Vehicle control method, device, system, vehicle and readable storage medium

Abstract

The application discloses a vehicle control method, device and system, a vehicle and a readable storage medium, and relates to the technical field of vehicles, so as to improve the safety of vehicle driving in a road condition where there is a turning road. The method comprises the following steps: determining that there is a turning road within a preset distance in the driving direction of the vehicle; collecting an audio signal outside the vehicle, and determining a first sound source position in the case that the audio signal is a vehicle horn sound; the first sound source position is a sound source position of the vehicle horn sound determined by using a time difference positioning algorithm; performing correction processing on the first sound source position to obtain a target sound source position; and controlling a multimedia device of the vehicle to identify and output the target sound source position.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to a vehicle control method, device, system, vehicle, and readable storage medium. Background Technology

[0002] With the development of the automotive industry, people are paying increasing attention to vehicle safety. When driving on mountain roads, the numerous curves and narrow sections make these curves a high-risk area for collisions. Using a vehicle horn as a warning function can effectively alert drivers to oncoming traffic on the other side of a curve.

[0003] However, when drivers drive with windows closed or in noisy environments, they cannot effectively hear the horns of oncoming vehicles on the other side of a curve, making it difficult to detect potential risks in time, thus compromising driving safety. Therefore, improving driving safety on roads with curves is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] One of the objectives of this invention is to provide a vehicle control method, apparatus, system, vehicle, and readable storage medium to improve vehicle driving safety in road conditions with curves.

[0005] According to a first aspect of this application, a vehicle control method is provided, the method comprising: determining that a turning road exists within a preset distance in the direction of vehicle travel; acquiring an audio signal from outside the vehicle, and determining a first sound source location when the audio signal is a vehicle horn sound; the first sound source location being the sound source location of the vehicle horn sound determined using a time difference positioning algorithm; correcting the first sound source location to obtain a target sound source location; and controlling the vehicle's multimedia device to identify and output the target sound source location.

[0006] Based on the aforementioned technical means, by determining that a turning road exists within a preset distance in the vehicle's direction of travel, audio signals from outside the vehicle are collected. If the audio signal is a vehicle horn, the location of the first sound source is determined. This avoids the need for continuous audio signal collection when no turning road exists within the preset distance, or for determining the sound source location when the audio signal is not a vehicle horn, reducing vehicle resource consumption. Furthermore, since the first sound source location is determined using a time-difference positioning algorithm, there is no need for data interaction with oncoming vehicles on the turning road; the sound source location can be determined solely by the horn sound, avoiding inaccurate sound source location issues caused by network latency and improving the accuracy of sound source location determination. Further, correcting the first sound source location to obtain the target sound source location effectively eliminates errors caused by the sensor used to collect the audio signal or other factors that cause the sound source location to deviate from the road, further improving the accuracy of sound source location determination. In addition, by controlling the vehicle's multimedia equipment to identify and output the location of the target sound source, the system can promptly remind users of the vehicle's position on turning roads when the user is driving with the windows closed or when the interior environment is noisy and the user cannot effectively hear the vehicle's horn, thus improving vehicle driving safety in road conditions with curves.

[0007] Furthermore, determining the location of the first sound source includes: determining the location of multiple audio acquisition devices in the vehicle, and the time difference between each audio acquisition device acquiring the vehicle horn sound; the multiple audio acquisition devices are used to acquire audio signals from outside the vehicle; and determining the location of the first sound source based on the location and time difference of the multiple audio acquisition devices.

[0008] Based on the above technical means, the location of the first sound source can be determined by the position and time difference of multiple audio acquisition devices. There is no need to interact with oncoming vehicles on the turning road. The location of the sound source can be determined only by the position and time difference of multiple audio acquisition devices, avoiding the problem of inaccurate sound source location caused by network latency and improving the accuracy of determining the sound source location.

[0009] Furthermore, the first sound source location is corrected to obtain the target sound source location, including: determining the road location within the target range, wherein the distance between the target range and the first sound source location is less than a preset distance threshold; if the first sound source location is not within the road location within the target range, determining the second sound source location and setting the second sound source location as the target sound source location; the second sound source location is the location within the target range that is closest to the first sound source location.

[0010] Based on the above technical means, by modifying the location of the first sound source to the location closest to the first sound source within the target area of ​​the road, the sound source location can be avoided to be located in a non-road area, and the sound source location can be determined more accurately.

[0011] Furthermore, the method also includes: processing the audio signal using a sound discrimination model to output the binary type of the audio signal; and determining the audio signal as a vehicle horn sound if the binary type is the target binary type.

[0012] Based on the aforementioned technical means, vehicle horn sounds can be identified from various external audio signals according to the binary type of the audio signal, avoiding the need to determine the sound source location when the audio signal is not a vehicle horn sound, thus reducing the consumption of vehicle resources.

[0013] Furthermore, the method also includes: acquiring multiple sets of sample data; each set of sample data includes sample audio signals and sample labels; the sample labels are used to label the audio type in the sample audio signals; and training a preset deep neural network model based on the multiple sets of sample data to obtain a sound discrimination model.

[0014] Based on the aforementioned technical means, deep neural network models have a large capacity and can be combined into more different types of substructures, making it easier to learn and represent various features. This allows for more accurate identification of audio signal types. Furthermore, training the deep neural network model with multiple sets of sample data can further improve the accuracy of audio signal type identification. This enables more accurate identification of vehicle horns, avoiding the waste of resources caused by misidentifying other sounds as vehicle horns when determining the source location of the horn. It also prevents the failure to promptly alert oncoming vehicles on curves when vehicle horns are misidentified as other sounds, thus improving vehicle safety in road conditions with curves.

[0015] Secondly, a vehicle control device is provided, which is applied to the controller of a vehicle control system. The device includes: a determining unit, a acquiring unit, and a processing unit; the determining unit is used to determine that there is a turning road within a preset distance in the vehicle's driving direction; the acquiring unit is used to acquire audio signals from outside the vehicle, and when the audio signal is a vehicle horn sound, determine the location of a first sound source; the first sound source location is the sound source location of the vehicle horn sound determined by a time difference positioning algorithm; the processing unit is used to correct the first sound source location to obtain a target sound source location; the processing unit is also used to control the vehicle's multimedia equipment to identify and output the target sound source location.

[0016] Furthermore, the determining unit is specifically used to: determine the location of multiple audio acquisition devices in the vehicle, and the time difference between each audio acquisition device acquiring the vehicle horn sound; the multiple audio acquisition devices are used to acquire audio signals from outside the vehicle; and determine the location of the first sound source based on the location and time difference of the multiple audio acquisition devices.

[0017] Furthermore, the processing unit is specifically used to: determine the road location within the target range, wherein the distance between the target range and the first sound source location is less than a preset distance threshold; if the first sound source location is not within the road location within the target range, determine the second sound source location and set the second sound source location as the target sound source location; the second sound source location is the location within the target range that is closest to the first sound source location.

[0018] Furthermore, the processing unit is also used to: process the audio signal using a sound discrimination model and output the binary type of the audio signal; the determining unit is also used to: determine the audio signal as a vehicle horn sound when the binary type is the target binary type.

[0019] Furthermore, the device also includes: an acquisition unit; the acquisition unit is further configured to: acquire multiple sets of sample data; each set of sample data includes sample audio signals and sample labels; the sample labels are used to label the audio type in the sample audio signals; the processing unit is further configured to: train a preset deep neural network model based on the multiple sets of sample data to obtain a sound discrimination model.

[0020] Thirdly, a vehicle control system is provided, the vehicle control system including a controller for performing methods as described in the first aspect or any possible design of the first aspect.

[0021] Fourthly, a vehicle control device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to execute instructions, functions performed in the first aspect or any possible design of the first aspect.

[0022] Fifthly, a vehicle is provided, including a vehicle control system as provided in the third aspect.

[0023] In a sixth aspect, a vehicle control device is provided, which can realize the functions performed by the vehicle control device in the above aspects or possible designs. The functions can be implemented by hardware. For example, in one possible design, the vehicle control device may include a processor and a communication interface. The processor can be used to support the vehicle control device in realizing the functions involved in the first aspect or any possible design of the first aspect.

[0024] In another possible design, the vehicle control device may also include a memory for storing necessary computer execution instructions and data. When the vehicle control device is running, the processor executes the computer execution instructions stored in the memory to cause the vehicle control device to perform the first aspect or any of the possible vehicle control methods described above.

[0025] In a seventh aspect, a computer-readable storage medium is provided, which may be a readable non-volatile storage medium storing computer instructions or programs that, when executed on a computer, enable the computer to perform the vehicle control methods described in the first aspect or any of the possible methods described above.

[0026] Eighthly, a computer program product containing instructions is provided, which, when run on a computer, enables the computer to execute the vehicle control method of the first aspect or any possible design of the above aspects.

[0027] The beneficial effects of this invention are:

[0028] (1) By determining that there is a turning road within a preset distance in the vehicle's direction of travel, audio signals from outside the vehicle are collected, and the location of the first sound source is determined when the audio signal is a vehicle horn. This avoids the need for continuous audio signal collection when there is no turning road within the preset distance in the vehicle's direction of travel, or for determining the sound source location when the audio signal is not a vehicle horn, reducing vehicle resource consumption. Furthermore, since the first sound source location is the location of the vehicle horn determined using a time-difference positioning algorithm, there is no need for data interaction with oncoming vehicles on the turning road; the sound source location can be determined solely by the horn sound, avoiding inaccurate sound source location issues caused by network latency, thus improving the accuracy of sound source location determination. Further, by correcting the first sound source location to obtain the target sound source location, errors caused by the sensor collecting the audio signal or other factors causing the sound source location to deviate from the road can be effectively eliminated, further improving the accuracy of sound source location determination. In addition, by controlling the vehicle's multimedia equipment to identify and output the location of the target sound source, the system can promptly remind users of the vehicle's position on turning roads when the user is driving with the windows closed or when the interior environment is noisy and the user cannot effectively hear the vehicle's horn, thus improving vehicle driving safety in road conditions with curves.

[0029] (2) The location of the first sound source is determined by the position and time difference of multiple audio acquisition devices. There is no need to interact with oncoming vehicles on the turning road. The location of the sound source can be determined by the position and time difference of multiple audio acquisition devices, avoiding the problem of inaccurate sound source location caused by network latency, and improving the accuracy of determining the sound source location.

[0030] (3) By modifying the location of the first sound source to the location closest to the first sound source within the target range of the road, the sound source location can be avoided to be located in a non-road area, and the sound source location can be determined more accurately.

[0031] (4) Based on the binary type of the audio signal, the vehicle horn can be identified from various external audio signals, thus avoiding the need to determine the sound source location when the audio signal is not the vehicle horn, thereby reducing the consumption of vehicle resources.

[0032] (5) Because deep neural network models have a large capacity and can be combined into more different types of substructures, they are easier to learn and represent various features. They can identify audio signal types more accurately. After training the deep neural network model with multiple sets of sample data, the accuracy of identifying audio signal types can be further improved. In this way, vehicle horn sounds can be identified more accurately, avoiding the waste of resources caused by misidentifying other sounds as vehicle horn sounds when determining the sound source location of vehicle horn sounds. At the same time, it can also avoid the inability to promptly remind vehicles coming on the turning road when vehicle horn sounds are misidentified as other sounds, thus improving the safety of vehicle driving in road conditions with turning roads.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0035] Figure 1 This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the arrangement of multiple audio acquisition devices provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0038] Figure 4 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0039] Figure 5 A flowchart illustrating yet another vehicle control method provided in this application embodiment;

[0040] Figure 6 A schematic diagram illustrating the determination of a sound source location, provided as an embodiment of this application;

[0041] Figure 7 A schematic diagram illustrating a sound source location correction method provided in an embodiment of this application;

[0042] Figure 8A flowchart illustrating yet another vehicle control method provided in this application embodiment;

[0043] Figure 9 This is a schematic diagram of another vehicle control device provided in an embodiment of this application. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0045] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0046] It should also be understood that the term "comprising" indicates the presence of the described feature, whole, step, operation, element and / or component, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements and / or components.

[0047] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0048] Vehicles are generally equipped with fog lights. Fog lights have strong penetrating power, and turning them on in low-visibility weather conditions such as fog, snow, rain, or dust can improve the driver's visibility, thereby improving driving safety. As an important vehicle feature, fog lights play a crucial role in safety; however, many drivers do not have the habit of turning on their fog lights or forget to do so, resulting in reduced safety.

[0049] To improve vehicle driving safety, vehicle body sensors can be used to determine rainfall and particle concentration to decide whether to turn on the vehicle's fog lights. However, the sensors have a large margin of error and a low accuracy rate in judging the weather, which cannot significantly improve vehicle driving safety.

[0050] Therefore, improving vehicle safety in low visibility weather is a technical problem that urgently needs to be solved.

[0051] In view of this, embodiments of this application provide a vehicle control method, the method comprising: acquiring vehicle environmental information and network meteorological information; the vehicle environmental information including: environmental image, raindrop sensor data, humidity sensor data, and light intensity sensor data; determining a first identification result, a second identification result, and / or a third identification result; the first identification result refers to the weather type determined based on the environmental image and an image classification model, the second identification result refers to the weather type determined based on the network meteorological information, and the third identification result refers to the weather type determined based on the raindrop sensor data, humidity sensor data, and light intensity sensor data; outputting vehicle control information based on the first identification result, the second identification result, and / or the third identification result, the vehicle control information being used to prompt the user to turn on the fog lights.

[0052] The methods provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0053] It should be noted that the vehicle control system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of vehicle control systems and the emergence of other vehicle control systems, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0054] The vehicle control system provided in this application can be applied to vehicles. The vehicle can be any type of vehicle. For example, the vehicle can be a gasoline vehicle, a hybrid vehicle, a new energy vehicle, etc. The embodiments of this application do not limit the specific technology, quantity, or form of equipment used in the vehicle.

[0055] Figure 1 This is a schematic diagram of the composition of a vehicle control system 10 provided in an embodiment of this application, as shown below. Figure 1 As shown, the vehicle control system 10 may include a controller 11 and a vehicle 12.

[0056] The controller 11 is connected to the vehicle 12. For example, the controller 11 and the vehicle 12 can be connected wirelessly or wiredly, and this embodiment of the invention does not limit the connection.

[0057] The controller 11 can be used to collect audio signals from outside the vehicle when a curve is located within a preset distance in the vehicle's direction of travel; if the audio signal is a vehicle horn sound, it can determine the location of the horn sound source; and it can control the vehicle's multimedia equipment to identify and output the location of the horn sound source. The controller 11 can be installed inside the vehicle. Alternatively, the controller 11 can be any electronic device with data processing capabilities.

[0058] The vehicle 12 can be used to collect audio signals from outside the vehicle and send the collected audio signals to the controller 11. For example, the vehicle 12 can be any type of vehicle. For example, the vehicle can be a fuel vehicle, a hybrid vehicle, a new energy vehicle, etc. The embodiments of this application do not limit the specific technology, quantity, or equipment form of the vehicle.

[0059] Vehicle 12 can acquire audio signals from outside the vehicle through multiple audio acquisition devices. For example, the audio acquisition device can be an audio acquisition unit.

[0060] Multiple audio acquisition devices can be deployed in multiple locations within the vehicle. For example, such as Figure 2 As shown, the multiple audio acquisition devices may include audio acquisition device A, audio acquisition device B, and audio acquisition device C. Audio acquisition device A may be positioned in the center above the front grille of the vehicle, audio acquisition device B may be positioned above the right taillight of the vehicle, and audio acquisition device C may be positioned above the left taillight of the vehicle.

[0061] It should be noted that the arrangement of multiple audio acquisition devices is only an example, and multiple audio acquisition devices can also be arranged in other locations in the vehicle without limitation.

[0062] It should be noted that, Figure 1 This is just an example framework diagram. Figure 1 The names of the modules included are unrestricted, and except for Figure 1 In addition to the functional modules shown, other modules may also be included, but this application embodiment does not limit this.

[0063] In practical implementation, Figure 1 The controller in the middle can be adopted Figure 3 The shown composition structure, or including Figure 3 The components shown. Figure 3 This is a schematic diagram of the structure of a vehicle control device 200 provided in an embodiment of this application. The vehicle control device 200 can be a controller in a vehicle control system, or it can be a chip or system-on-a-chip within the controller. Figure 3As shown, the vehicle control device 200 includes a processor 201, a communication interface 202, and a communication line 203.

[0064] Furthermore, the vehicle control device 200 may also include a memory 204. The processor 201, the memory 204, and the communication interface 202 can be connected via a communication line 203.

[0065] The processor 201 can be a CPU, a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 201 can also be other devices with processing capabilities, such as circuits, devices, or software modules, without limitation.

[0066] Communication interface 202 is used to communicate with other devices or other communication networks. Communication interface 202 can be a module, circuit, communication interface, or any device capable of enabling communication.

[0067] Communication line 203 is used to transmit information between the various components included in the vehicle control device 200.

[0068] Memory 204 is used to store instructions executable by processor 201. These instructions may be computer programs.

[0069] The memory 204 can be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions; it can also be a random access memory (RAM) or other type of dynamic storage device that can store information and / or instructions; it can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0070] It should be noted that the memory 204 can exist independently of the processor 201 or can be integrated with the processor 201. The memory 204 can be used to store instructions, program code, or some data, etc. The memory 204 can be located inside or outside the vehicle control device 200, without limitation. The processor 201 is used to execute the instructions stored in the memory 204 to implement the vehicle control method provided in the following embodiments of this application.

[0071] In one example, processor 201 may include one or more CPUs, for example, Figure 3 CPU0 and CPU1 in the CPU.

[0072] As an optional implementation, the vehicle control unit 200 includes multiple processors, for example, besides Figure 3 In addition to processor 201, it may also include processor 205.

[0073] It should be pointed out that, Figure 3 The composition shown does not constitute a basis for the interpretation of this invention. Figure 1 The limitations of each device in the process, except Figure 3 In addition to the components shown, Figure 1 The various controllers in the system can include ratios Figure 3 More or fewer components, or combinations of certain components, or different arrangements of components.

[0074] In this embodiment of the application, the chip system may be composed of chips or may include chips and other discrete devices.

[0075] Furthermore, the actions, terms, etc., involved in the various embodiments of this application can be referenced interchangeably without limitation. The message names or parameter names in the messages exchanged between the various devices in the embodiments of this application are merely examples, and other names may be used in specific implementations without limitation.

[0076] The following is combined Figure 1 The vehicle control system shown herein describes the vehicle control method provided in the embodiments of this application.

[0077] This application uses an example of a controller for illustration, such as... Figure 4 As shown, the method includes the following steps S301-S304:

[0078] S301, The controller determines that there is a turning road within a preset distance in the direction of vehicle travel.

[0079] The vehicle's direction of travel refers to the direction along which the vehicle extends on the current road. The preset distance can be set as needed. For example, it can be 200 meters, 300 meters, 400 meters, etc., without restriction.

[0080] As one possible implementation, the controller can obtain the curvature angle of the road within a preset distance in front of the vehicle through map data and vehicle GPS information, and determine whether there is a turning road within a preset distance in the vehicle's direction of travel based on the curvature angle of the road.

[0081] It should be noted that the curvature angle refers to the angle between the current road and the road on the other side of the curve. The range of the curvature angle is 0 degrees to 180 degrees.

[0082] For example, the controller can determine that a curved road exists within a preset distance in the vehicle's direction of travel if the road's curvature angle is less than a curvature angle threshold. If the road's curvature angle is greater than or equal to the curvature angle threshold, it can determine that no curved road exists within the preset distance in the vehicle's direction of travel.

[0083] The bending angle threshold can be set as needed. For example, it can be 120 degrees.

[0084] S302, The controller collects audio signals from outside the vehicle and, if the audio signal is a vehicle horn sound, determines the location of the first sound source.

[0085] The audio signal can include various sounds such as human voices, horns, mechanical sounds, and insect chirps. The first sound source location is the location of the vehicle horn sound determined using a time difference of arrival (TDOA) algorithm.

[0086] As one possible implementation, the controller can use a sound discrimination model to process the audio signal and determine its type. Furthermore, if the audio signal is a vehicle horn, the controller can use a time-difference positioning algorithm to process the horn sound and determine the location of the first sound source.

[0087] It should be noted that the specific explanations for determining the audio signal as a vehicle horn and the location of the first sound source in this step can be found in the following sections and will not be repeated here.

[0088] In practical applications, the location of the first sound source can be represented by latitude and longitude coordinates.

[0089] S303, The controller corrects the position of the first sound source to obtain the position of the target sound source.

[0090] Among them, vehicle control information is used to prompt the user to turn on the fog lights.

[0091] As one possible implementation, the controller can determine whether the location of the first sound source is within the road location range, and if the location of the first sound source is not within the road location range, adjust the location of the first sound source to be within the road location range to obtain the target sound source location.

[0092] For example, the controller can draw a circular pattern centered on the location of the first sound source, determine the inner tangent point between the circular pattern and the inner side of the road, and use this inner tangent point as the target sound source location. Alternatively, after determining the inner tangent point, the controller can determine the outer tangent point between the circular pattern and the outer side of the road, and use the midpoint between the inner and outer tangent points as the target sound source location.

[0093] S304, The controller identifies the target sound source location by controlling the vehicle's multimedia equipment.

[0094] The multimedia device can be an in-vehicle player or a vehicle display device. For example, the vehicle display device can be an in-vehicle central control screen or a head-up display (HUD) located on the vehicle's windshield.

[0095] As one possible implementation, the controller can input the target sound source location into the map software, mark the target sound source location in the map software according to the coordinates of the target sound source location, and output the target sound source location marked in the map software on the in-vehicle central control screen and / or on the head-up display at the windshield of the vehicle.

[0096] As another possible implementation, the controller can determine the distance between the vehicle and the target sound source based on the target sound source location and the vehicle location, and output the target sound source location through the vehicle player.

[0097] In practical applications, the controller controls the vehicle's multimedia equipment to identify and output the location of the target sound source. It can provide in-vehicle voice notifications to the user about the distance of a vehicle ahead, and simultaneously display the location of the other vehicle on the windshield HUD map.

[0098] Based on the technical solution provided in this application, by determining that a turning road exists within a preset distance in the vehicle's direction of travel, audio signals from outside the vehicle are collected, and the location of the first sound source is determined when the audio signal is a vehicle horn sound. This avoids the need for continuous audio signal collection when no turning road exists within the preset distance in the vehicle's direction of travel, or for determining the sound source location when the audio signal is not a vehicle horn sound, reducing vehicle resource consumption. Furthermore, since the first sound source location is the location of the vehicle horn sound determined using a time-difference positioning algorithm, there is no need for data interaction with oncoming vehicles on the turning road; the sound source location can be determined solely by the horn sound, avoiding inaccurate sound source location issues caused by network latency and improving the accuracy of sound source location determination. Further, by correcting the first sound source location to obtain the target sound source location, errors caused by the sensor used to collect the audio signal or other factors that deviate from the road can be effectively eliminated, further improving the accuracy of sound source location determination. In addition, by controlling the vehicle's multimedia equipment to identify and output the location of the target sound source, the system can promptly remind users of the vehicle's position on turning roads when the user is driving with the windows closed or when the interior environment is noisy and the user cannot effectively hear the vehicle's horn, thus improving vehicle driving safety in road conditions with curves.

[0099] In some embodiments, such as Figure 5 As shown, in order to determine the location of the first sound source, the vehicle control method of this application may further include the following S401-S402.

[0100] S401, The controller determines the location of multiple audio acquisition devices in the vehicle, and the time difference between each audio acquisition device acquiring the vehicle horn sound.

[0101] Among them, multiple audio acquisition devices are used to collect audio signals from outside the vehicle.

[0102] As one possible implementation, the controller can determine the vehicle's location using GPS and then determine the locations of multiple audio acquisition devices based on that location. For example, the controller can determine the vehicle's center point using GPS and, based on the center point's location and the coordinate distribution of the multiple audio acquisition devices within the vehicle, determine the locations of the various audio acquisition devices within the vehicle.

[0103] Furthermore, the controller can determine the time for each audio acquisition device to acquire the vehicle horn sound, and subtract the acquisition times of each audio acquisition device to obtain the time difference of the vehicle horn sound acquired by each audio acquisition device.

[0104] S402 The controller determines the location of the first sound source based on the location and time difference of multiple audio acquisition devices.

[0105] For example, such as Figure 6 As shown, when the audio acquisition devices include audio acquisition device A, audio acquisition device B, and audio acquisition device C, if the position of audio acquisition device A is (x1, y1), the position of audio acquisition device B is (x2, y2), the position of audio acquisition device C is (x3, y3), the position of the first sound source X is (x, y), and the times when audio acquisition devices A, B, and C receive the audio signal are t1, t2, and t3 respectively, then the controller can determine the positions of multiple audio acquisition devices in the vehicle according to the following formulas one and two:

[0106]

[0107]

[0108] Where r1 is the distance between the audio acquisition device A and the location of the first sound source.

[0109] r2 is the distance between the audio acquisition device B and the location of the first sound source.

[0110] r3 is the distance between the audio acquisition device C and the location of the first sound source. c is the speed of light.

[0111] In some embodiments, the controller may also establish a virtual coordinate system and determine the position of the first sound source in the virtual coordinate system, and then convert the position of the first sound source in the virtual coordinate system into latitude and longitude coordinates based on the vehicle's GPS latitude and longitude information to determine the position of the first sound source.

[0112] Based on the above technical means, the location of the first sound source can be determined by the position and time difference of multiple audio acquisition devices. There is no need to interact with oncoming vehicles on the turning road. The location of the sound source can be determined only by the position and time difference of multiple audio acquisition devices, avoiding the problem of inaccurate sound source location caused by network latency and improving the accuracy of determining the sound source location.

[0113] In one possible embodiment, in order to more accurately determine the location of the sound source, the vehicle control method of this application may further include the following S501-S502.

[0114] S501, The controller determines the road location within the target area.

[0115] Specifically, the distance between the target area and the location of the first sound source must be less than a preset distance threshold. The preset distance threshold can be set as needed; for example, it could be 500 meters.

[0116] As one possible implementation, the controller can obtain vehicle location and map data from the network, and determine the road location within the target range of the vehicle location based on the vehicle location and map data.

[0117] For example, the controller determines the latitude and longitude range of roads within the target area based on the vehicle's location.

[0118] S502. If the first sound source location is not within the target range of the road location, the controller determines the second sound source location and sets the second sound source location as the target sound source location.

[0119] The location of the second sound source is the location on the road within the target area that is closest to the location of the first sound source.

[0120] As one possible implementation, if the first sound source location is not within the target range of the road location, the controller can determine the location within the target range that is closest to the first sound source location and designate that location as the target sound source location.

[0121] For example, the controller can use the location of the first sound source as the midpoint and continuously increase the search range until the road location is found (this location can be the tangent point between the edge of the search range and the road), and determine it as the location of the second sound source.

[0122] For example, the schematic diagrams showing the locations of the first and second sound sources can be referred to... Figure 7 .

[0123] Based on the above technical means, by modifying the location of the first sound source to the location closest to the first sound source within the target area of ​​the road, the sound source location can be avoided to be located in a non-road area, and the sound source location can be determined more accurately.

[0124] In one possible embodiment, in order to determine whether the audio signal is a vehicle horn sound, the vehicle control method provided in this application embodiment may further include the following S601-S602.

[0125] S601 The controller uses a sound discrimination model to process audio signals and outputs binary audio signals.

[0126] The sound discrimination model and binary type can be set as needed. For example, the sound discrimination model can be a deep neural network (DNN) model. The binary type can include a first numerical value and a second numerical value. For example, the first numerical value can be 1, and the second numerical value can be 0.

[0127] As one possible implementation, the controller can input the audio signal into the sound discrimination model, so that the sound discrimination model processes the audio signal and outputs a binary audio signal.

[0128] S602. When the binary type is the target binary type, the controller determines that the audio signal is a vehicle horn sound.

[0129] The target binary type can be the first numerical value. For example, it can be 1.

[0130] As one possible implementation, the controller can obtain the discrimination signal from the sound discrimination model and determine whether the binary type is the target binary type based on the discrimination signal.

[0131] The discrimination signal is used to indicate whether the binary type is the target binary type. The discrimination signal includes a first discrimination signal and a second discrimination signal. The first discrimination signal indicates that the binary type is the target binary type, and the second discrimination signal indicates that the binary type is not the target binary type.

[0132] If the controller determines that the discrimination signal is the first discrimination signal, it determines that the binary type is the target binary type; if the controller determines that the discrimination signal is the second discrimination signal, it determines that the binary type is not the target binary type.

[0133] Based on the aforementioned technical means, vehicle horn sounds can be identified from various external audio signals according to the binary type of the audio signal, avoiding the need to determine the sound source location when the audio signal is not a vehicle horn sound, thus reducing the consumption of vehicle resources.

[0134] S701, the controller acquires multiple sets of sample data.

[0135] Each set of sample data includes a sample audio signal and a sample label. The sample label is used to indicate the audio type in the sample audio signal. The audio types include vehicle horn sounds and non-vehicle horn sounds.

[0136] As one possible implementation, the controller can obtain multiple sets of sample data from a pre-labeled database, which can be images obtained by the vehicle manufacturer from audio acquisition devices of multiple vehicles.

[0137] S702. The controller trains a preset deep neural network model based on multiple sets of sample data to obtain the sound discrimination model.

[0138] As one possible implementation, the controller can divide the labeled sample data into training and testing sets according to a preset ratio. The audio signals and labels from the samples in the training set are then input into a preset deep neural network model for training. The model parameters are adjusted until the output matches the corresponding sample labels, thus obtaining the trained deep neural network model.

[0139] Furthermore, the controller can input the sample audio signals and sample labels from the test set into the trained deep neural network model, and determine the trained deep neural network model as a sound discrimination model if the accuracy of the output result is greater than the accuracy threshold.

[0140] It should be noted that the preset ratio can be set as needed. For example, it can be 8:1, 6:1, or 5:1, etc. The second threshold can also be set as needed. For example, it can be 80%, 90%, or 95%, etc.

[0141] Based on the aforementioned technical means, deep neural network models have a large capacity and can be combined into more different types of substructures, making it easier to learn and represent various features. This allows for more accurate identification of audio signal types. Furthermore, training the deep neural network model with multiple sets of sample data can further improve the accuracy of audio signal type identification. This enables more accurate identification of vehicle horns, avoiding the waste of resources caused by misidentifying other sounds as vehicle horns when determining the source location of the horn. It also prevents the failure to promptly alert oncoming vehicles on curves when vehicle horns are misidentified as other sounds, thus improving vehicle safety in road conditions with curves.

[0142] One possible implementation, such as Figure 8 As shown, the vehicle control method of this application may further include the following S801-S806.

[0143] S801, The controller determines whether there is a turning road within a preset distance in the direction of vehicle travel.

[0144] S802: When there is a turning road within a preset distance in the direction of vehicle travel, the controller collects audio signals from outside the vehicle.

[0145] S803, the controller determines whether the audio signal is a vehicle horn sound.

[0146] S804: When the audio signal is a vehicle horn, the controller determines the location of the first sound source.

[0147] S805 The controller corrects the position of the first sound source to obtain the position of the target sound source.

[0148] S806, The controller identifies the vehicle's multimedia equipment and outputs the location of the target sound source.

[0149] The various solutions in the above embodiments of this application can be combined without contradiction.

[0150] This application embodiment can divide the vehicle control device or controller into functional modules or functional units according to the above method examples. For example, each function can be divided into a separate functional module or functional unit, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or in software functional modules or functional units. The module or unit division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0151] When dividing each function into modules according to its corresponding function. Figure 9 A schematic diagram of a vehicle control device 900 is shown. The vehicle control device 900 can be a controller or a chip applied in the controller. The vehicle control device 900 can be used to perform the functions of the controller involved in the above embodiments. Figure 9 The vehicle control device 900 shown may include: a determining unit 901, a acquiring unit 902, and a processing unit 903; the determining unit 901 is used to determine that there is a turning road within a preset distance in the vehicle's driving direction; the acquiring unit 902 is used to acquire audio signals from outside the vehicle, and when the audio signal is a vehicle horn sound, determine the location of a first sound source; the location of the first sound source is the location of the vehicle horn sound determined using a time difference positioning algorithm; the processing unit 903 is used to correct the location of the first sound source to obtain a target sound source location; the processing unit 903 is also used to control the vehicle's multimedia device identification and output the target sound source location.

[0152] Furthermore, the determining unit 901 is specifically used to: determine the positions of multiple audio acquisition devices in the vehicle, and the time difference between each audio acquisition device acquiring the vehicle horn sound; the multiple audio acquisition devices are used to acquire audio signals from outside the vehicle; and determine the position of the first sound source based on the positions and time differences of the multiple audio acquisition devices.

[0153] Furthermore, the processing unit 903 is specifically used to: determine the road location within the target range, wherein the distance between the target range and the first sound source location is less than a preset distance threshold; if the first sound source location is not within the road location within the target range, determine the second sound source location and set the second sound source location as the target sound source location; the second sound source location is the location within the target range that is closest to the first sound source location.

[0154] Furthermore, the processing unit 903 is also used to: process the audio signal using a sound discrimination model and output the binary type of the audio signal; the determining unit 901 is also used to: determine the audio signal as a vehicle horn sound when the binary type is the target binary type.

[0155] Furthermore, the device also includes: an acquisition unit 904; the acquisition unit 904 is also used to: acquire multiple sets of sample data; each set of sample data includes sample audio signals and sample labels; the sample labels are used to label the audio type in the sample audio signals; the processing unit 903 is also used to: train a preset deep neural network model based on the multiple sets of sample data to obtain a sound discrimination model.

[0156] This application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. This program can be stored in the computer-readable storage medium, and when executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of the vehicle control device or controller (including a data transmitter and / or data receiver) of any of the foregoing embodiments, such as the hard disk or memory of the vehicle control device. The computer-readable storage medium can also be an external storage device of the vehicle control device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the vehicle control device. Further, the computer-readable storage medium can include both internal storage units and external storage devices of the vehicle control device. The computer-readable storage medium is used to store the computer program and other programs and data required by the vehicle control device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0157] This application also provides a vehicle, including the vehicle control system, controller, or vehicle control device involved in the above method embodiments.

[0158] Furthermore, the actions, terms, etc., involved in the various embodiments of this application can be referenced interchangeably without limitation. The message names or parameter names in the messages exchanged between the various devices in the embodiments of this application are merely examples, and other names may be used in specific implementations without limitation.

[0159] It should be noted that the terms "first" and "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0160] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0162] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0163] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0165] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0166] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Determine if a turning road exists within a preset distance in the direction of vehicle travel; The system collects audio signals from outside the vehicle and, if the audio signal is a vehicle horn, determines the location of a first sound source; the location of the first sound source is the location of the vehicle horn sound determined using a time difference positioning algorithm. Determine the road location within the target area, wherein the distance between the target area and the location of the first sound source is less than a preset distance threshold; If the first sound source location is not within the target area of ​​the road location, a second sound source location is determined and designated as the target sound source location; the second sound source location is the location within the target area of ​​the road location that is closest to the first sound source location. The multimedia equipment of the control vehicle identifies and outputs the location of the target sound source.

2. The method according to claim 1, characterized in that, Determining the location of the first sound source includes: The locations of multiple audio acquisition devices in the vehicle are determined, as well as the time difference between each audio acquisition device acquiring the vehicle horn sound; the multiple audio acquisition devices are used to acquire audio signals from outside the vehicle. The location of the first sound source is determined based on the positions of the plurality of audio acquisition devices and the time difference.

3. The method according to claim 1 or 2, characterized in that, The method further includes: The audio signal is processed using a sound discrimination model, and the binary type of the audio signal is output. If the binary type is the target binary type, the audio signal is determined to be the vehicle horn sound.

4. The method according to claim 3, characterized in that, The method further includes: Multiple sets of sample data are acquired; each set of sample data includes a sample audio signal and a sample label; the sample label is used to label the audio type in the sample audio signal. The sound discrimination model is obtained by training a preset deep neural network model based on the multiple sets of sample data.

5. A vehicle control device, characterized in that, The device includes: a determination unit, a data acquisition unit, and a processing unit; The determining unit is used to determine that there is a turning road within a preset distance in the direction of vehicle travel; The acquisition unit is used to acquire audio signals from outside the vehicle, and when the audio signal is a vehicle horn, to determine the location of a first sound source; the location of the first sound source is the location of the vehicle horn sound determined by a time difference positioning algorithm. The processing unit is configured to determine the road location within a target range, wherein the distance between the target range and the first sound source location is less than a preset distance threshold; if the first sound source location is not located within the road location of the target range, it determines a second sound source location and sets the second sound source location as the target sound source location; the second sound source location is the location within the target range that is closest to the first sound source location. The processing unit is also used to control the identification of the vehicle's multimedia devices and output the location of the target sound source.

6. The apparatus according to claim 5, characterized in that, The determining unit is specifically used for: The locations of multiple audio acquisition devices in the vehicle are determined, as well as the time difference between each audio acquisition device acquiring the vehicle horn sound; the multiple audio acquisition devices are used to acquire audio signals from outside the vehicle. The location of the first sound source is determined based on the positions of the plurality of audio acquisition devices and the time difference.

7. A vehicle control system, characterized in that, The vehicle control system includes a controller. The controller is used to perform the method as described in any one of claims 1 to 4.

8. A vehicle, characterized in that, Includes the vehicle control system as described in claim 7.

9. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 4.

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