reads the computer instructions from the memory, the electronic device is caused to perform the following operations: obtaining first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system and second multi-degree-of-freedom information of the vehicle based on a second coordinate system; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system; and determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device.

[0014] The at least one embodiment of the present disclosure further provides a wearable device arranged on a target part of a wearer of a wearable device located on a vehicle, and comprising a processor and a memory, wherein the memory is coupled to the processor, and the memory is configured to store computer program codes comprising computer instructions, and when the processor reads the computer instructions from the memory, the wearable device is caused to perform the following operations: obtaining first multi-degree-of-freedom information of the target part based on a first coordinate system; receiving second multi-degree-of-freedom information of the vehicle based on a second coordinate system sent by the vehicle; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system; and determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device.

[0015] For example, the wearable device provided by the at least one embodiment of the present disclosure further comprises an audio module, wherein the audio module is coupled to the processor, and the audio module is configured to play the target spatially rendered audio signal.

[0016] For example, the wearable device provided by the at least one embodiment of the present disclosure further comprises a first inertial measurement unit, wherein the first inertial measurement unit is coupled to the processor, and the first inertial measurement unit is configured to obtain the first multi-degree-of-freedom information.

[0017] The vehicle provided in at least one embodiment of the present disclosure also includes a processor and a memory, wherein the memory is coupled to the processor, and the memory is configured to store computer program code including computer instructions, and the computer instructions are configured to cause the vehicle to perform the following operations: receiving first multi-degree-of-freedom information of a target part of a wearer of a wearable device based on a first coordinate system, the wearable device being arranged on the target part of the wearer; obtaining second multi-degree-of-freedom information of the vehicle based on a second coordinate system; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system; and determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device.

[0018] For example, the vehicle provided in at least one embodiment of the present disclosure further includes a second inertial measurement unit, wherein the second inertial measurement unit is coupled to the processor, and the second inertial measurement unit is configured to obtain the second multi-degree-of-freedom information.

[0019] For example, in the vehicle provided in at least one embodiment of the present disclosure, the vehicle further performs the following operation: obtaining a position information of a set object relative to the vehicle based on the set object to obtain the first relative position in the second coordinate system; and wherein the second relative position includes the position information of the set object relative to the target part in the first coordinate system.

[0020] For example, in the vehicle provided in at least one embodiment of the present disclosure, the vehicle further performs the following operation: obtaining an object audio signal on the first relative position; and performing spatial audio rendering on the object audio signal based on the second relative position and the head transfer function of the wearable device to determine the target spatially rendered audio signal.

[0021] For example, in the vehicle provided in at least one embodiment of the present disclosure, the vehicle further performs the following operation: sending the target spatially rendered audio signal to the wearable device to enable the wearable device to play the target spatially rendered audio signal.

[0022] The computer readable storage medium provided in at least one embodiment of the present disclosure has a computer program stored therein, and the computer program is configured to be executed by a processor to implement the audio processing method described in any one of the above examples. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0024] Figures 1-2 is a structural schematic diagram of an interactive system according to some embodiments of the present disclosure;

[0025] Figure 3 is a flowchart of an audio processing method according to some embodiments of the present disclosure;

[0026] Figure 4 is Figure 3 is a flowchart of an execution process of step S14 of the audio processing method in

[0027] Figure 5 is Figure 4 is a flowchart of an execution process of step S142 of the audio processing method in

[0028] Figure 6 is a flowchart of an audio processing method according to some embodiments of the present disclosure;

[0029] Figure 7 is a structural schematic diagram of an electronic device according to at least one embodiment of the present disclosure;

[0030] Figures 8-9 is a structural schematic diagram of a wearable device according to at least one embodiment of the present disclosure;

[0031] Figures 10-11 is a structural schematic diagram of a vehicle according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments only constitute some embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0033] Unless otherwise defined, all terms (including technical and scientific terms) used in the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this present disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0034] The terms "first", "second", and similar terms used in the present disclosure do not necessarily mean any order, number, or importance, but are used to distinguish different components. The terms "one", "a", or "the" and similar terms do not mean a quantity restriction, but mean that there is at least one. Similarly, the terms "include" or "contain" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Flowcharts are used in the present disclosure to illustrate the steps of the method according to the present disclosure. It should be understood that the preceding or subsequent steps do not necessarily proceed in sequence. Instead, various steps can be processed in reverse order or simultaneously. Meanwhile, other operations can be added to these processes, or one or more steps can be removed from these processes.

[0035] Currently, in the cabin of a vehicle, the driver and the passengers in the vehicle generally share the same in-vehicle audio system, which leads to some private audio information of the driver being unable to be effectively distinguished from the passenger information.

[0036] The inventors of the present disclosure found that using a wearable device (such as smart glasses) to play audio can ensure the privacy of the audio information. The inventors of the present disclosure also found that the warning sound of a vehicle contains the orientation information of the vehicle's prompt, but the simple audio system of smart glasses cannot effectively contain this information.

[0037] The inventors of the present disclosure find through research that the implementation of the warning sound in the vehicle using the original vehicle sound system is generally through the external laser radar or camera on the vehicle to sense the approach of the object in a specific direction, and the direction information is transmitted to the vehicle terminal, and then the terminal issues a warning sound instruction. The sound system closest to the warning direction emits the maximum loudness warning sound, and other sound systems emit lower loudness warning sound to realize the direction information of the warning sound. However, the inventors of the present disclosure find that this scheme cannot accurately know the specific direction of the warning sound. In addition, the inventors of the present disclosure further find through research that if the warning sound is played on glasses, the glasses are a two-channel system and cannot accurately locate the direction, and there is also the problem of inaccurate warning sound direction information.

[0038] At least one embodiment of the present disclosure provides an audio processing method, comprising: obtaining first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system and second multi-degree-of-freedom information of the vehicle based on a second coordinate system; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system; and determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device.

[0039] At least one embodiment of the present disclosure also provides an electronic device, comprising a processor and a memory, wherein the memory is coupled to the processor, the memory is configured to store computer program code, and the computer program code comprises computer instructions. When the processor reads the computer instructions from the memory, the electronic device performs the following operations: obtaining first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system and second multi-degree-of-freedom information of the vehicle based on a second coordinate system; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system; and determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device.

[0040] The audio processing method or the electronic device of the above-mentioned embodiments of the present disclosure can fuse and calculate the multi-degree-of-freedom information of the target part of the wearer and the multi-degree-of-freedom information of the vehicle, re-calibrate the corresponding audio coordinates for the wearable device, and use the head transfer function in cooperation with the spatial audio algorithm to perform audio rendering, so as to accurately perceive the audio information (such as warning sound information) of the corresponding direction using the wearable device stereo system, and avoid affecting other personnel in the vehicle except the wearer of the wearable device, thereby ensuring the privacy of the audio information.

[0041] The wearable device provided by at least one embodiment of the present disclosure is arranged on the target part of the wearer of the wearable device located on the vehicle, and includes a processor and a memory. The memory is coupled with the processor, and the memory is used to store computer program codes including computer instructions. When the processor reads the computer instructions from the memory, the wearable device performs the following operations: obtaining first multi-degree-of-freedom information of the target part based on a first coordinate system; receiving second multi-degree-of-freedom information based on a second coordinate system sent by the vehicle; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative direction corresponding to a first relative direction in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative direction in the second coordinate system; and determining a target spatial rendering audio signal based on the second relative direction and a head transfer function of the wearable device.

[0042] The wearable device of the above-mentioned embodiments of the present disclosure can cooperate with the vehicle, and can realize the operation of re-calibrating the corresponding audio coordinates for the wearable device and using the head transfer function in cooperation with the spatial audio algorithm to perform audio rendering, which is beneficial to subsequent playing of the target spatial rendering audio signal on the wearable device, avoids unnecessary resources and costs due to transmission problems, and can improve the problem of playing delay.

[0043] At least one embodiment of this disclosure further provides a vehicle carrying a wearer of a wearable device. The wearable device is mounted on a target part of the wearer's body. The vehicle includes a processor and a memory, wherein the memory is coupled to the processor and is used to store computer program code, which includes computer instructions. When the processor reads the computer instructions from the memory, the vehicle performs the following operations: receiving first multi-degree-of-freedom information of the target part based on a first coordinate system from the wearable device; acquiring second multi-degree-of-freedom information of the vehicle based on a second coordinate system; acquiring relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first and second multi-degree-of-freedom information; acquiring a second relative orientation in the first coordinate system corresponding to the first relative orientation based on the relative multi-degree-of-freedom information and a first relative orientation in the second coordinate system; and determining a target space rendering audio signal based on the second relative orientation and the head transfer function of the wearable device.

[0044] The vehicle described in the above embodiments of this disclosure can cooperate with wearable devices to recalibrate the corresponding audio coordinates for the wearable device and perform audio rendering using a head transfer function in conjunction with a spatial audio algorithm. This provides significant advantages in terms of battery life, power consumption, and heat generation.

[0045] Figures 1-2 This is a schematic diagram of the structure of an interactive system proposed in some embodiments of this disclosure. Figure 3 This is a flowchart of an audio processing method proposed in some embodiments of this disclosure.

[0046] For example, such as Figure 1 and Figure 2 As shown, the interactive system 1000 of some embodiments of this disclosure includes a vehicle 100 and a wearable device 200. The vehicle 100 and the wearable device 200 establish a communication connection.

[0047] In some examples, vehicle 100 and wearable device 200 can establish a communication connection via wireless communication. For instance, both wearable device 200 and the vehicle 100's in-vehicle terminal have Bluetooth audio capabilities, enabling wearable device 200 to interconnect with the vehicle 100's in-vehicle terminal via Bluetooth communication; or, both wearable device 200 and the vehicle 100's in-vehicle terminal have Wi-Fi modules, enabling wearable device 200 to interconnect with the vehicle 100's in-vehicle terminal via Wi-Fi communication. Of course, this is merely exemplary and not a limitation of this disclosure.

[0048] For example, such as Figure 1 and Figure 2 As shown, the wearable device 200 is located on the target part 300 of the wearer, and the wearer of the wearable device 200 is located on the vehicle 100.

[0049] In some examples, the wearer of the wearable device 200 is the driver of the vehicle 100, and the target part 300 includes the head of the wearer of the wearable device 200. Of course, this is merely exemplary and is not a limitation of the embodiments of the present disclosure.

[0050] The embodiments of the present disclosure can avoid bringing noise to other passengers in the vehicle, and can ensure the privacy of the audio information of the driver.

[0051] For example, as shown in Figure 2 The vehicle 100 further includes one or more seats 101 for other passengers in the vehicle 100 to sit.

[0052] In some examples, the wearable device 200 includes smart glasses such as AR (Augmented Reality) glasses, VR (Virtual Reality) glasses, or MR (Mixed Reality) glasses. The embodiments of the present disclosure cooperate with the vehicle 100 by using smart glasses, so that the embodiments of the present disclosure have better experience and less restrictions in the convenience of audio display, input method, and the privacy guarantee of audio information.

[0053] Of course, this is merely exemplary and is not a limitation of the present disclosure. For example, the wearable device 200 of the embodiments of the present disclosure can also be other devices developed by applying wearable technology to the intelligent design of daily wear, such as smart watches, smart gloves, and other wearable devices equipped with communication modules, which are not listed and described here.

[0054] It should be noted that the wearable device used by some embodiments of the present disclosure is not only a hardware device, but also can realize powerful functions through software support and data interaction and cloud interaction.

[0055] For example, as shown in Figures 1-3 The audio processing method of some embodiments of the present disclosure at least includes steps S11-S14.

[0056] Step S11, obtaining first multi-degree-of-freedom information of a target part 300 of a wearer of a wearable device 200 located on a vehicle 100 based on a first coordinate system and second multi-degree-of-freedom information of the vehicle 100 based on a second coordinate system.

[0057] Step S12, based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information, obtaining relative multi-degree-of-freedom information between the target part 300 and the vehicle 100 in the first coordinate system.

[0058] Step S13, based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system, obtaining a second relative position corresponding to the first relative position in the first coordinate system.

[0059] Step S14, determining the target spatial rendering audio signal based on the second relative position and the head transfer function of the wearable device 200.

[0060] The audio processing method of the above-mentioned embodiments of the present disclosure can re-calibrate the corresponding audio (such as warning sound) coordinates for the wearable device through the cooperation of the vehicle and the wearable device, and use the head transfer function (HRTF) to perform audio rendering through the cooperation of the spatial audio algorithm, so as to realize that the corresponding audio information (such as the corresponding warning sound information) can also be accurately perceived by using the wearable device stereo system, and the privacy of the audio information can be ensured, which can also avoid affecting other personnel in the vehicle except the wearer of the wearable device.

[0061] In some examples, steps S11-S14 can be performed by the wearable device 200, or steps S11-S14 can also be performed by the vehicle 100, for example, steps S11-S14 can be performed by the vehicle terminal in the vehicle 100. Of course, this is only exemplary and is not a limitation of the embodiments of the present disclosure, which can be freely adjusted according to the actual situation, which will not be described here.

[0062] Figure 4 is Figure 3 A flowchart of an execution process of step S14 of the audio processing method.

[0063] For example, as shown in Figure 4 , step S14 includes at least steps S141 and S142.

[0064] Step S141, obtaining an object audio signal at the first relative position.

[0065] Step S142, based on the second relative position and the head transfer function of the wearable device 200, performing spatial audio rendering on the object audio signal to determine the target spatial rendering audio signal.

[0066] For example, in step S141, the object audio signal includes a warning sound original audio.

[0067] For example, the object audio signal in step S141 refers to a warning sound original audio at the first relative position in the second coordinate system.

[0068] In some examples, the audio processing method further includes the following process or step: based on a designated object, obtaining the orientation information of the designated object relative to the vehicle 100 to obtain a first relative orientation in a second coordinate system. For example, the second relative orientation includes the orientation information of the designated object relative to the target part 300 in the first coordinate system.

[0069] The audio processing method of the above embodiments of this disclosure, through the cooperation of the vehicle and the wearable device, recalibrates the corresponding warning sound coordinates for the wearable device, which can map the vehicle coordinate system to the head coordinate system, and uses the head transfer function to render the audio in conjunction with the spatial audio algorithm, so that the wearable device stereo system can accurately perceive the warning sound information of the corresponding direction. The embodiments of this disclosure can also avoid affecting other passengers in the vehicle and can ensure the privacy of audio information.

[0070] For example, such as Figure 2 and Figure 3 As shown, the second coordinate system can be represented as coordinate system C2, for example, coordinate system C2 can also be called the vehicle coordinate system, and the first coordinate system can be represented as coordinate system C1, for example, coordinate system C1 can be called the head coordinate system. Of course, this is merely an example and is not a limitation of the embodiments of this disclosure.

[0071] In some examples, the first and second coordinate systems can be two-dimensional or three-dimensional coordinate systems, and can be freely adjusted according to the actual situation. Figure 2 The examples provided are merely illustrative and are not intended to limit the embodiments of this disclosure. It should be noted that the embodiments of this disclosure do not limit the method of establishing the first coordinate system and / or the second coordinate system, as long as it can ultimately map the second coordinate system to the first coordinate system, such as mapping the vehicle coordinate system to the head coordinate system. Since this is not the focus of the embodiments of this disclosure, it will not be elaborated here.

[0072] In some examples, the object being set includes a dangerous object, which refers to a target object that poses a danger to vehicle 100. It should be noted that the embodiments of this disclosure do not limit the size, weight, shape, or type of the object being set. Any object that could cause danger to vehicle 100 and require a warning sound is within the scope of the embodiments of this disclosure, and will not be limited or elaborated here.

[0073] In some examples, vehicle 100 is equipped with a warning device that can detect and track dangerous objects to obtain the location information of the dangerous object relative to vehicle 100. This allows the device to determine whether a warning is needed. If the determination is that a warning is required, a warning sound is emitted (e.g., the generated object audio signal mentioned below). If the determination is that a warning is not needed, no warning sound is emitted, and the audio processing method ends. For example, the warning device can be an external camera of vehicle 100, or it can be a lidar or millimeter-wave radar. The embodiments disclosed herein are not limited to this, as long as it can detect the specific location information of the dangerous object posing a danger to vehicle 100. Further details are omitted here.

[0074] In some examples, the orientation in the first relative orientation and / or the second relative orientation includes direction information and / or location information. Of course, this is merely exemplary and not a limitation of this disclosure; it can be freely adjusted according to actual circumstances, and will not be elaborated further here.

[0075] In some examples, obtaining the object audio signal at the first relative orientation in step S141 may further include the following process or step: generating the object audio signal in response to the setting that the distance between the object and the vehicle 100 is less than a preset distance threshold. For example, setting the distance between the object and the vehicle 100 means setting the distance between the object and the vehicle 100 in the second coordinate system.

[0076] In other examples, obtaining the object audio signal at the first relative orientation in step S141 may further include the following process or step: generating the object audio signal in response to the orientation information of the set object relative to the vehicle 100 indicating that the set object is approaching the vehicle 100.

[0077] The embodiments disclosed above utilize an early warning device to detect the specific location information of a hazard, and can determine whether to issue a warning sound based on information such as distance and / or direction, making the operation simple.

[0078] It should be noted that the embodiments of this disclosure do not limit the preset distance threshold, which can be freely adjusted according to the actual situation. Since this is not the focus of the embodiments of this disclosure, it will not be elaborated here.

[0079] Figure 5 yes Figure 4 A flowchart of the execution process of step S142 of the audio processing method.

[0080] For example, such as Figure 5 As shown, an example of step S142 includes at least steps S1421 and S1422.

[0081] In step S1421, the second relative position is taken as an input of the head transfer function to obtain a binaural impulse response function.

[0082] In step S1422, the binaural impulse response function and the object audio signal are convoluted to obtain a stereo signal to determine the target spatially rendered audio signal.

[0083] Embodiments of the present disclosure utilize the head transfer function for the wearable device 200, such as AR glasses, and take into account that the glasses speaker has a part of the sound transmission path more than, for example, the earphone speaker, so that not only the corresponding audio coordinates can be recalibrated for the wearable device and the head transfer function can be used in combination with the spatial audio algorithm to perform audio rendering, but also the privacy of the audio information can be ensured without affecting other people in the vehicle except the wearer of the wearable device. Embodiments of the present disclosure can also be customized according to the wearer, have strong expansibility and universality, and the wearer has a better experience.

[0084] For example, in step S1421, the second relative position as the input of the head transfer function can include angle information, such as a 30° position or a 45° position. In some examples, the head transfer function of embodiments of the present disclosure can adopt a characterization manner of a finite impulse response function. Of course, this is merely exemplary and is not a limitation of embodiments of the present disclosure.

[0085] In some examples, the head transfer function of embodiments of the present disclosure refers to a frequency domain transmission function of a sound filter system formed after sound waves emitted from the wearable device 200 pass through the head, torso and pinna of the wearer to reach the ear canal, in other words, the head transfer function describes the way in which the head and torso of the wearer affect the incident sound field. For example, embodiments of the present disclosure can virtually image sound at different spatial positions through the filter corresponding to the head transfer function.

[0086] In some examples, the head transfer function of embodiments of the present disclosure can be obtained from a head transfer function library, the head transfer function library can be composed of a plurality of filters of finite impulse response functions, and can correspond to different angles (i.e., different positions) respectively, so as to obtain the corresponding binaural impulse response function. For example, in the case of a warning at a 30° position, the head transfer function at the 30° position can be called to perform spatial audio rendering; for example, in the case of a warning at a 45° position, the head transfer function at the 45° position can be called to perform spatial audio rendering. Of course, this is merely exemplary and is not a limitation of embodiments of the present disclosure.

[0087] In some examples, the head transfer function includes horizontal position information. In other examples, the head transfer function includes horizontal position information and vertical position information.

[0088] The posture of the wearer of the wearable device of the embodiments of the present disclosure can be relatively fixed or relatively changed, and the application scenarios are relatively wide and the universality is relatively strong. For example, in the case where the head transfer function does not use vertical orientation information, the embodiments of the present disclosure can save resources and improve efficiency. For example, in the case where the head transfer function uses vertical orientation information, the embodiments of the present disclosure can improve the accuracy of the results and also improve the experience of the wearer of the wearable device.

[0089] In some examples, the audio processing method further includes the following process or step: playing the target spatially rendered audio signal by the wearable device 200. For example, the wearable device 200 includes an audio module (for example, a stereo speaker module) configured to play the target spatially rendered audio signal.

[0090] The embodiments of the present disclosure can avoid affecting other people in the vehicle except the wearer of the wearable device by playing the rendered audio signal through the wearable device that can play stereo audio, and ensure the privacy of the audio information.

[0091] In some examples, the number of degrees of freedom of the first multi-degree-of-freedom information, the number of degrees of freedom of the second multi-degree-of-freedom information, and the number of degrees of freedom of the relative multi-degree-of-freedom information are the same.

[0092] It should be noted that the number of degrees of freedom of the first multi-degree-of-freedom information, the second multi-degree-of-freedom information, and the relative multi-degree-of-freedom information of the embodiments of the present disclosure is at least greater than or equal to 2.

[0093] In some examples, the number of degrees of freedom of the first multi-degree-of-freedom information is 2, the number of degrees of freedom of the second multi-degree-of-freedom information is 2, and the number of degrees of freedom of the relative multi-degree-of-freedom information is 2. For example, the degrees of freedom of the first multi-degree-of-freedom information can include two rotation angle degrees of freedom, such as tilting the head and turning back or tilting the head and leaning back. Of course, this is merely exemplary and is not a limitation of the embodiments of the present disclosure. For example, the degrees of freedom of the first multi-degree-of-freedom information, the degrees of freedom of the second multi-degree-of-freedom information, and the number of degrees of freedom of the relative multi-degree-of-freedom information can be freely adjusted according to the habitual posture of the wearer of the wearable device in the vehicle, which will not be described here.

[0094] In some examples, the number of degrees of freedom of the first multi-degree-of-freedom information is 3, the number of degrees of freedom of the second multi-degree-of-freedom information is 3, and the number of degrees of freedom of the relative multi-degree-of-freedom information is 3. For example, the degrees of freedom of the first multi-degree-of-freedom information can include three rotation angle degrees of freedom. Of course, this is merely exemplary and is not a limitation of the embodiments of the present disclosure. For example, the degrees of freedom of the first multi-degree-of-freedom information, the degrees of freedom of the second multi-degree-of-freedom information, and the number of degrees of freedom of the relative multi-degree-of-freedom information can also be 6, and the present disclosure does not limit this. They can be freely selected according to the actual situation, which will not be described here.

[0095] In some examples, the wearable device 100 comprises a first inertial measurement unit (i.e., a first IMU), and the vehicle 200 comprises a second inertial measurement unit (i.e., a second IMU).

[0096] In some examples, the audio processing method further comprises the following process or step: obtaining first multi-degree-of-freedom information through the first inertial measurement unit of the wearable device 100, and obtaining second multi-degree-of-freedom information through the second inertial measurement unit of the vehicle 200.

[0097] Embodiments of the present disclosure can recalibrate the warning sound coordinate for the wearable device through the inertial measurement unit of the vehicle and the inertial measurement unit of the wearable device, and use the head transfer function in cooperation with the spatial audio algorithm for audio rendering, so as to accurately perceive the warning sound information of the corresponding direction using the wearable device stereo system, which is simple and convenient to operate, has high accuracy and safety, has a wide application scenario, and has strong universality.

[0098] In some examples, for the above-mentioned obtaining first multi-degree-of-freedom information through the first inertial measurement unit of the wearable device 100, embodiments of the present disclosure can adopt a complementary filtering algorithm, a gradient descent algorithm or a Kalman filtering algorithm, and embodiments of the present disclosure do not limit this, as long as the corresponding first multi-degree-of-freedom information can be obtained, which will not be repeated here.

[0099] In some examples, for the above-mentioned obtaining second multi-degree-of-freedom information through the second inertial measurement unit of the vehicle 200, embodiments of the present disclosure can adopt a complementary filtering algorithm, a gradient descent algorithm or a Kalman filtering algorithm, and embodiments of the present disclosure do not limit this, as long as the corresponding second multi-degree-of-freedom information can be obtained, which will not be repeated here.

[0100] Figure 6 A flowchart of an audio processing method provided by some other embodiments of the present disclosure.

[0101] For example, as shown in FIG. 1, the audio processing method provided by some embodiments of the present disclosure comprises steps T1 to T11. Figure 6

[0102] Step T1, starting the current audio processing method.

[0103] Step T2, detecting a tracking setting object through a warning device on the vehicle 100.

[0104] Step T3, judging whether a warning sound needs to be emitted: if yes, continue to execute step T4; if no, go to step T11.

[0105] Step T4, emitting a warning sound, thereby obtaining an object audio signal.

[0106] ​Step T5, obtaining the first multi-degree-of-freedom information of the target site 300 based on the first coordinate system.

[0107] Step T6, obtaining the second multi-degree-of-freedom information of the vehicle 100 based on the second coordinate system.

[0108] Step T7, based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information, obtaining the relative multi-degree-of-freedom information between the target site 300 and the vehicle 100 in the first coordinate system.

[0109] Step T8, based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system, obtaining the second relative position corresponding to the first relative position in the first coordinate system.

[0110] Step T9, based on the second relative position and the head transfer function of the wearable device 200, performing spatial audio rendering on the object audio signal to determine the target spatially rendered audio signal.

[0111] Step T10, playing the target spatially rendered audio signal through the wearable device 200.

[0112] Step T11, ending the current audio processing method.

[0113] The audio processing method of the above-mentioned embodiments of the present disclosure can recalibrate the corresponding warning sound coordinates for the wearable device by cooperation of the vehicle and the wearable device, map the vehicle coordinate system to the human head coordinate system, and cooperate with the spatial audio algorithm to perform audio rendering using the head transfer function, so as to accurately perceive the warning sound information of the corresponding position using the wearable device stereo system, and avoid affecting other personnel in the vehicle except the wearer of the wearable device, thereby ensuring the privacy of the audio information.

[0114] The audio processing method of the above-mentioned embodiments of the present disclosure is not limited to the above steps, nor is it limited to the order of the above-described steps, which can be freely adjusted according to actual conditions, for example, step T5 can be executed before step T6, or after step T6, or simultaneously, and the embodiments of the present disclosure are not exhaustive and repetitive here.

[0115] Figure 7A structural schematic of an electronic device is provided for at least one embodiment of the present disclosure. The electronic device 500 includes a processor 510 and a memory 520. The memory 520 is coupled to the processor 510. The memory 520 is configured to store computer program code. The computer program code includes computer instructions. When the processor 510 reads the computer instructions from the memory 520, the electronic device 500 is caused to perform the steps S11-S14 described above. For example, the memory 520 of the electronic device 500 stores a computer program. When the computer program is executed by the processor 510, the audio processing method of any embodiment of the present disclosure can be implemented. Details are not described herein.

[0116] The electronic device 500 in the embodiments of the present disclosure can include, but is not limited to, a mobile terminal such as a notebook computer, a tablet computer, and the like, and a fixed terminal such as a desktop computer, and the like. For example, the electronic device 500 can be at least a part of the wearable device 200 described above, or can be at least a part of the vehicle 100 described above. Figure 7 The electronic device shown is merely an example and should not bring any limitation to the functions and use range of the embodiments of the present disclosure.

[0117] For example, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product including a computer program carried on a non-transitory computer readable medium. The computer program includes program code for performing the method shown in the flowcharts. When the computer program is executed by a processor, the audio processing method of the embodiments of the present disclosure is performed.

[0118] It should be noted that the computer readable medium in the above disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In an embodiment of the disclosure, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In an embodiment of the disclosure, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to a wire, a cable, an RF (radio frequency) or the like, or any suitable combination of the above.

[0119] The above computer readable medium can be contained in the wearable device and / or vehicle described above; or can exist separately without being assembled into the wearable device and / or vehicle.

[0120] In some examples, the electronic device 500 can be a wearable device 200, for example, the electronic device 500 is a wearable device 200 on the target part 300 of the wearer on the vehicle 100. For example, the wearable device is further configured to perform: playing the target spatially rendered audio signal.

[0121] For example, the wearable device 200 is further configured to perform: receiving second multi-degree-of-freedom information sent by the vehicle 100 to obtain second multi-degree-of-freedom information of the vehicle 100.

[0122] For example, the wearable device 200 is further configured to perform: receiving the first relative orientation in the second coordinate system sent by the vehicle 100.

[0123] In some examples, the electronic device 500 can be at least a part of the vehicle 100, for example, the electronic device 500 can be a vehicle terminal in the vehicle 100. Of course, this is merely exemplary and is not a limitation of the present disclosure. For example, the vehicle terminal is further configured to perform: receiving the first multi-degree-of-freedom information sent by the wearable device 200 on the target site 300 to obtain the first multi-degree-of-freedom information.

[0124] For example, the vehicle terminal on the vehicle 100 can be composed of a vehicle gateway, a telematics box (T-Box), a human machine interface (HMI), a processor, a chassis control system, and an automated driving system (ADS), etc. In addition, the system for assisting the vehicle terminal of the vehicle also includes a server, which can provide various functions such as program upgrade, driving data storage, etc. The T-Box is used to establish a communication connection with the server to realize the interaction between the vehicle terminal and the server. The vehicle gateway can have a wireless communication function, specifically a Wi-Fi communication function, a Bluetooth communication function, etc., and is used to establish a communication connection with the wearable device 200 to realize the interaction between the vehicle terminal of the vehicle 100 and the wearable device 200. The chassis control system is used to realize the control of the chassis, specifically the brake, acceleration, steering, etc. The automated driving system is used to realize the positioning, driving navigation, driving strategy calculation, etc. of the vehicle. The HMI is used to display the user operation interface, and the processor is used to obtain and execute the instructions sent by the user through the HMI. Of course, this is merely exemplary and is not a limitation of the present disclosure.

[0125] For example, the vehicle terminal in the vehicle 100 is further configured to perform: based on the set object, obtaining the orientation information of the set object relative to the vehicle 100 to obtain the first relative orientation in the second coordinate system.

[0126] For example, the vehicle terminal in the vehicle 100 is further configured to perform: obtaining the object audio signal on the first relative orientation.

[0127] For example, the vehicle terminal in the vehicle 100 is further configured to perform: sending the target spatially rendered audio signal to the wearable device 200 to make the wearable device 200 play the target spatially rendered audio signal.

[0128] It should be noted that the specific implementation and technical effects of the electronic device 500 can refer to the related content of the audio processing method provided in the above embodiments of the present disclosure, which will not be repeated here.

[0129] Figures 8-9A structural diagram of a wearable device provided in at least one embodiment of the present disclosure.

[0130] For example, as shown in Figure 8 At least one embodiment of the present disclosure further provides a wearable device 700, which is arranged on a target part 300 of a wearer of the wearable device located on a vehicle 100, and the wearable device 700 comprises a processor 701 and a memory 702, wherein the memory 702 is coupled to the processor 701, the memory 702 is configured to store computer program codes, and the computer program codes comprise computer instructions, which are read by the processor 701 from the memory 702 to enable the wearable device 700 to perform the above steps S11-S14. For example, the memory 702 of the wearable device 700 stores a computer program, and when the computer program is executed by the processor 701, the audio processing method of any embodiment of the present disclosure can be implemented, which will not be described herein.

[0131] For example, as shown in Figure 9 The wearable device 700 further comprises an audio module 703, which is coupled to the processor 701, and the audio module 703 is configured to play the target spatially rendered audio signal.

[0132] For example, as shown in Figure 9 The wearable device 700 further comprises a first inertial measurement unit 704, which is coupled to the processor 701, and the first inertial measurement unit 704 is configured to obtain the first multi-degree-of-freedom information.

[0133] The wearable device of the above embodiments of the present disclosure can cooperate with the vehicle, and can realize the operation of recalibrating the corresponding audio coordinates for the wearable device and using the head transfer function in the spatial audio algorithm for audio rendering, which is beneficial to the subsequent playing of the target spatially rendered audio signal on the wearable device, can avoid unnecessary resources and costs due to the transmission problem, and can also improve the problem of playing delay.

[0134] It should be noted that the specific implementation and technical effects of the wearable device 700 can refer to the audio processing method and / or the wearable device 200 provided in the above embodiments of the present disclosure, which will not be described herein. It should be further noted that the wearable device 700 can comprise more or fewer components, and the connection relationship between the components is not limited, and can be determined according to actual needs, and the embodiments of the present disclosure do not limit and describe the same.

[0135] Figures 10-11 A structural diagram of a vehicle provided in at least one embodiment of the present disclosure.

[0136] For example, asFigure 10 As shown, the vehicle 900 further includes a second inertial measurement unit 903 coupled to the processor 901, and the second inertial measurement unit 903 is configured to obtain second multi-degree-of-freedom information.

[0137] The vehicle of the above-mentioned embodiments of the present disclosure can cooperate with the wearable device, and can realize the operation of recalibrating the corresponding audio coordinates for the wearable device and using the head transfer function to perform audio rendering in cooperation with the spatial audio algorithm, which can greatly improve the endurance, power consumption and heat generation of the embodiments of the present disclosure.

[0138] For example, as shown in FIG. 9, the vehicle 900 further includes a second inertial measurement unit 903 coupled to the processor 901, and the second inertial measurement unit 903 is configured to obtain second multi-degree-of-freedom information. Figure 11 As shown, the vehicle 900 further includes a second inertial measurement unit 903 coupled to the processor 901, and the second inertial measurement unit 903 is configured to obtain second multi-degree-of-freedom information.

[0139] For example, the vehicle 900 is further configured to perform: based on the set object, obtaining orientation information of the set object relative to the vehicle 900 to obtain a first relative orientation in the second coordinate system. For example, the second relative orientation includes orientation information of the set object relative to the target site 300 in the first coordinate system.

[0140] For example, the vehicle 900 is further configured to perform: sending the target spatially rendered audio signal to the wearable device 700 to enable the wearable device 700 to play the target spatially rendered audio signal.

[0141] It should be noted that the specific implementation and technical effects of the vehicle 900 can refer to the audio processing method and / or the vehicle 100 provided in the above-mentioned embodiments of the present disclosure, and will not be repeated here. It should be further noted that the vehicle 900 can include more or fewer components, and the connection relationship between the components is not limited, and can be determined according to actual needs, and the embodiments of the present disclosure do not limit and repeat this.

[0142] Each of the modules in the above embodiments can be configured as software, hardware, firmware, or any combination thereof that performs a specific function. For example, the modules can correspond to a dedicated integrated circuit, a pure software code, or a combination of software and hardware modules. It should be noted that although the vehicle or wearable device is divided into modules for performing respective processes above, it is clear to those skilled in the art that the processes performed by the modules can also be performed without any specific module division or clear demarcation between the modules.

[0143] The following points need to be explained:

[0144] (1) The drawings of the embodiments of the present disclosure only relate to the structures involved in the embodiments of the present disclosure, and other structures can refer to the usual design.

[0145] (2) In the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0146] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. An audio processing method comprising: obtaining first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system, and second multi-degree-of-freedom information of the vehicle based on a second coordinate system, wherein the second coordinate system is a vehicle coordinate system; obtaining relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information; obtaining a second relative position corresponding to a first relative position in the first coordinate system based on the relative multi-degree-of-freedom information and the first relative position in the second coordinate system, the vehicle coordinate system being mapped to the first coordinate system; determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device; wherein the method further comprises: obtaining position information of a setting object relative to the vehicle to obtain the first relative position in the second coordinate system based on the setting object, wherein the second relative position comprises the position information of the setting object relative to the target part in the first coordinate system.

2. The audio processing method of claim 1, wherein, determining a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device comprises: obtaining an object audio signal at the first relative position; spatially rendering the object audio signal based on the second relative position and the head transfer function of the wearable device to determine the target spatially rendered audio signal.

3. The audio processing method of claim 2, wherein, spatially rendering the object audio signal based on the second relative position and the head transfer function of the wearable device to determine the target spatially rendered audio signal comprises: inputting the second relative position as an input of the head transfer function to obtain a binaural impulse response function; convolving the binaural impulse response function and the object audio signal to obtain a stereo signal to determine the target spatially rendered audio signal.

4. The audio processing method of claim 2, wherein, obtaining an object audio signal at the first relative position comprises: generating the object audio signal in response to a distance between the setting object and the vehicle being less than a preset distance threshold; and / or, generating the object audio signal in response to direction information of the setting object relative to the vehicle indicating that the setting object is close to the vehicle.

5. The audio processing method of any one of claims 1-4, wherein: the head transfer function comprises horizontal position information; or the head transfer function comprises horizontal position information and vertical position information.

6. The audio processing method of claim 1, further comprising: playing the target spatially rendered audio signal through the wearable device.

7. The audio processing method of claim 1, wherein: a number of degrees of freedom of the first multi-degree-of-freedom information, a number of degrees of freedom of the second multi-degree-of-freedom information, and a number of degrees of freedom of the relative multi-degree-of-freedom information are the same.

8. The audio processing method of claim 1, further comprising: The first multi-degree-of-freedom information is acquired by a first inertial measurement unit of the wearable device, and the second multi-degree-of-freedom information is acquired by a second inertial measurement unit of the vehicle.

9. The audio processing method of claim 1, wherein, The wearer of the wearable device is a driver of the vehicle, the target part includes a head of the wearer of the wearable device, and the wearable device includes glasses.

10. An electronic device comprising a processor and a memory, wherein, The memory is coupled to the processor, and the memory is configured to store computer program code including computer instructions, and the computer instructions are read by the processor from the memory to cause the electronic device to perform the following operations: Acquiring first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system and second multi-degree-of-freedom information of the vehicle based on a second coordinate system, wherein the second coordinate system is a vehicle coordinate system; Based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information, acquiring relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system; Based on the relative multi-degree-of-freedom information and a first relative position in the second coordinate system, acquiring a second relative position corresponding to the first relative position in the first coordinate system, and the vehicle coordinate system is mapped to the first coordinate system; Based on the second relative position and a head transfer function of the wearable device, determining a target spatially rendered audio signal; The electronic device is further configured to perform the following operations: based on a set object, acquiring position information of the set object relative to the vehicle to acquire the first relative position in the second coordinate system; and wherein the second relative position includes position information of the set object relative to the target part in the first coordinate system. 11.A wearable device disposed on a target site of a wearer of the wearable device located on a vehicle, and comprising a processor and a memory, wherein, The memory is coupled to the processor, and the memory is configured to store computer program code including computer instructions, and the computer instructions are read by the processor from the memory to cause the electronic device to perform the following operations: Acquiring first multi-degree-of-freedom information of a target part of a wearer of a wearable device located on a vehicle based on a first coordinate system and second multi-degree-of-freedom information of the vehicle based on a second coordinate system, wherein the second coordinate system is a vehicle coordinate system; Based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information, acquiring relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system; Based on the relative multi-degree-of-freedom information and a first relative position in the second coordinate system, acquiring a second relative position corresponding to the first relative position in the first coordinate system, and the vehicle coordinate system is mapped to the first coordinate system; Based on the second relative position and a head transfer function of the wearable device, determining a target spatially rendered audio signal; The electronic device is further configured to perform the following operations: based on a set object, acquiring position information of the set object relative to the vehicle to acquire the first relative position in the second coordinate system; and wherein the second relative position includes position information of the set object relative to the target part in the first coordinate system. The first relative position in the second coordinate system is configured to be obtained based on a setting object and position information of the setting object relative to the vehicle, and the second relative position includes position information of the setting object relative to the target part in the first coordinate system.

12. The wearable device of claim 11, further comprising: an audio module coupled to the processor, the audio module configured to play the target spatially rendered audio signal.

13. The wearable device of claim 11, further comprising: a first inertial measurement unit coupled to the processor, the first inertial measurement unit configured to obtain the first multi-degree-of-freedom information.

14. A vehicle carrying a wearer of a wearable device, the wearable device being disposed on a target site of the wearer of the wearable device, the vehicle comprising a processor and a memory, wherein, The memory is coupled to the processor, and the memory is configured to store computer program code including computer instructions, when the processor reads the computer instructions from the memory, to cause the vehicle to perform the following operations: receive the first multi-degree-of-freedom information of the target part based on a first coordinate system sent by the wearable device; obtain second multi-degree-of-freedom information of the vehicle based on a second coordinate system, wherein the second coordinate system is a vehicle coordinate system; based on the first multi-degree-of-freedom information and the second multi-degree-of-freedom information, obtain relative multi-degree-of-freedom information between the target part and the vehicle in the first coordinate system; based on the relative multi-degree-of-freedom information and a first relative position in the second coordinate system, obtain a second relative position corresponding to the first relative position in the first coordinate system, and the vehicle coordinate system is mapped to the first coordinate system; determine a target spatially rendered audio signal based on the second relative position and a head transfer function of the wearable device; wherein the vehicle further performs: based on a setting object, obtaining position information of the setting object relative to the vehicle to obtain the first relative position in the second coordinate system; and wherein the second relative position includes position information of the setting object relative to the target part in the first coordinate system.

15. The vehicle of claim 14, further comprising: a second inertial measurement unit coupled to the processor, the second inertial measurement unit configured to obtain the second multi-degree-of-freedom information.

16. The vehicle of claim 14, wherein, The vehicle further performs: obtain an object audio signal on the first relative position; spatially render the object audio signal based on the second relative position and a head transfer function of the wearable device to determine the target spatially rendered audio signal.

17. The vehicle of any one of claims 14-16, wherein, The vehicle further performs: send the target spatially rendered audio signal to the wearable device to cause the wearable device to play the target spatially rendered audio signal.

18. A computer readable storage medium, wherein, The storage medium has stored therein a computer program, and the computer program is executed by the processor to implement the audio processing method of any one of claims 1 to 9.

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