Noise reduction method, device, vehicle and computer-readable storage medium for vehicle

Abstract

The present application provides a noise reduction method, device, vehicle and computer-readable storage medium for a vehicle. The method includes: obtaining road surface information of a to-be-traveled road surface, a preset first initial parameter and a preset second initial parameter; determining and outputting an anti-vibration signal according to the road surface information and the first initial parameter, where the anti-vibration signal is used to suppress vehicle vibration; obtaining a detected vibration signal detected when the vehicle travels to the to-be-traveled road surface; determining and outputting a noise cancellation signal according to the detected vibration signal and the second initial parameter, where the noise cancellation signal is used to reduce the noise generated by the vehicle vibration. Through the predicted anti-vibration signal and noise cancellation signal, not only can active noise reduction be achieved in advance, but also two-round noise reduction can be achieved, effectively improving the noise reduction effect and enhancing the comfort and high-class sense of the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and relates to, but is not limited to, a noise reduction method, device, vehicle, and computer-readable storage medium for a vehicle. Background Art

[0002] With the continuous improvement of people's living standards, the requirements for the quality of life are also getting higher and higher, and the requirements for the health and comfort of the interior environment of automobiles are also constantly increasing. Interior noise, as a form of environmental pollution, is an important factor affecting human health and driving safety. How to effectively reduce or even eliminate interior noise is an ongoing pursuit of automobile manufacturers and consumers. When a vehicle is in motion, it is inevitable to generate noise. The noise of a vehicle mainly comes from two aspects. On the one hand, it is the sound of the engine or motor, and on the other hand, it is the sound of the tires rubbing against and hitting the uneven road surface. Currently, electric vehicles are becoming more and more popular. For electric vehicles, the noise of the motor is much lower than that of a fuel engine, and the source of interior noise of electric vehicles mainly comes from road surface vibration noise.

[0003] In related technologies, most noise reduction systems arrange multiple vibration sensors on the vehicle body chassis. The vibration data detected by the vibration sensors is used to calculate the noise waveform, and then the anti-phase waveform of the noise wave is output to the speaker to achieve the purpose of reducing noise. Since the noise reduction system in related technologies detects vibrations passively after the vibrations occur, there is a certain lag, resulting in poor noise suppression effect. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a noise reduction method, device, vehicle, and computer-readable storage medium for a vehicle.

[0005] The technical solution of the embodiments of the present application is implemented as follows:

[0006] Embodiments of the present application provide a noise reduction method for a vehicle, the method including:

[0007] Obtain road surface information of a to-be-driven road surface, a preset first initial parameter, and a preset second initial parameter;

[0008] Determine and output an anti-vibration signal according to the road surface information and the first initial parameter, the anti-vibration signal being used to suppress vehicle vibration;

[0009] Obtain a detected vibration signal detected when the vehicle travels to the to-be-driven road surface;

[0010] Determine and output a noise cancellation signal according to the detected vibration signal and the second initial parameter, the noise cancellation signal being used to reduce the noise generated by the vehicle vibration.

[0011] In some embodiments, determining and outputting an anti-vibration signal according to the road surface information and the first initial parameter includes:

[0012] Determining a predicted vibration signal according to the road surface information and the first initial parameter, where the predicted vibration signal is a vibration signal estimated before the vehicle travels on the to-be-traveled road surface;

[0013] Performing an inverse phase conversion on the predicted vibration signal to obtain the anti-vibration signal;

[0014] Outputting the anti-vibration signal so that the anti-vibration signal suppresses the vibration generated when the vehicle travels on the to-be-traveled road surface.

[0015] In some embodiments, determining and outputting a noise cancellation signal according to the detected vibration signal and the second initial parameter includes:

[0016] Determining a predicted noise signal according to the detected vibration signal and the second initial parameter, where the predicted noise signal is a noise signal estimated to be generated when the vehicle vibrates;

[0017] Performing an inverse phase conversion on the predicted noise signal to obtain the noise cancellation signal;

[0018] Outputting the noise cancellation signal so that the noise cancellation signal suppresses the noise generated when the vehicle vibrates.

[0019] In some embodiments, before outputting the noise cancellation signal, the method further includes:

[0020] Predicting a noise cancellation result according to the noise cancellation signal and the anti-vibration signal, where the noise cancellation result includes balanced cancellation, over-cancellation, and under-cancellation;

[0021] Modifying the second initial parameter according to the noise cancellation result to obtain a second modified parameter;

[0022] Determining a predicted modified noise signal according to the detected vibration signal and the second modified parameter, where the predicted modified noise signal is a modified noise signal estimated to be generated when the vehicle vibrates;

[0023] Performing an inverse phase conversion on the predicted modified noise signal to obtain a modified noise cancellation signal;

[0024] Correspondingly, the outputting the noise cancellation signal includes:

[0025] Outputting the modified noise cancellation signal so that the modified noise cancellation signal suppresses the noise generated when the vehicle vibrates.

[0026] In some embodiments, after obtaining the detected vibration signal detected when the vehicle travels to the to-be-traveled road surface, the method further includes:

[0027] Using the detected vibration signal as a feedback signal to correct the anti-vibration signal, obtaining a corrected anti-vibration signal;

[0028] Outputting the corrected anti-vibration signal.

[0029] In some embodiments, the step of using the detected vibration signal as a feedback signal to correct the anti-vibration signal, obtaining a corrected anti-vibration signal, includes:

[0030] Determining a vibration suppression result according to the anti-vibration signal and the detected vibration signal, where the vibration suppression result includes balanced suppression, over-suppression, and under-suppression;

[0031] Correcting the first initial parameter according to the vibration suppression result, obtaining a first corrected parameter;

[0032] Obtaining current road surface information;

[0033] Determining a corrected anti-vibration signal according to the current road surface information and the first corrected parameter.

[0034] In some embodiments, the step of correcting the first initial parameter according to the vibration suppression result, obtaining a first corrected parameter, includes:

[0035] When the vibration suppression result is over-suppression, increasing the first initial parameter by a preset step size to obtain a first corrected parameter;

[0036] When the vibration suppression result is under-suppression, decreasing the first initial parameter by a preset step size to obtain a first corrected parameter.

[0037] An embodiment of the present application provides a noise reduction device for a vehicle, and the device includes:

[0038] A first acquisition module, configured to acquire road surface information of a to-be-traveled road surface, a preset first initial parameter, and a preset second initial parameter;

[0039] A first determination module, configured to determine an anti-vibration signal according to the road surface information and the first initial parameter, where the anti-vibration signal is used to suppress vehicle vibration;

[0040] A first output module, configured to output the anti-vibration signal;

[0041] A second acquisition module, configured to acquire a detected vibration signal detected when the vehicle travels to the to-be-traveled road surface;

[0042] A second determination module, configured to determine a noise cancellation signal according to the detected vibration signal and the second initial parameter, where the noise cancellation signal is used to reduce the noise generated by the vehicle vibration;

[0043] A second output module, configured to output the noise cancellation signal.

[0044] An embodiment of the present application provides a vehicle, including: a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0045] The memory is used to store at least one executable instruction. When the processor executes the executable instruction, the processor executes the steps of the above-mentioned noise reduction method for the vehicle.

[0046] An embodiment of the present application provides a computer-readable storage medium, in which at least one executable instruction is stored. When the processor executes the executable instruction, the processor executes the steps of the above-mentioned noise reduction method for the vehicle.

[0047] The noise reduction method for a vehicle provided by the embodiment of the present application uses a noise reduction device to obtain road surface information of a road to be traveled, predicts an anti-vibration signal according to the road surface information and a preset first initial parameter, and outputs the anti-vibration signal to suppress the vibration when the vehicle travels to the road to be traveled. The anti-vibration signal is predicted based on the detected road surface information before traveling to the road to be traveled, which can achieve active vibration suppression in advance and reduce vibration noise by canceling the vehicle vibration. Then, the noise reduction device obtains the detected vibration signal when the vehicle travels to the road to be traveled; predicts a noise cancellation signal according to the detected vibration signal and a preset second initial parameter, and outputs the noise cancellation signal to reduce the noise generated by the vehicle vibration. The noise cancellation signal is predicted based on the suppressed vehicle vibration signal before the noise reaches the user's ears, which can achieve active noise cancellation in advance. Through this method, not only can active noise reduction be achieved in advance, but also two-round noise reduction can be achieved, effectively improving the noise reduction effect and enhancing the comfort and high-class sense of the vehicle. Description of the Drawings

[0048] In the drawings (which are not necessarily drawn to scale), similar reference numerals may describe similar components in different views. The drawings generally illustrate, by way of example and not limitation, the various embodiments discussed herein.

[0049] Figure 1 It is a schematic diagram of an implementation process of the noise reduction method for a vehicle provided by an embodiment of the present application;

[0050] Figure 2 It is another schematic diagram of an implementation process of the noise reduction method for a vehicle provided by an embodiment of the present application;

[0051] Figure 3 It is a schematic diagram of an implementation process for obtaining a corrected anti-vibration signal in the noise reduction method for vehicles provided by the embodiments of the present application;

[0052] Figure 4 It is another schematic diagram of an implementation process for the noise reduction method for vehicles provided by the embodiments of the present application;

[0053] Figure 5 It is a schematic diagram of the component layout of the active noise reduction system provided by the embodiments of the present application;

[0054] Figure 6 It is a schematic block diagram of the active noise reduction system provided by the embodiments of the present application;

[0055] Figure 7 It is a schematic block diagram of the first-round suppression in the active noise reduction system provided by the embodiments of the present application;

[0056] Figure 8 It is a schematic block diagram of the second-round suppression in the active noise reduction system provided by the embodiments of the present application;

[0057] Figure 9 It is a schematic diagram of a composition structure of the noise reduction device for vehicles provided by the embodiments of the present application;

[0058] Figure 10 It is a schematic diagram of a composition structure of the vehicle provided by the embodiments of the present application. Detailed implementation manners

[0059] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0060] In the following description, "some embodiments" are involved, which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0061] In the following description, the terms "first / second / third" involved are only used to distinguish similar objects, and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing embodiments of this application only and are not intended to limit this application.

[0063] In the prior art, when reducing vehicle noise, vibration is detected in a passive manner and an anti-phase noise reduction waveform is output. Passive noise reduction reacts slowly, has a certain lag, and the noise suppression effect is not good. To solve this problem, an embodiment of this application provides a noise reduction method for a vehicle. The method provided by the embodiment of this application will be described below in conjunction with the device for implementing the embodiment of this application. Figure 1 It is a schematic diagram of an implementation process of a noise reduction method for a vehicle provided by an embodiment of this application. As Figure 1 shown, the noise reduction method for a vehicle includes the following steps:

[0064] Step S101, obtain road surface information of a road to be traveled, a preset first initial parameter, and a preset second initial parameter.

[0065] The noise reduction method provided by the embodiment of this application can be applied to a vehicle and is executed by a noise reduction device in the vehicle.

[0066] A first detection device is provided at the front end of the vehicle for detecting road surface information of a road to be traveled. The first detection device can be any one of an ultrasonic sensor, an infrared sensor, and a laser sensor. The uneven road conditions of the road to be traveled are represented by the detected ultrasonic waves, infrared electromagnetic waves, or laser pulse waves, which are the road surface information. Here, the first detection device can also be a depth image acquisition device, such as a depth camera. An image of the road to be traveled is collected by the camera, and the collected image is recognized to obtain road surface information representing the uneven road conditions of the road to be traveled.

[0067] The first initial parameter and the second initial parameter here are data obtained through tests during the production and manufacturing stage of the vehicle and are stored in the vehicle storage space.

[0068] Step S102, determine an anti-vibration signal according to the road surface information and the first initial parameter.

[0069] The anti-vibration signal here is used to suppress vehicle vibration.

[0070] The first initial parameter here may include a first initial anti-phase coefficient and a first initial offset. During the vehicle production and manufacturing stage, the vehicle is driven on various uneven roads to test and detect vibration signals of various road conditions. According to the test road surface information and test vibration signals, the first initial anti-phase coefficient and the first initial offset are determined to obtain the first initial parameter, which is then stored. Among them, for different vibration signals, different vehicle speeds, different loads, and different tire pressure values, the obtained first initial anti-phase coefficient and first initial offset are all different.

[0071] Step S103: Output an anti-vibration signal.

[0072] In actual implementation, a low-frequency audio output device can be used to output an anti-vibration signal so as to suppress the vibration generated when the vehicle is driving on the to-be-driven road surface. The low-frequency audio output device here can be a subwoofer.

[0073] In the method provided by the embodiment of the present application, since the anti-vibration signal is predicted based on the detected road surface information before driving on the to-be-driven road surface, it is possible to actively suppress vibration in advance and reduce vibration noise by canceling the vehicle vibration.

[0074] Step S104: Obtain the detected vibration signal detected when the vehicle travels to the to-be-driven road surface.

[0075] A second detection device is provided at the bottom of the vehicle for detecting vibration signals during the vehicle's driving process. The second detection device can be a vibration sensor, specifically any one of a vibration displacement sensor, a vibration velocity sensor, or a vibration acceleration sensor.

[0076] Step S105: Determine a noise cancellation signal according to the detected vibration signal and the second initial parameter.

[0077] The noise cancellation signal here is used to reduce the noise generated by the vehicle vibration. The second initial parameter here may include a second initial anti-phase coefficient and a second initial offset. During the vehicle production and manufacturing stage, the vehicle is driven on various uneven roads to test and detect vibration signals of various road conditions. According to the test road surface information and test vibration signals, the second initial anti-phase coefficient and the second initial offset are determined to obtain the second initial parameter, which is then stored. Among them, for different vibration signals, different vehicle speeds, different loads, and different tire pressure values, the obtained second initial anti-phase coefficient and second initial offset are all different.

[0078] Step S106: Output the noise cancellation signal.

[0079] In actual implementation, a full-frequency audio output device can be used to output the noise cancellation signal, so that the noise cancellation signal suppresses the noise generated when the vehicle vibrates. Here, the full-frequency audio output device can be a full-frequency speaker.

[0080] In the method provided by the embodiment of the present application, since the noise cancellation signal is predicted based on the suppressed vehicle vibration signal before the noise reaches the user's ears, it can achieve active noise cancellation in advance.

[0081] The noise reduction method for a vehicle provided by the embodiment of the present application uses a noise reduction device to obtain road surface information of a to-be-driven road surface, predicts an anti-vibration signal according to the road surface information and a preset first initial parameter, and outputs the anti-vibration signal to suppress the vibration of the vehicle when driving on the to-be-driven road surface. The anti-vibration signal is predicted based on the detected road surface information before driving on the to-be-driven road surface, which can achieve active vibration suppression in advance and reduce vibration noise by canceling the vehicle vibration. Then, the noise reduction device obtains the detected vibration signal detected when the vehicle drives on the to-be-driven road surface; predicts a noise cancellation signal according to the detected vibration signal and a preset second initial parameter, and outputs the noise cancellation signal to reduce the noise generated by the vehicle vibration. The noise cancellation signal is predicted based on the suppressed vehicle vibration signal before the noise reaches the user's ears, which can achieve active noise cancellation in advance. Through this method, not only can active noise reduction be achieved in advance, but also two-stage noise reduction can be achieved, effectively improving the noise reduction effect and enhancing the comfort and high-class sense of the vehicle.

[0082] In some embodiments, the above Figure 1 Step S102 "Determine the anti-vibration signal according to the road surface information and the first initial parameter" in the shown embodiment can be implemented according to the following steps:

[0083] Step S1021, determine a predicted vibration signal according to the road surface information and the first initial parameter.

[0084] Among them, the predicted vibration signal is the vibration signal estimated before the vehicle drives on the to-be-driven road surface. The first initial parameter includes a first initial anti-phase coefficient and a first initial offset. The first initial parameter is measured through experiments and stored in the storage unit during the vehicle production and manufacturing stage.

[0085] During the actual driving process of the vehicle, obtain the road surface information of the real-time to-be-driven road surface, calculate the vibration signal according to the pre-stored first initial anti-phase coefficient, first initial offset and road surface information, and the calculated vibration signal is the predicted vibration signal.

[0086] Step S1022, perform an anti-phase conversion on the predicted vibration signal to obtain the anti-vibration signal.

[0087] In some embodiments, the first initial inversion coefficient is denoted as k1, the first initial offset is denoted as D1(t), the road surface information of the to-be-traveled road surface obtained is denoted as R(t), and the anti-vibration signal is denoted as W(t). The anti-vibration signal can be calculated according to the following formula (1):

[0088] W(t) = -k1 * R(t) + D1(t) (1);

[0089] The predicted vibration signal is subjected to an inversion conversion to obtain an anti-vibration signal, and this anti-vibration signal can cancel the predicted vibration signal, thus realizing the suppression of the vibration when the vehicle travels on the to-be-traveled road surface.

[0090] In some embodiments, the above Figure 1 Step S105 in the illustrated embodiment, "determine the noise cancellation signal according to the detected vibration signal and the second initial parameter", can be implemented according to the following steps:

[0091] Step S1051, determine the predicted noise signal according to the detected vibration signal and the second initial parameter.

[0092] Among them, the predicted noise signal is the noise signal estimated to be generated when the vehicle vibrates. The second initial parameter includes a second initial inversion coefficient and a second initial offset. The first initial parameter is measured through tests and stored in the storage unit during the vehicle production and manufacturing stage.

[0093] During the actual driving process of the vehicle, the vibration signal during driving is detected in real time, and according to the pre-stored second initial inversion coefficient, second initial offset, and the detected vibration signal, the noise signal is calculated, and the calculated noise signal is the predicted noise signal.

[0094] Step S1052, perform an inversion conversion on the predicted noise signal to obtain the noise cancellation signal.

[0095] In some embodiments, the second initial inversion coefficient is denoted as k2, the second initial offset is denoted as D2(t), the detected vibration signal detected is denoted as V(t), and the noise cancellation signal is denoted as S(t). The noise cancellation signal can be calculated according to the following formula (2):

[0096] S(t) = -k2 * V(t) + D2(t) (2);

[0097] The predicted noise signal is subjected to an inversion conversion to obtain the noise cancellation signal, and this noise cancellation signal can cancel the predicted noise signal, thus realizing the elimination of the noise generated when the vehicle travels on the to-be-traveled road surface.

[0098] Due to different vehicle conditions, in actual applications, when using the anti-vibration signal to suppress the predicted vibration signal, it is generally impossible to completely suppress it, that is, when the vehicle is driving on the road to be traveled, it is impossible to completely stop vibrating. Based on this, the actually detected vibration signal can be used to correct the estimated anti-vibration signal. In actual implementation, based on the Figure 1 embodiment shown, after obtaining the detected vibration signal detected when the vehicle travels to the road to be traveled, before determining the anti-vibration signal next time, the first initial parameter can be adjusted in combination with the current actual road conditions, and then the anti-vibration signal is determined based on the adjusted parameter. Based on this, the noise reduction method for a vehicle may further include Figure 2 the following steps shown:

[0099] Step S201, using the detected vibration signal as a feedback signal to correct the anti-vibration signal to obtain a corrected anti-vibration signal.

[0100] In the embodiments of the present application, the actually detected vibration signal by the vibration sensor is used to correct the first initial parameter, that is, the detected vibration signal is used as a feedback signal to correct the first initial parameter to obtain a first corrected parameter. Then, the first corrected parameter is used to correct the anti-vibration signal to obtain a corrected anti-vibration signal.

[0101] In some embodiments, the corrected anti-vibration signal can be achieved through Figure 3 the following steps shown:

[0102] Step S2011, determining a vibration suppression result according to the anti-vibration signal and the detected vibration signal.

[0103] The vibration suppression result here includes balanced suppression, over-suppression, and under-suppression.

[0104] Balanced suppression means that the predicted vibration signal is equal to the detected vibration signal, that is, the prediction is exactly the actual situation. Balanced suppression is the most ideal suppression result, where the anti-vibration signal exactly completely suppresses the vehicle vibration, and the vehicle does not vibrate at all when driving on the road to be traveled. Over-suppression means that the predicted vibration signal is greater than the detected vibration signal, that is, the prediction is greater than the actual situation. At this time, the vehicle vibrates when driving on the road to be traveled and the vibration is not 0. Under-suppression means that the predicted vibration signal is less than the detected vibration signal, that is, the prediction is less than the actual situation. At this time, the vehicle also vibrates when driving on the road to be traveled and the vibration is not 0.

[0105] Compare the magnitudes of the anti-vibration signal and the detected vibration signal. When the absolute value of the anti-vibration signal (i.e., the predicted vibration signal) is equal to the detected vibration signal, determine that the vibration suppression effect is balanced suppression; when the absolute value of the anti-vibration signal is greater than the detected vibration signal, determine that the vibration suppression effect is over-suppression; when the absolute value of the anti-vibration signal is less than the detected vibration signal, determine that the vibration suppression effect is under-suppression. After obtaining the vibration suppression effect, enter step S2012 to perform the correction step.

[0106] Step S2012: Modify the first initial parameter according to the vibration suppression result to obtain a first modified parameter.

[0107] When the vibration suppression result is balanced suppression, perform 0 modification, that is, the first modified parameter obtained after modification is equal to the first initial parameter.

[0108] When the vibration suppression result is over-suppression, increase the first initial parameter by a preset step size to obtain a first modified parameter. At this time, the first modified parameter is greater than the first initial parameter, that is, the first modified inversion coefficient is greater than the first initial inversion coefficient, and the first modified offset is greater than the first initial offset.

[0109] When the vibration suppression result is under-suppression, decrease the first initial parameter by a preset step size to obtain a first modified parameter. At this time, the first modified parameter is less than the first initial parameter, that is, the first modified inversion coefficient is less than the first initial inversion coefficient, and the first modified offset is less than the first initial offset.

[0110] Step S2013: Obtain the current road surface information.

[0111] Step S2014: Determine a modified anti-vibration signal according to the current road surface information and the first modified parameter.

[0112] When the first modified parameter is greater than the first initial parameter, the modified anti-vibration signal is less than the anti-vibration signal. By reducing the anti-vibration signal, the obtained modified anti-vibration signal is closer to the detected vibration signal, thus improving the vibration suppression effect, further reducing the noise generated by vibration, and further improving the noise reduction effect.

[0113] When the first modified parameter is less than the first initial parameter, the modified anti-vibration signal is greater than the anti-vibration signal. By increasing the anti-vibration signal, the obtained modified anti-vibration signal is closer to the detected vibration signal, thus improving the vibration suppression effect, further reducing the noise generated by vibration, and further improving the noise reduction effect.

[0114] Step S202: Output the modified anti-vibration signal.

[0115] In the embodiment of the present application, by using the detected vibration signal as a feedback signal to modify the first initial parameter, thereby modifying the anti-vibration signal and using the modified anti-vibration signal for vibration suppression, the vibration suppression effect can be improved, the noise generated by vibration can be further reduced, and the noise reduction effect can be further improved.

[0116] In some embodiments, to further improve the noise reduction effect, after the output of the anechoic signal, the actual detected noise signal inside the vehicle can be used as a feedback signal to correct the anechoic signal. Through experiments, it is found that there is a linear relationship between the detected noise signal and the detected vibration signal. The larger the detected vibration signal, the greater the vibration, and the greater the noise generated by the vibration. The smaller the detected vibration signal, the smaller the vibration, and the smaller the noise generated by the vibration. In the embodiments of the present application, in order to achieve active noise reduction in advance and improve the noise reduction effect, the detected vibration signal can be used to correct the second initial parameter to improve the accuracy of the anechoic signal and further improve the noise reduction effect. Based on this, after determining the anechoic signal and before outputting the anechoic signal, the noise reduction method for a vehicle may further include Figure 4 the steps S401 to S404 shown in

[0117] Step S401, predicting the noise cancellation result according to the anechoic signal and the anti-vibration signal.

[0118] The anechoic signal here is determined according to the second initial parameter. Specifically, the anechoic signal can be determined according to the following steps: determining a predicted noise signal according to the detected vibration signal and the second initial parameter, where the predicted noise signal is the noise signal estimated to be generated when the vehicle vibrates; performing an inverse phase conversion on the predicted noise signal to obtain the anechoic signal.

[0119] The noise cancellation result here includes balanced cancellation, over-cancellation, and under-cancellation.

[0120] Balanced cancellation means that the predicted noise signal is equal to the anti-vibration signal, that is, the predicted noise is exactly the noise generated by the vibration. Balanced cancellation is the most ideal suppression result, and the anti-vibration signal exactly cancels out the noise generated by the vehicle vibration. Over-cancellation means that the predicted noise signal is greater than the anti-vibration signal, that is, the prediction is greater than the actual, and at this time, the noise inside the vehicle is not 0. Under-cancellation means that the predicted noise signal is less than the anti-vibration signal, that is, the prediction is less than the actual, and at this time, the noise inside the vehicle is also not 0.

[0121] Compare the magnitudes of the anechoic signal and the anti-vibration signal. When the absolute value of the anechoic signal (i.e., the predicted noise signal) is equal to the anti-vibration signal, determine that the noise cancellation effect is balanced cancellation; when the absolute value of the anechoic signal is greater than the anti-vibration signal, determine that the noise cancellation effect is over-cancellation; when the absolute value of the anechoic signal is less than the anti-vibration signal, determine that the noise cancellation effect is under-cancellation. After obtaining the noise cancellation result, enter step S402 and execute the correction step.

[0122] Step S402, correcting the second initial parameter according to the noise cancellation result to obtain a second corrected parameter.

[0123] When the noise cancellation result is balanced cancellation, perform 0 correction, that is, the second corrected parameter obtained after correction is equal to the second initial parameter.

[0124] When the noise cancellation result is over-cancellation, increase the second initial parameter by a preset step size to obtain a second corrected parameter. At this time, the second corrected parameter is greater than the second initial parameter. The second initial parameter includes a second initial inversion coefficient and a second initial offset, and the second corrected parameter includes a second corrected inversion coefficient and a second corrected offset. After correction, the second corrected inversion coefficient is greater than the second initial inversion coefficient, and the second corrected offset is greater than the second initial offset.

[0125] When the noise cancellation result is under-cancellation, decrease the second initial parameter by a preset step size to obtain a second corrected parameter. At this time, the second corrected parameter is less than the second initial parameter, that is, the second corrected inversion coefficient is less than the second initial inversion coefficient, and the second corrected offset is less than the second initial offset.

[0126] Step S403: Determine a predicted corrected noise signal according to the detected vibration signal and the second corrected parameter.

[0127] The predicted corrected noise signal here is the corrected noise signal estimated to be generated when the vehicle vibrates.

[0128] During the actual driving process of the vehicle, the vibration signal during driving is detected in real time. According to the corrected second corrected parameter and the detected vibration signal, a noise signal is calculated, and the calculated noise signal is the predicted corrected noise signal.

[0129] Step S404: Perform an inverse conversion on the predicted corrected noise signal to obtain a corrected noise cancellation signal.

[0130] Denote the second corrected inversion coefficient included in the second corrected parameter as k'2, the second initial offset as D'2(t), the detected vibration signal as V(t), and the noise cancellation signal as S'(t). The corrected noise cancellation signal can be calculated according to the following formula (3):

[0131] S'(t) = -k'2 * V(t) + D'2(t) (3);

[0132] Step S405: Output the corrected noise cancellation signal.

[0133] Correspondingly, replace the original step of "outputting the noise cancellation signal" with "outputting the corrected noise cancellation signal".

[0134] Perform an inverse conversion on the predicted corrected noise signal to obtain a corrected noise cancellation signal, and output the corrected noise cancellation signal using a full-frequency speaker. This corrected noise cancellation signal can cancel the predicted noise signal, so as to eliminate the noise generated when the vehicle drives on the to-be-driven road surface, and further improve the noise reduction effect.

[0135] Next, an exemplary application of the embodiments of the present application in an actual application scenario will be described.

[0136] During the driving process of a vehicle, noise is inevitably generated. There are mainly two sources of noise. One is the sound of the engine and the motor, and the other is the sound of the friction and impact between the tires and the road surface. Currently, electric vehicles are becoming more and more popular. For electric vehicles, the noise of the motor is much lower than that of traditional fuel engines. The source of the noise inside the electric vehicle mainly comes from road noise, that is, the sound of the friction and impact between the tires and the road surface.

[0137] Active Noise Cancellation (ANC) technology has emerged. Most existing ANCs arrange multiple vibration sensors on the vehicle body chassis. By calculating the vibration data of the vibration sensors, the noise waveform is calculated, and an anti-phase waveform is output to the speaker for noise reduction to achieve the purpose of reducing noise. In the prior art, the detection of vibration is passive detection, and the output of the anti-phase noise reduction waveform has a slow response and poor noise suppression effect.

[0138] To improve the noise suppression effect, the embodiments of the present application provide an active noise reduction solution. The road surface information is detected in advance by ultrasonic waves, and the road surface (rough) information is transmitted to the ANC controller. The ANC controller outputs a high-power anti-phase vibration waveform through the subwoofer to cancel the noise caused by the vehicle body vibration for the first noise reduction. At the same time, the vibration waveform data detected by the vibration sensor is sent as feedback to the ANC controller, and the ANC controller adjusts the waveform of the subwoofer.

[0139] Moreover, the ANC controller uses the data of the vibration sensor as the input signal for the second round of noise reduction, outputs an anti-phase audio waveform to the full-frequency speaker to cancel the noise at the human ear to the greatest extent, and at the same time, the microphone feeds back the sound signal to the ANC controller for feedback control to achieve the purpose of noise reduction.

[0140] Among them, the software for the first-round suppression and the second-round suppression of the ANC needs to be calibrated during the early development to determine the basic parameters. During the later use by the user, self-learning is carried out to continuously adapt to the vehicle situation and reach the best noise reduction state.

[0141] Figure 5 It is a schematic diagram of the component layout of the active noise reduction system provided by the embodiments of the present application. As Figure 5 shown, an ultrasonic sensor is arranged in front of the tire. Through the calibration of the feedback data of the ultrasonic wave and the data of the vibration sensor, the relationship between the ultrasonic feedback data and the vibration waveform is calculated to form the first-round noise reduction; during the later use by the user, continuous self-adaptation and self-learning are carried out, and the noise reduction effect will not be affected by tire wear or vehicle condition deterioration.

[0142] In some embodiments, Figure 5The ultrasonic sensor shown in the figure can be replaced by an infrared sensor, a laser sensor, or by the method of collecting image data through a camera for recognition.

[0143] In some embodiments, the first-round and second-round operations of the ANC controller can be arranged in two or more controllers respectively, not necessarily in one controller.

[0144] In some embodiments, the gateway forwarding can be replaced by forwarding through other controllers or direct communication.

[0145] In some embodiments, the Controller Area Network (CAN) bus can be replaced by other buses such as the Local Interconnect Network (LIN) bus, Ethernet, or the FlexRay bus, which is the development direction of automotive electronic product control structures, or a hardwired communication method.

[0146] In some embodiments, the number of sensors and actuators in the active noise cancellation system provided by the embodiments of the present application is not limited, and one or more are acceptable, that is, N≥1.

[0147] Figure 6 It is a block diagram schematic of the active noise cancellation system provided by the embodiments of the present application. Next, in combination with Figure 6 introduce the working process of the active noise cancellation system during the usage process:

[0148] In the first step, after the vehicle starts, ANC receives the vehicle start signal through the gateway CAN network and performs subsequent actions.

[0149] In the second step, perform the first-round suppression: The ANC controller reads the ultrasonic signal, judges the road surface condition, outputs a bass waveform (corresponding to the anti-vibration signal in the above text) according to the ultrasonic signal to cancel the vehicle body vibration. At the same time, detect the data of the vibration sensor as a feedback signal to further correct the waveform output to the bass speaker. The specific block diagram of the first-round suppression is as Figure 7 shown, and the operation formula is as shown in the following formula (4):

[0150] W(t) = -k1*R(t) + D1(t) (4);

[0151] Wherein, R(t) is the ultrasonic detection road surface information data; W(t) is the vibration waveform of the subwoofer speaker; k1 is the anti-phase coefficient (corresponding to the first initial anti-phase coefficient in the above text), which is obtained through calibration during the vehicle model development stage, and is non-linear. Different values of R(t), different vehicle speeds, different loads, and tire pressure values correspond to different k1 values; D1(t) is the correction value (corresponding to the first initial offset in the above text), which is obtained through calibration during the vehicle model development stage, and is non-linear. Different values of R(t), different vehicle speeds, different loads, and tire pressure values correspond to different D1(t) values.

[0152] V(t) is the vehicle body vibration data detected by the vibration sensor (corresponding to the detected vibration signal in the above text), and is used as the feedback function of the first-round suppression control system. If this value is not 0 or not within the acceptable range, it indicates that there is still significant vibration in the vehicle body. According to the value of this function, the values of k1 and D1(t) are adjusted.

[0153] Ideally, within a certain range, that is, within the output power range of the subwoofer speaker,

[0154] When W(t) = V(t), the vibration noise is completely eliminated at this time, and the k1 value and D(t) value are maintained according to the calibration data;

[0155] When W(t) > V(t), the vibration noise is not completely eliminated at this time, and the k1 value and D1(t) value are increased according to the calibration data (corresponding to the preset step size in the above text);

[0156] When W(t) < V(t), the vibration noise is not completely eliminated at this time, and the k1 value and D1(t) value are decreased according to the calibration data.

[0157] Due to the power limitation of the subwoofer speaker, complex road conditions, etc., the situation of W(t) = V(t) hardly occurs in the first-round suppression, and the following second-round suppression is required.

[0158] The third step is to perform the second-round suppression: The ANC controller reads the vibration sensor signal, judges the noise situation, and outputs an anti-phase sound waveform (corresponding to the noise cancellation signal in the above text) according to the vibration signal to cancel (reduce) the sound at the human ear inside the vehicle. At the same time, the data of the microphone is used as the feedback signal to further correct the waveform output to the full-frequency speaker. The specific block diagram of the second-round suppression is as Figure 8 shown, and the operation formula is as shown in the following formula (5):

[0159] S(t) = -k2*V(t) + D2(t) (5);

[0160] Wherein, S(t) is the audio waveform data emitted by the full-frequency speaker, used to cancel the noise data; k2 is the inverting coefficient (corresponding to the second initial inverting coefficient in the above text), which is obtained through calibration in the vehicle model development stage, and is non-linear. Different values of V(t), different vehicle speeds, different loads, and tire pressure values correspond to different k2 values; D2(t) is the correction value (corresponding to the second initial offset in the above text), which is obtained through calibration in the vehicle model development stage, and is non-linear. Different values of V(t), different vehicle speeds, different loads, and tire pressure values correspond to different D2(t) values.

[0161] E(t) is the noise data at the human ear received by the microphone, which is used as the feedback function of the second-round suppression control system. In a vehicle model without a noise reduction system, this value theoretically has a certain linear relationship with V(t), that is, the greater the body vibration intensity, the greater the noise at the human ear. In the embodiments of the present application, according to the value of this function, the values of k2 and D2(t) are adjusted to achieve active noise reduction in advance.

[0162] Ideal situation: within a certain range, that is, within the output power range of the subwoofer

[0163] S(t) = W(t), at this time the sound is completely eliminated, and the k2 value and D2(t) value are maintained according to the calibration data;

[0164] S(t) > W(t), at this time the noise is not completely eliminated, and the k2 value and D2(t) value are increased according to the calibration data;

[0165] S(t) < W(t), at this time the noise is not completely eliminated, and the k2 value and D2(t) value are decreased according to the calibration data.

[0166] The active noise reduction method provided by the embodiments of the present application detects the road surface conditions in advance compared with the traditional scheme, calculates the vibration conditions, realizes the prediction of vibration conditions in advance, calculates the noise waveform in advance and outputs the inverted waveform to reduce noise. Moreover, it has the ability of continuous self-learning and self-adaptation. After calibration in the R & D stage, when the user's usage environment is different in the later stage, it will continuously correct and calculate the vibration waveform according to the feedback data of the vibration sensor to improve the accuracy.

[0167] Based on the foregoing embodiments, an embodiment of the present application provides a noise reduction device for a vehicle. Each module included in the device, as well as each unit included in each module, can be implemented by a processor in a computer device; of course, it can also be implemented by specific logic circuits. During implementation, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0168] An embodiment of the present application further provides a noise reduction device for a vehicle. Figure 9 It is a schematic structural diagram of a composition of the noise reduction device for a vehicle provided by an embodiment of the present application. As Figure 9 shown, the noise reduction device 900 for a vehicle includes:

[0169] A first acquisition module 901, configured to acquire road surface information of a to-be-traveled road surface, a preset first initial parameter, and a preset second initial parameter;

[0170] A first determination module 902, configured to determine an anti-vibration signal according to the road surface information and the first initial parameter, where the anti-vibration signal is used to suppress vehicle vibration;

[0171] A first output module 903, configured to output the anti-vibration signal;

[0172] A second acquisition module 904, configured to acquire a detected vibration signal detected when the vehicle travels to the to-be-traveled road surface;

[0173] A second determination module 905, configured to determine a noise cancellation signal according to the detected vibration signal and the second initial parameter, where the noise cancellation signal is used to reduce the noise generated by the vehicle vibration;

[0174] A second output module 906, configured to output the noise cancellation signal.

[0175] In some embodiments, the first determination module 902 is further configured to:

[0176] Determine a predicted vibration signal according to the road surface information and the first initial parameter, where the predicted vibration signal is a vibration signal estimated before the vehicle travels on the to-be-traveled road surface;

[0177] Perform an inverse phase conversion on the predicted vibration signal to obtain the anti-vibration signal.

[0178] In some embodiments, the first output module 903 is further configured to: output the anti-vibration signal so that the anti-vibration signal suppresses the vibration generated when the vehicle travels on the to-be-traveled road surface.

[0179] In some embodiments, the second determination module 905 is further configured to:

[0180] Determine a predicted noise signal according to the detected vibration signal and the second initial parameter, where the predicted noise signal is the noise signal estimated to be generated when the vehicle vibrates;

[0181] Perform an inverse conversion on the predicted noise signal to obtain the noise cancellation signal.

[0182] In some embodiments, the second output module 906 is further configured to: output the noise cancellation signal so that the noise cancellation signal suppresses the noise generated when the vehicle vibrates.

[0183] In some embodiments, the noise reduction device 900 for a vehicle further includes:

[0184] A prediction module, configured to predict a noise cancellation result according to the noise cancellation signal and the anti-vibration signal before outputting the noise cancellation signal, where the noise cancellation result includes equalization cancellation, over-cancellation, and under-cancellation;

[0185] A first correction module, configured to correct the second initial parameter according to the noise cancellation result to obtain a second corrected parameter;

[0186] A third determination module, configured to determine a predicted corrected noise signal according to the detected vibration signal and the second corrected parameter, where the predicted corrected noise signal is the corrected noise signal estimated to be generated when the vehicle vibrates;

[0187] A conversion module, configured to perform an inverse conversion on the predicted corrected noise signal to obtain a corrected noise cancellation signal;

[0188] Correspondingly, the second output module is further configured to output the corrected noise cancellation signal so that the corrected noise cancellation signal suppresses the noise generated when the vehicle vibrates.

[0189] In some embodiments, the noise reduction device 900 for a vehicle further includes:

[0190] A second correction module, configured to, after obtaining the detected vibration signal detected when the vehicle travels to the to-be-traveled road surface, use the detected vibration signal as a feedback signal to correct the anti-vibration signal to obtain a corrected anti-vibration signal;

[0191] A third output module, configured to output the corrected anti-vibration signal.

[0192] In some embodiments, the second correction module is further configured to:

[0193] Determine a vibration suppression result according to the anti-vibration signal and the detected vibration signal, where the vibration suppression result includes balanced suppression, over-suppression, and under-suppression;

[0194] Correct the first initial parameter according to the vibration suppression result to obtain a first corrected parameter;

[0195] Obtain current road surface information;

[0196] Determine a corrected anti-vibration signal according to the current road surface information and the first corrected parameter.

[0197] In some embodiments, the second correction module is further configured to:

[0198] When the vibration suppression result is over-suppression, increase the first initial parameter by a preset step size to obtain a first corrected parameter;

[0199] When the vibration suppression result is under-suppression, decrease the first initial parameter by a preset step size to obtain a first corrected parameter.

[0200] It should be noted here that: The description of the above embodiments of the noise reduction device for vehicles is similar to the above method description and has the same beneficial effects as the method embodiments. For the technical details not disclosed in the embodiments of the noise reduction device for vehicles in this application, those skilled in the art may refer to the description of the method embodiments of this application for understanding.

[0201] It should be noted that in the embodiments of this application, if the above method is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of this application. And the aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read Only Memory), magnetic disks, or optical discs that can store program codes. In this way, the embodiments of this application are not limited to any specific combination of hardware and software.

[0202] Correspondingly, an embodiment of this application provides a computer-readable storage medium, in which at least one executable instruction is stored, and the executable instruction causes a processor to execute the steps in the noise reduction method for vehicles provided in the above embodiments.

[0203] An embodiment of the present application provides an electronic device, such as a vehicle. Figure 10 It is a schematic diagram of a component structure of the vehicle provided by the embodiment of the present application. According to Figure 10 the exemplary structure of the vehicle 1000 shown, other exemplary structures of the vehicle 1000 can be foreseen. Therefore, the structures described here should not be regarded as limitations. For example, some components described below can be omitted, or components not described below can be added to meet the special requirements of certain applications.

[0204] Figure 10 The vehicle 1000 shown includes: a processor 1001, at least one communication bus 1002, a user interface 1003, at least one external communication interface 1004, and a memory 1005. Among them, the communication bus 1002 is configured to enable connection communication between these components. Among them, the user interface 1003 may include a display screen, and the external communication interface 1004 may include a standard wired interface and a wireless interface. Among them, the processor 1001 is configured to execute a program stored in the memory for the noise reduction method of the vehicle to implement the steps in the noise reduction method for the vehicle provided in the above embodiment.

[0205] The descriptions of the above vehicle and storage medium embodiments are similar to those of the above method embodiments and have similar beneficial effects to the method embodiments. For the technical details not disclosed in the vehicle and storage medium embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0206] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the "in one embodiment" or "in an embodiment" that appears throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages and disadvantages of the embodiments.

[0207] It should be noted that in this article, the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising such element.

[0208] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0209] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0210] In addition, each functional unit in the embodiments of the present application can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in a unit; the above integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0211] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium, and when the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: various media such as removable storage devices, ROMs, magnetic disks or optical discs that can store program codes.

[0212] Alternatively, if the above integrated units of the present application are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a device to execute all or part of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media that can store program codes such as removable storage devices, ROMs, magnetic disks, or optical discs.

[0213] As described above, the above are only the implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A noise reduction method for a vehicle, characterized in that, The method includes: Obtaining road surface information of a road to be traveled, a preset first initial parameter, and a preset second initial parameter; Determining a predicted vibration signal according to the road surface information and the first initial parameter, where the predicted vibration signal is a vibration signal predicted before the vehicle travels to the road to be traveled; Performing an inverse phase conversion on the predicted vibration signal to obtain an anti-vibration signal; Outputting the anti-vibration signal so that the anti-vibration signal suppresses vibrations generated when the vehicle travels on the road to be traveled; Obtaining a detected vibration signal detected when the vehicle travels to the road to be traveled; Determining a predicted noise signal according to the detected vibration signal and the second initial parameter, where the predicted noise signal is a noise signal predicted to be generated when the vehicle vibrates; Performing an inverse phase conversion on the predicted noise signal to obtain a noise cancellation signal; Outputting the noise cancellation signal so that the noise cancellation signal suppresses noise generated when the vehicle vibrates.

2. The method according to claim 1, characterized in that, Before outputting the noise cancellation signal, the method further includes: Predicting a noise cancellation result according to the noise cancellation signal and the anti-vibration signal, where the noise cancellation result includes balanced cancellation, over-cancellation, and under-cancellation; Correcting the second initial parameter according to the noise cancellation result to obtain a second corrected parameter; Determining a predicted corrected noise signal according to the detected vibration signal and the second corrected parameter, where the predicted corrected noise signal is a corrected noise signal predicted to be generated when the vehicle vibrates; Performing an inverse phase conversion on the predicted corrected noise signal to obtain a corrected noise cancellation signal; Correspondingly, the outputting the noise cancellation signal includes: Outputting the corrected noise cancellation signal so that the corrected noise cancellation signal suppresses noise generated when the vehicle vibrates.

3. The method according to claim 1, characterized in that, After obtaining the detected vibration signal detected when the vehicle travels to the road to be traveled, the method further includes: Using the detected vibration signal as a feedback signal to correct the anti-vibration signal to obtain a corrected anti-vibration signal; Outputting the corrected anti-vibration signal.

4. The method according to claim 3, characterized in that, The using the detected vibration signal as a feedback signal to correct the anti-vibration signal to obtain a corrected anti-vibration signal includes: Determining a vibration suppression result according to the anti-vibration signal and the detected vibration signal, where the vibration suppression result includes balanced suppression, over-suppression, and under-suppression; Correcting the first initial parameter according to the vibration suppression result to obtain a first corrected parameter; Obtaining current road surface information; Determining a corrected anti-vibration signal according to the current road surface information and the first corrected parameter.

5. The method according to claim 4, characterized in that, The correcting the first initial parameter according to the vibration suppression result to obtain a first corrected parameter includes: When the vibration suppression result is over-suppression, increasing the first initial parameter by a preset step size to obtain a first corrected parameter; When the vibration suppression result is under-suppression, decreasing the first initial parameter by a preset step size to obtain a first corrected parameter.

6. A noise reduction device for a vehicle, characterized in that, The device includes: A first acquisition module, configured to obtain road surface information of a road to be traveled, a preset first initial parameter, and a preset second initial parameter; A first determination module, configured to determine a predicted vibration signal according to the road surface information and the first initial parameter, where the predicted vibration signal is a vibration signal predicted before the vehicle travels to the to-be-traveled road surface; perform an inverse conversion on the predicted vibration signal to obtain an anti-vibration signal; A first output module, configured to output the anti-vibration signal, so that the anti-vibration signal suppresses the vibration generated when the vehicle travels on the to-be-traveled road surface; A second acquisition module, configured to acquire a detected vibration signal detected when the vehicle travels to the to-be-traveled road surface; A second determination module, configured to determine a predicted noise signal according to the detected vibration signal and the second initial parameter, where the predicted noise signal is a noise signal predicted to be generated when the vehicle vibrates; perform an inverse conversion on the predicted noise signal to obtain a noise cancellation signal; A second output module, configured to output the noise cancellation signal, so that the noise cancellation signal suppresses the noise generated when the vehicle vibrates.

7. A vehicle, characterized in that, Comprising: A processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus; The memory is used to store at least one executable instruction, and when the processor executes the executable instruction, the processor executes the steps of the noise reduction method for a vehicle according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, At least one executable instruction is stored in the storage medium, and when the processor executes the executable instruction, the processor executes the steps of the noise reduction method for a vehicle according to any one of claims 1 to 5.

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