Vehicle Sound Effect Control Method, Device, Equipment, Storage Medium and Vehicle

Abstract

The present application provides a vehicle sound effect control method, device, equipment, storage medium and vehicle, the method comprising: obtaining head posture information of a target user in the vehicle; extracting a target acoustic transfer function corresponding to the head posture information from a set of acoustic transfer functions according to the head posture information; determining the filter parameters of each sound output device according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user. Through the method provided in the embodiment of the present application, when the head posture information changes, the acoustic transfer function corresponding to the head posture information can also be extracted, and the filter parameters of the sound output device can be subsequently adjusted in real time based on the dynamically changing target acoustic transfer function to achieve the formation of a preset sound field partition in the head area when the head posture information changes, thereby improving the control effect of the vehicle sound effect and improving the user experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle sound effect control method, device, equipment, storage medium and vehicle. Background Art

[0002] In the context of intelligent driving, the variety of automotive audio signals is increasing, including music, navigation prompts, turn signals, alarms, and more. The prolonged mixing of multiple sounds in the car can cause increased annoyance to passengers, leading to a growing demand for a separate acoustic environment. Consequently, regional control technology for the in-car sound field has emerged.

[0003] However, current in-vehicle sound field zoning technologies often rely on directional sound generation through parametric speaker arrays. However, because the sound emission direction is fixed within the structure and cannot be changed, this approach results in suboptimal sound field zoning when the user's head position varies, such as when the user's height varies, resulting in different head height zones. This impacts the user experience. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle sound effect control method, device, equipment, storage medium and vehicle to at least partially solve the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of the present application, a vehicle sound effect control method is provided, comprising:

[0006] Obtain the head posture information of the target user in the vehicle;

[0007] Extracting a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information;

[0008] The filter parameters of each sound output device in the vehicle are determined according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user.

[0009] Optionally, as another embodiment of the present application, before the step of extracting a target acoustic transfer function corresponding to the head posture information from a preset set of acoustic transfer functions based on the head posture information, the method further includes:

[0010] For each sound output device, collecting a sound pressure signal of the sound output device through sound input devices of at least two grid spaces within the vehicle space;

[0011] generating an acoustic transfer function of the sound output device in the grid space according to the sound pressure signal and a reference audio signal of the sound pressure signal;

[0012] The grid space and its corresponding acoustic transfer function are associated to obtain a preset acoustic transfer function set of the vehicle.

[0013] Optionally, as another embodiment of the present application, associating the grid space with its corresponding acoustic transfer function to obtain a preset acoustic transfer function set for the vehicle includes:

[0014] Associating the preset acoustic transfer function set of the vehicle with the identification information of the vehicle and storing them in a preset database;

[0015] Before extracting the target acoustic transfer function corresponding to the head posture information from the preset acoustic transfer function set, the method includes:

[0016] The preset database is queried to obtain a preset acoustic transfer function set corresponding to the identity information of the vehicle.

[0017] Optionally, as another embodiment of the present application, extracting a target acoustic transfer function corresponding to the head posture information from a preset set of acoustic transfer functions according to the head posture information includes:

[0018] Correcting the position information in the head posture information according to the physiological characteristic parameters corresponding to the posture information in the head posture information to obtain the ear position information of the target user;

[0019] A target acoustic transfer function corresponding to the ear position information is extracted from a preset acoustic transfer function set according to the ear position information.

[0020] Optionally, as another embodiment of the present application, determining the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user includes:

[0021] Determining a target sound field partition selected by the target user according to the state information of the target user and / or the input sound field partition instruction; the target sound field partition includes at least one of a bright area and a dark area;

[0022] The target acoustic transfer function is processed according to a preset sound field partition control method to obtain filter parameters of each sound output device in the vehicle to form the target sound field partition in the head area of the target user.

[0023] Optionally, as another embodiment of the present application, the preset sound field partition control method includes at least one of an acoustic contrast method and a sound pressure matching method.

[0024] Optionally, as another embodiment of the present application, extracting a target acoustic transfer function corresponding to the head posture information from a preset set of acoustic transfer functions according to the head posture information further includes:

[0025] In the case where there are multiple target users, extracting multiple target acoustic transfer functions corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information; the target acoustic transfer functions include at least a first acoustic transfer function and a second acoustic transfer function;

[0026] Determining filter parameters of each sound output device in the vehicle according to the target acoustic transfer function includes:

[0027] determining first filter parameters for each sound output device in the vehicle based on the first target acoustic transfer function, and determining second filter parameters for each sound output device in the vehicle based on the second target acoustic transfer function;

[0028] The first filter parameters and the second filter parameters are weighted according to a preset weight coefficient to obtain target filter parameters of each of the sound output devices.

[0029] Optionally, as another embodiment of the present application, the method further includes:

[0030] In the case that the number of the target user is only one, some of the sound output devices are controlled to be turned off, and target filter parameters of the remaining sound output devices are determined to form a sound field partition in the head area of the target user.

[0031] Optionally, as another embodiment of the present application, the filter parameters of the sound output device include a third filter parameter for forming a preset first sound field partition in the head area of the target user and a fourth filter parameter for forming a preset second sound field partition in the head area of the target user;

[0032] After determining the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user, the method further includes:

[0033] When the target audio is a first type of audio, processing the target audio output by the sound output device through a filter corresponding to a third filter parameter; the first type of audio is at least one of a prompt audio and a navigation audio;

[0034] When the target audio is a second type of audio, the target audio output by the sound output device is processed by a filter corresponding to a fourth filter parameter; the second type of audio is at least one of multimedia audios.

[0035] Optionally, as another embodiment of the present application, after the step of determining the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user, the method further includes:

[0036] When it is detected that the head posture information of the target user changes, the filter parameters of each sound output device in the vehicle are adjusted according to the adjusted head posture information.

[0037] According to a second aspect of the present application, a vehicle sound effect control device is provided, comprising:

[0038] An acquisition module is used to obtain the head posture information of the target user in the vehicle;

[0039] an extraction module, configured to extract a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information;

[0040] A determination module is configured to determine filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head area of the target user.

[0041] According to a third aspect of the present application, an electronic device is also provided, comprising a memory and a processor; the memory stores a computer program; the processor is configured to execute the computer program in the memory to implement any of the methods described above.

[0042] According to a fourth aspect of the present application, a computer storage medium is further provided, wherein the computer storage medium stores instructions, and when the instructions are executed by a computer, the computer implements any one of the methods described above.

[0043] According to a fifth aspect of the present application, a computer program product is further provided, wherein the computer program product stores instructions, and when the instructions are executed by a computer, the computer implements any one of the methods described above.

[0044] According to the sixth aspect of the present application, a vehicle is also provided, comprising a vehicle controller, a processor and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor executes any one of the methods described above.

[0045] In an embodiment of the present application, the head posture information of a target user in a vehicle is obtained, and a target acoustic transfer function corresponding to the head posture information is extracted from multiple acoustic transfer functions in the vehicle space based on the head posture information, so as to determine the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function, thereby achieving the effect of forming a preset sound field partition in the head area of the target user. Through the method provided in an embodiment of the present application, when the head posture information changes, the acoustic transfer function corresponding to the head posture information can also be extracted, and the filter parameters of the sound output device can be subsequently adjusted in real time based on the dynamically changing target acoustic transfer function, so as to achieve the effect of forming a preset sound field partition in the head area when the head posture information changes, thereby improving the control effect of the vehicle sound effect and improving the user experience.

[0046] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0048] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0049] Figure 1 A schematic diagram of the effects of different sound field areas in a vehicle space provided by an embodiment of the present application;

[0050] Figure 2 A schematic flow chart of the steps of a vehicle sound effect control method provided in an embodiment of the present application;

[0051] Figure 3a A schematic flow chart of the steps for pre-building an acoustic transfer function set provided in an embodiment of the present application;

[0052] Figure 3b A schematic diagram showing the effect of an in-car cabin speaker array layout and the corresponding acoustic transfer function provided by an embodiment of the present application;

[0053] Figure 4 A schematic flow chart of the steps for processing target acoustic transfer functions corresponding to multiple head posture information to obtain filter parameters provided in an embodiment of the present application;

[0054] Figure 5A schematic flow chart of a step of selecting filter parameters according to audio type to process target audio output by a sound output device, provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of the structure of a vehicle sound effect control method provided in an embodiment of the present application;

[0056] Figure 7 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0058] In order to facilitate understanding of the implementation scheme provided by the embodiments of this application, the relevant background of vehicle sound effect control is first explained. Specifically, vehicle sound effect control refers to the reasonable control of car audio signals, such as music, navigation prompts, turn prompts, alarm sounds, etc., to achieve differentiated effects on users. For example, a more common method is the sound field partitioning method. Specifically, by reasonably setting the sound output device in the vehicle, such as the speaker array, different sound field areas are formed inside the vehicle. For example, see Figure 1 , Figure 1 A schematic diagram of the effects of different sound field areas within a vehicle space provided by an embodiment of the present application. Specifically, the interior space of the vehicle is divided into a bright area B and a dark area D. For example, when the front cabin, where the driver usually resides, is the bright area B, and the rear cabin, where the passengers usually reside, is the dark area D, the prompt sounds such as navigation prompts and turn prompts emitted by the speaker array can ensure the driver's listening effect while minimizing the impact on the passengers. Correspondingly, when the front cabin is the dark area and the rear cabin is the bright area, multimedia sound effects such as music and video sounds emitted by the speaker array can ensure the passenger's listening effect without affecting the driver's driving. In other words, the above-mentioned sound field zoning design can provide passengers with a relatively independent sound environment, improving the user experience.

[0059] Most current sound field zoning methods use parametric speaker arrays for directional sound generation to achieve in-vehicle sound field zoning. Because the sound emission direction is fixed within the vehicle's structure and cannot be changed, the sound field zoning within the vehicle cabin is relatively fixed. For example, the front and rear cabins are typically designated as independent sound field zones. However, in actual applications, it has been found that when user head posture information varies, such as when the user's head is at different heights due to different heights, the above sound field zoning is not ideal, which to some extent affects the user's riding experience.

[0060] It is precisely to solve the above-mentioned problems that the present application provides a vehicle sound effect control method, device, equipment, storage medium, program product, and vehicle. The method obtains the head posture information of the target user in the vehicle and extracts the target acoustic transfer function corresponding to the head posture information from multiple acoustic transfer functions in the vehicle space based on the posture information, so as to determine the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, thereby forming a preset sound field partition in the head area of the target user. That is, it can achieve the effect of flexible and dynamic sound field partition control of the vehicle cabin space based on the user's head posture information. Specifically, the vehicle sound effect control method is usually set in the form of a computer program on the vehicle sound effect control device, and the vehicle sound effect control device is usually set in the form of a processor in an electronic device, wherein the electronic device here can usually be a vehicle computer, or it can refer to a platform cloud server built by a service provider that communicates with the vehicle computer. The electronic device executes the computer program corresponding to the vehicle sound effect control method through the vehicle sound effect control device in the electronic device to execute the vehicle sound effect control method provided in the embodiment of the present application.

[0061] For details, please refer to Figure 2 , Figure 2 A schematic flow chart of a vehicle sound effect control method provided in an embodiment of the present application, specifically comprising steps S210 to S230:

[0062] S210: Acquire head posture information of a target user in the vehicle.

[0063] In the embodiment of the present application, obtaining the head posture information of the target user in the vehicle can be done by periodically scanning the user in the vehicle through an image acquisition device installed in the vehicle, such as an in-vehicle camera, an in-vehicle camera, etc., after the vehicle is started. Of course, considering that the position of the vehicle driver is relatively fixed, the target user here can generally be understood as a passenger. Of course, it is also feasible that the target user includes the driver, and this does not affect the vehicle sound effect control method provided in the embodiment of the present application. The embodiment of the present application will not be described in detail here.

[0064] After periodically scanning the vehicle's users with a camera, combined with a facial recognition system, the number of passengers, their locations, and, in particular, their head pose can be determined. Specifically, head pose information can, to a certain extent, reveal the location of the user's ears. For example, based on head pose information and pre-set physiological head parameters, the location of the user's ears can be estimated and converted to the vehicle's grid coordinate system for subsequent calculations.

[0065] Of course, it should be noted that when the vehicle sound effect control method is running in the vehicle computer, the head posture information obtained by scanning and calculating the camera can be reported to the vehicle computer through the internal communication method of the vehicle computer for subsequent calculations. When the vehicle sound effect control method is running on the platform cloud server, the head posture information here is usually uploaded to the platform cloud server based on remote communication after the vehicle computer collects the head posture information through the aforementioned method for subsequent calculations.

[0066] S220 : Extracting a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information.

[0067] In order to achieve the effect of dynamically partitioning the sound field of the vehicle space in real time based on changes in the user's head posture information, in an embodiment of the present application, a target acoustic transfer function corresponding to the head posture information is extracted from a preset set of acoustic transfer functions based on the head posture information. Specifically, the set of acoustic transfer functions here generally includes multiple acoustic transfer functions of multiple sound output devices in the vehicle space. For example, a common set includes the acoustic transfer functions of each speaker in the speaker array at different coordinates in the vehicle space. At this time, the target acoustic transfer functions at the passenger's ears can be extracted based on the head posture information, which includes the acoustic transfer function of each speaker in the speaker array at that position, that is, describes the sound pressure signal that can be formed when the audio signals output by different speakers are transmitted to that position.

[0068] Furthermore, in combination with the foregoing relevant explanations, it can be seen that the head posture information can reflect the position of the user's ears to a certain extent. Therefore, the head posture information can be appropriately processed to obtain more accurate ear position information. For example, as a common feasible solution, considering that when the head is in different posture information, the orientation of the ears is different, that is, the physiological characteristic parameters of the ears in the head are different. Therefore, the position information in the head posture information can be corrected according to the physiological characteristic parameters corresponding to the posture information in the head posture information to obtain the ear position information of the target user, so as to more accurately extract the target acoustic transfer function corresponding to the ear position information from the acoustic transfer function set. That is, according to the head posture information, the target acoustic transfer function corresponding to the head posture information is extracted from the preset acoustic transfer function set, specifically including:

[0069] Correcting the position information in the head posture information according to the physiological characteristic parameters corresponding to the posture information in the head posture information to obtain the ear position information of the target user;

[0070] A target acoustic transfer function corresponding to the ear position information is extracted from a preset acoustic transfer function set according to the ear position information.

[0071] Of course, it should be noted that the implementation of the above solution depends on the multiple acoustic transfer functions of multiple sound output devices in the vehicle space that have been collected in advance. Therefore, as another feasible embodiment of the present application, please refer to Figure 3a , a schematic flow chart of the steps of pre-building an acoustic transfer function set is also provided, specifically, including steps S310 to S330:

[0072] S310 , for each sound output device, collecting a sound pressure signal of the sound output device through sound input devices in at least two grid spaces within the vehicle space.

[0073] In an embodiment of the present application, the vehicle cabin space can be divided into a plurality of preset grid spaces using a preset grid space division method. For example, as a common feasible implementation scheme, the vehicle cabin space region can be first coordinateized, and then a coordinate origin can be determined, such as selecting the center point of the vehicle body as the coordinate origin of the cabin space region. The vehicle cabin space can then be divided into equally spaced grids, where the spacing can be dynamically adjusted based on actual needs, so as to record the coordinates of each grid.

[0074] Furthermore, by configuring sound input devices, such as microphones, in at least two grid spaces within the vehicle, and then controlling each sound output device, such as each speaker in a speaker array, to sequentially output a preset audio signal, such as a white noise signal, the sound input device configured in each grid space can be used to collect the sound pressure signals of the sound output devices when they output the preset audio signal. Of course, to reduce interference, it is generally required that the sound signal collection be performed in a clean, noise-free environment. Therefore, with the vehicle stationary and free of engine and road noise, a white noise signal can be output through computer software and played back through each speaker one by one. The corresponding sound pressure signals can then be recorded using the microphones in each grid space.

[0075] S320: Generate an acoustic transfer function of the sound output device in the grid space according to the sound pressure signal and a reference audio signal of the sound pressure signal.

[0076] On the basis of the above, for each grid space, since the sound pressure signals corresponding to the preset audio signals played by different speakers can be collected by the microphone in the grid space, when the preset audio signal changes, the microphone can also collect the corresponding changing sound pressure signals. At this time, the sound pressure signal can be subjected to LMS (Least Mean Squares, minimum mean square error) adaptive filtering calculation, so as to obtain the acoustic transfer function of each speaker in the speaker array in the grid space based on the sound pressure signal and the reference audio signal of the sound pressure signal, that is, the preset audio signal played by the aforementioned speaker, which describes the degree of influence of each speaker on the grid space when outputting different audio signals.

[0077] S330 : Associating the grid space with its corresponding acoustic transfer function to obtain a preset acoustic transfer function set of the vehicle.

[0078] In the embodiment of the present application, combined with the above description, by processing the information collected by the microphone configured in each grid space, the acoustic transfer function between each grid space and different speakers can be obtained. At this time, the grid space and its corresponding acoustic transfer function are associated to finally obtain the vehicle's acoustic transfer function set, which includes the acoustic sensing function of each speaker in each vehicle grid space. For details, for ease of understanding, please refer to Figure 3b , Figure 3bThis is a schematic diagram illustrating the effects of a speaker array placement in a vehicle cabin and the corresponding acoustic transfer function, provided in an embodiment of the present application. It can be seen that the speaker array placement described produces different acoustic transfer effects at different grid points within the vehicle cabin space. Specifically, the different acoustic transfer effects of different speakers on different grid points, i.e., the acoustic transfer function, can be further determined.

[0079] Of course, it should be noted that to facilitate subsequent sound effect control, the preset set of acoustic transfer functions obtained in advance is typically stored in a preset database for easy access. For example, it can be stored in a database on the vehicle computer or in a database on a cloud service platform. However, it should be noted that because the sound effect control method provided in the embodiments of this application requires subsequent computation of a large amount of data, it places high demands on the device performance. Due to equipment cost constraints, conventional vehicle computer equipment can typically only meet simple storage and computing requirements and may not generally be able to effectively implement vehicle sound effect control. Therefore, as another feasible embodiment of this application, the obtained set of acoustic transfer functions can typically be uploaded and stored in a database of a service provider, such as a cloud service platform installed on the vehicle. Of course, the above description is merely a feasible alternative implementation solution. As technology develops and vehicle computer equipment can meet higher storage and computing performance requirements, storing the preset set of acoustic transfer functions in a local vehicle computer database is also feasible. This embodiment of this application will not be discussed in detail here.

[0080] In the aforementioned process of uploading the preset acoustic transfer function set of the vehicle to the database of the cloud service platform, in order to enable the cloud service platform to more effectively control the vehicle sound effects, as a further implementation scheme of the present application, considering that different vehicles have different vehicle parameters or speaker array arrangements, it is generally necessary to associate the preset acoustic transfer function set of the vehicle with the vehicle's identity information and store it in a preset database. In other words, the step of associating and storing the acoustic transfer functions corresponding to each of the grid spaces to obtain the preset acoustic transfer function set of the vehicle specifically includes:

[0081] The preset acoustic transfer function set of the vehicle is associated with the identity information of the vehicle and stored in a preset database.

[0082] At this time, the preset database, that is, the database of the cloud service platform, usually stores a plurality of acoustic transfer function sets of different vehicles. In order to better manage the acoustic transfer function sets of different vehicles, the acoustic transfer function sets of the vehicles can usually be associated with the identity information of the vehicles, such as the license plate or other unique identification information. Therefore, in the subsequent process of extracting the target acoustic transfer function corresponding to the head posture information from the preset acoustic transfer function set according to the head posture information, it is necessary to first obtain the identity information of the vehicle when responding to the sound field partition control instruction for the vehicle, and obtain the target acoustic transfer function corresponding to the vehicle according to the identity information, so as to be used for the subsequent extraction of the target acoustic transfer function corresponding to the head posture information. That is, before the step of extracting the target acoustic transfer function corresponding to the head posture information from the preset acoustic transfer function set according to the head posture information, it specifically includes:

[0083] When responding to a sound field partition control instruction for the vehicle, acquiring identification information of the vehicle;

[0084] The preset database is queried to obtain a preset acoustic transfer function set corresponding to the identity information of the vehicle.

[0085] Among them, the sound field partition control instruction for the vehicle refers to the instruction input by the user, such as the driver or passenger, through the preset device to start the sound field partition, such as the sound field partition control instruction input through the human-computer interaction of the vehicle computer. Of course, it is also feasible to input the sound field partition control instruction in other ways. At this time, the vehicle will upload the identity information and the collected head posture information to the cloud server, so that the cloud server first determines the target acoustic transfer function set corresponding to the vehicle based on the identity information, and then further combines the head posture information to extract the corresponding target acoustic transfer function.

[0086] S230 : Determine filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head area of the target user.

[0087] After the target acoustic transfer function related to the user's head posture information is extracted as mentioned above, the target acoustic transfer function is processed according to the preset sound field partitioning control method to control and determine the filter parameters of each sound output device, that is, each speaker in the speaker array, such as phase or sound intensity correction parameters. Therefore, after the audio signal is output through the sound output device, the filter can be adjusted to form a specified sound field partitioning effect, such as a bright area or a dark area, in the head area of the target user, that is, the spatial grid area corresponding to the head posture information.

[0088] Specifically, the step of determining the filter parameters of each sound output device according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user specifically includes:

[0089] Determining a target sound field partition selected by the target user according to the state information of the target user and / or the input sound field partition instruction; the target sound field partition includes at least one of a bright area and a dark area;

[0090] The target acoustic transfer function is processed according to a preset sound field partition control method to obtain filter parameters of each of the sound output devices to form the target sound field partition in the head area of the target user, wherein the preset sound field partition control method includes at least one of an acoustic contrast method and a sound pressure matching method.

[0091] In an embodiment of the present application, the state of the target user can be further classified and identified through the user image captured by the aforementioned camera. For example, when the target user is in a resting state, for example, by detecting that the user's eyes are closed, it can be considered that the target user wants to be in a quiet space. At this time, the target sound field partition selected by the target user is determined to be a dark area. Or when the target user is in an active state, for example, when the user's eyes are detected to be looking at a mobile phone or other device to watch multimedia resources, the target sound field partition selected by the target user can be determined to be a bright area. Of course, in addition to the state of the target user, the selected target sound field partition can also be determined based on the sound field partition instruction input by the target user. For example, the user can also select the target sound field partition through the rear-seat installed car system, for example, select a bright area or a dark area.

[0092] After the user selects the bright area or the dark area, the target acoustic transfer function is processed according to the preset sound field partition control method to further determine the filter parameters of each sound output device, thereby forming a corresponding target sound field partition in the head area of the target user to ensure user experience.

[0093] Specifically, the preset sound field zoning control method here can adopt the conventional acoustic contrast method (Acoustic Contrast Control, ACC) or the pressure matching method (Pressure Matching, PM)), wherein the acoustic contrast method aims to maximize the sound energy ratio (or difference) between the bright area and the dark area, and the pressure matching method aims to reconstruct the bright area sound field. In specific applications, the filter parameters of each sound output device can be determined for the target acoustic transfer function based on actual needs. The embodiments of the present application do not elaborate on the specific implementation steps of the acoustic contrast method or the pressure matching method.

[0094] In addition, as a further feasible implementation scheme of the present application, there may be multiple target users in the vehicle. For example, when there are multiple users, the aforementioned target acoustic transfer functions corresponding to the head posture information extracted from the preset acoustic transfer function set according to the head posture information also include multiple ones. That is, when there are multiple target users, multiple target acoustic transfer functions corresponding to the head posture information are extracted from the preset acoustic transfer function set according to the head posture information, wherein the target acoustic transfer function includes at least a first acoustic transfer function and a second acoustic transfer function, wherein the first acoustic transfer function and the second acoustic transfer function are acoustic transfer functions corresponding to the head posture information of different users, respectively. At this time, in the process of finally determining the filter parameters of the sound output device, it is necessary to first determine the corresponding filter parameters for each acoustic transfer function, and finally weight the filter parameters corresponding to different acoustic transfer functions. For details, please refer to Figure 4 , Figure 4 A flowchart of a process for processing target acoustic transfer functions corresponding to multiple head posture information to obtain filter parameters is provided in an embodiment of the present application, specifically including steps S410 to S430:

[0095] S410: Determine first filter parameters of each sound output device in the vehicle according to the first target acoustic transfer function.

[0096] S420: Determine second filter parameters of each sound output device in the vehicle according to the second target acoustic transfer function.

[0097] In the embodiment of the present application, the specific implementation scheme of using the first target acoustic transfer function and the second target acoustic transfer function to determine the filter parameters of the sound output device can refer to the aforementioned implementation content, for example, it can be obtained by processing through the acoustic contrast method or the sound pressure matching method. Of course, in the specific application process, the sound field partitions selected by different users, such as bright areas or dark areas, can be further considered to determine the filter parameters of the sound output device.

[0098] S430: Weighting the first filter parameters and the second filter parameters according to a preset weight coefficient to obtain target filter parameters of each of the sound output devices.

[0099] In an embodiment of the present application, the acoustic transfer function determined based on the head posture information of different users determines different filter parameters of the sound output device. The first filter parameter and the second filter parameter are further weighted according to a preset weight coefficient to obtain the target filter parameters of the sound output device. This satisfies the formation of preset sound field partitions in the head areas of different target users, thereby ensuring the experience of different users. The weight coefficients here can be set based on design requirements, and of course, can also be dynamically adjusted to maximize the user experience.

[0100] Of course, the above description is based on the case where there are multiple target users. In fact, when there is only one target user, that is, only the driver, the number of speakers in the sound field partition can be reduced while ensuring the sound field partition effect in the area where the driver's ears are located. This can achieve both the sound field partition effect and the power consumption of the speaker array. That is, the step of determining the filter parameters of each sound output device according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user specifically includes:

[0101] When the number of the target user is only one, some of the sound output devices are controlled to be turned off, and filter parameters of the remaining sound output devices are determined according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user.

[0102] In addition, further, combined with the relevant description of the aforementioned application scenarios, it can be seen that for different car audio signals, in different scenarios, the sound field partitioning effects expected to be achieved for users are different. For example, the prompt sounds such as navigation prompt sounds, turn prompt sounds, etc. emitted by the speaker array are expected to achieve a bright sound field partition for the driver user, and a dark sound field partition for the passenger user. The multimedia sound effects such as music and video sounds emitted by the speaker array are expected to achieve a dark sound field partition for the driver user, and a bright sound field partition for the passenger user. In other words, the filter parameters of the sound output device include a third filter parameter for forming a preset first sound field partition in the head area of the target user and a fourth filter parameter for forming a preset first sound field partition in the head area of the target user. Normally, the third filter parameter and the fourth filter parameter have relative parameters to achieve different sound field partitions for the head area of the target user. At this time, after the step of forming the preset sound field partition in the head area of the target user, when the target audio is output through the sound output device, the filter parameters can also be dynamically selected according to the audio type of the target audio. For details, please refer to Figure 5 , Figure 5The present invention provides a flowchart of a method for selecting filter parameters according to the type of audio to process target audio output by a sound output device, specifically including steps S510 to S520:

[0103] S510 : When the target audio is the first type of audio, the target audio output by the sound output device is processed by a filter corresponding to a third filter parameter.

[0104] In an embodiment of the present application, the first type of audio is at least one of prompt audio and navigation audio. That is to say, when the target audio is the first type of audio, that is, when the target audio is prompt audio and navigation audio, the target audio output by the sound output device can be processed by a filter corresponding to the third filter parameter, so that the driver user is in the bright area of the sound field partition, and the passenger user is in the dark area of the sound field partition, so as to ensure the driver's listening effect while reducing the impact of the above-mentioned prompt sound or navigation sound on the passengers.

[0105] S520: When the target audio is the second type of audio, process the target audio output by the sound output device through a filter corresponding to a fourth filter parameter.

[0106] In an embodiment of the present application, the second type of audio is multimedia audio. That is to say, when the target audio is the second type of audio, that is, when the target audio is multimedia audio such as music, video audio, etc., the target audio output by the sound output device can be processed by a filter corresponding to the fourth filter parameter, so that the driver user is in the dark area of the sound field partition, and the passenger user is in the bright area of the sound field partition, so as to ensure the listening effect of the passengers while reducing the impact of the above-mentioned multimedia audio on the driver.

[0107] In addition, the vehicle sound effect control method provided above can also be used for real-time vehicle sound effect control, that is, in the process of forming a preset sound field partition in the head area of the target user and outputting audio, it will also detect in real time whether the head posture information of the target user is offset. That is, after determining the filter parameters of each of the sound output devices according to the target acoustic transfer function to form the preset sound field partition in the head area of the target user, the vehicle sound effect control method further includes:

[0108] When a change in the head posture information of the target user is detected, the filter parameters of each of the sound output devices are adjusted according to the adjusted head posture information to form a preset sound field partition in the head area of the target user.

[0109] In an embodiment of the present application, the head posture information of the target user is detected in real time, and when it is detected that the head posture information of the target user has changed, the aforementioned steps are further re-executed according to the adjusted head posture information, such as re-extracting the updated target acoustic transfer function corresponding to the adjusted head posture information in the acoustic transfer function set, and again combining the acoustic contrast method or the sound pressure matching method to complete the processing of the target acoustic transfer function, so as to determine the filter parameters of the sound output device, so as to re-form the preset sound field partitioning effect in the adjusted area.

[0110] In an embodiment of the present application, the head posture information of a target user in a vehicle is obtained, and based on the head posture information, a target acoustic transfer function corresponding to the head posture information is extracted from multiple acoustic transfer functions of multiple sound output devices in the vehicle space, so as to determine the filter parameters of each of the sound output devices based on the target acoustic transfer function, thereby achieving the effect of forming a preset sound field partition in the head area of the target user. Through the method provided in an embodiment of the present application, when the head posture information changes, the acoustic transfer function corresponding to the head posture information can also be extracted. Subsequently, the filter parameters of the sound output device can be adjusted in real time based on the dynamically changing target acoustic transfer function, so that when the head posture information changes, the preset sound field partition can be formed in the head area, thereby improving the control effect of the vehicle sound effect and improving the user experience.

[0111] In order to more clearly understand the vehicle sound effect control method provided by the embodiment of the present application, the following will be combined with the above Figures 1 to 5 And related instructions, a complete implementation process of a vehicle sound effect control method is provided, which specifically includes the following steps:

[0112] 1. Coordinate the vehicle cabin space area and determine the coordinate origin. For example, the center point of the vehicle body is used as the coordinate origin of the cabin space area. Then, the cabin area is divided into equally spaced grids with adjustable intervals. Then, a microphone is installed in each grid and the coordinates of each grid are recorded.

[0113] 2. With the vehicle stationary and free of engine or road noise, perform an acoustic transfer function measurement. Specifically, use software to output a white noise signal, then play the white noise to each speaker. Then, use the microphone at each grid point in the previous step to record the sound pressure signal. Then, perform an LMS adaptive calculation to obtain the complete acoustic transfer function of the speaker array in the cabin space.

[0114] 3. Vehicle information, such as the vehicle ID number and other identifiable vehicle identification information, along with all recorded cabin space grid coordinate information and all measured cabin space acoustic transfer functions, is marked as the vehicle's sound field partition metadata and stored in the vehicle network cloud.

[0115] 4. When the vehicle is running, the camera inside the vehicle will periodically scan the passengers inside the vehicle, and through the face recognition system, the number of passengers and the location of the passengers will be calculated. As is known to all, the location of the passenger's ears can be estimated by combining the facial position with the physiological characteristics of the head. According to the cabin space grid coordinate information recorded in step 1, the passenger's binaural position information is converted into cabin space grid coordinates, and then the passenger's binaural coordinate information is sent to the vehicle network cloud through remote communication. The cloud server will extract the acoustic transfer function corresponding to the vehicle passenger's binaural coordinates from the sound field partition metadata information based on the vehicle information and the passenger's binaural coordinate information, and then use the acoustic transfer function to complete the calculation of the vehicle's sound field partition speaker filter based on the sound field partition control method, such as the sound contrast method or the sound pressure matching method. The vehicle network cloud will then send the calculated vehicle speaker filter parameter results to the local vehicle end through remote communication to complete the control of the vehicle, thereby realizing the adaptation of the vehicle cabin sound field partition;

[0116] 5. If the cabin sound field partitions cannot adapt to changes in passenger posture or due to different passenger heights, the effectiveness of the sound field partitioning will be reduced. In this case, the aforementioned steps will be further executed. When the in-car camera scans the passenger information and detects a change, the passenger's binaural positioning is completed and uploaded to the vehicle network cloud. The vehicle network cloud then extracts the changed acoustic transfer function from the vehicle acoustic partition metadata based on the new binaural coordinate information. The new speaker filter parameters are then calculated based on the changed acoustic transfer function and transmitted to the vehicle computer, thus completing the adaptation of the cabin sound field partitions and improving the sound quality of the passenger sound field partitions.

[0117] In addition, by communicating with the vehicle network cloud, the vehicle can adapt to the cabin sound field partitioning at different places and times.

[0118] On the basis of the vehicle sound effect control method provided above, the embodiment of the present application further provides a vehicle sound effect control device. For details, please refer to Figure 6 , Figure 6 A schematic structural diagram of a vehicle sound effect control method provided in an embodiment of the present application includes:

[0119] An acquisition module 610 is used to acquire head posture information of a target user in a vehicle;

[0120] An extraction module 620 is configured to extract a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information;

[0121] The determination module 630 is configured to determine filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head area of the target user.

[0122] As a feasible embodiment of the present application, the extraction module is further used to collect the sound pressure signal of the sound output device for each sound output device through the sound input devices of at least two grid spaces in the vehicle space; generate the acoustic transfer function of the sound output device in the grid space based on the sound pressure signal and the reference audio signal of the sound pressure signal; and associate the grid space with its corresponding acoustic transfer function to obtain a preset acoustic transfer function set for the vehicle.

[0123] As a feasible embodiment of the present application, the extraction module is further used to associate the preset acoustic transfer function set of the vehicle with the identity information of the vehicle and store it in a preset database; query the preset database to obtain the preset acoustic transfer function set corresponding to the identity information of the vehicle.

[0124] As a feasible embodiment of the present application, the extraction module is also used to correct the position information in the head posture information according to the physiological characteristic parameters corresponding to the posture information in the head posture information to obtain the ear position information of the target user; and extract the target acoustic transfer function corresponding to the ear position information from a preset acoustic transfer function set according to the ear position information.

[0125] As a feasible embodiment of the present application, the determination module is also used to determine the target sound field partition selected by the target user based on the status information of the target user and / or the input sound field partition instruction; the target sound field partition includes at least one of a bright area and a dark area; the target acoustic transfer function is processed according to a preset sound field partition control method to obtain the filter parameters of each of the sound output devices to form the target sound field partition in the head area of the target user.

[0126] As a feasible embodiment of the present application, the extraction module is also used to extract multiple target acoustic transfer functions corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information when there are multiple target users; the target acoustic transfer function includes at least a first acoustic transfer function and a second acoustic transfer function; the determination module is also used to determine the first filter parameters of each sound output device in the vehicle according to the first target acoustic transfer function, and to determine the second filter parameters of each sound output device in the vehicle according to the second target acoustic transfer function; the first filter parameters and the second filter parameters are weighted according to a preset weight coefficient to obtain the target filter parameters of each sound output device.

[0127] As a feasible embodiment of the present application, the determination module is also used to control the shutdown of some of the sound output devices when the number of the target users is single, and determine the target filter parameters of the remaining sound output devices according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user.

[0128] As a feasible embodiment of the present application, the determination module is also used to process the target audio output by the sound output device through a filter corresponding to a third filter parameter when the target audio is a first type of audio; the first type of audio is at least one of prompt audio and navigation audio; when the target audio is a second type of audio, the target audio output by the sound output device is processed through a filter corresponding to a fourth filter parameter; the second type of audio is multimedia audio.

[0129] As a feasible embodiment of the present application, the determination module is also used to adjust the filter parameters of each of the sound output devices according to the adjusted head posture information when it is detected that the head posture information of the target user has changed, so as to form a preset sound field partition in the head area of the target user.

[0130] In an embodiment of the present application, the head posture information of a target user in a vehicle is obtained, and a target acoustic transfer function corresponding to the head posture information is extracted from multiple acoustic transfer functions in the vehicle space based on the head posture information, so as to determine the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function, thereby achieving the effect of forming a preset sound field partition in the head area of the target user. Through the method provided in an embodiment of the present application, when the head posture information changes, the acoustic transfer function corresponding to the head posture information can also be extracted, and the filter parameters of the sound output device can be subsequently adjusted in real time based on the dynamically changing target acoustic transfer function, so as to achieve the effect of forming a preset sound field partition in the head area when the head posture information changes, thereby improving the control effect of the vehicle sound effect and improving the user experience.

[0131] Figure 7 FIG. 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 may include: a processor 701, a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) component 704, and a communication component 705. In this embodiment, the electronic device 700 may be integrated into the vehicle or provided on a cloud service platform to communicate and interact with the vehicle computer to implement the vehicle sound effect control method provided in this embodiment.

[0132] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned vehicle sound effect control method. The memory 702 is used to store various types of data to support the operation of the electronic device 700. Such data may include, for example, instructions for any application or method operating on the electronic device 700, as well as application-related data, such as contact information, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 702 or transmitted via the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O component 704 provides an interface between the processor 701 and other interface modules. The aforementioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0133] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned vehicle sound effect control method.

[0134] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When the program instructions are executed by a processor, the steps of the above-mentioned vehicle-mounted satellite communication method are implemented. For example, the computer-readable storage medium may be the aforementioned memory 702 including the program instructions. The program instructions may be executed by the processor 701 of the electronic device 700 to perform the following steps:

[0135] Obtain the head posture information of the target user in the vehicle;

[0136] A target acoustic transfer function corresponding to the head posture information is extracted from a preset set of acoustic transfer functions based on the head posture information; and filter parameters of each sound output device in the vehicle are determined based on the target acoustic transfer function to form a preset sound field partition in the head area of the target user.

[0137] The present application also provides a computer program product, wherein the computer program product stores instructions, and when the instructions are executed by a computer, the computer program product causes the computer to perform the following steps:

[0138] Obtain the head posture information of the target user in the vehicle;

[0139] Extracting a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information;

[0140] The filter parameters of each sound output device in the vehicle are determined according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user.

[0141] The present application also provides a vehicle, comprising a vehicle controller, a processor, and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor is caused to perform the following steps:

[0142] Obtain the head posture information of the target user in the vehicle;

[0143] Extracting a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information;

[0144] The filter parameters of each sound output device in the vehicle are determined according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user.

[0145] In one embodiment, a vehicle can be configured for a fully or partially autonomous driving mode. For example, while in autonomous driving mode, the vehicle can control itself and, through human interaction, determine the current state of the vehicle and its surroundings, determine the possible behavior of at least one other vehicle in the surroundings, and determine a confidence level corresponding to the likelihood that the other vehicle will perform the possible behavior, and control the vehicle based on this information. While in autonomous driving mode, the vehicle can be configured to operate without human interaction.

[0146] The vehicle may also include various subsystems, such as a propulsion system, a sensor system control system, one or more peripheral devices, as well as a power supply, a computer system, and a user interface. Alternatively, the vehicle may include more or fewer subsystems, and each subsystem may include multiple components, such as multiple ECUs (electronic control units).

[0147] In addition, each subsystem and component of the vehicle can be interconnected through wired or wireless connections.

[0148] The propulsion system may include components that provide powered motion for the vehicle. In one embodiment, the propulsion system may include an engine, an energy source, a transmission, and wheels / tires. The engine may be an internal combustion engine, an electric motor, an air compression engine, or other engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine converts energy into mechanical energy.

[0149] Examples of energy sources include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source may also provide power to other systems of the vehicle.

[0150] A transmission can transmit mechanical power from the engine to the wheels. The transmission can include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission can also include other components, such as a clutch. The drive shaft can include one or more shafts that can be coupled to one or more wheels.

[0151] The sensor system may include several sensors that sense information about the environment surrounding the vehicle. For example, the sensor system may include a positioning system (the positioning system may be a GPS system, a BeiDou system, or other positioning systems), an inertial measurement unit (IMU), a radar, a laser rangefinder, and a camera. The sensor system may also include sensors of the internal systems of the monitored vehicle (for example, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). This detection and recognition is a key function for the safe operation of autonomous vehicles.

[0152] The positioning system can be used to estimate the geographic location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope.

[0153] Radar can utilize radio signals to sense objects in the surrounding environment of the vehicle.In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or heading of the objects.

[0154] A laser rangefinder may utilize laser light to sense objects in the environment that the vehicle is located in. In some embodiments, a laser rangefinder may include one or more laser sources, a laser scanner, and one or more processing modules, among other system components.

[0155] The camera can be used to capture multiple images of the vehicle's surroundings. The camera can be a still camera or a video camera.

[0156] The control system controls the operation of the vehicle and its components. The control system may include various components, including the steering system, throttle, brake unit, computer vision system, path control system, and obstacle avoidance system.

[0157] The steering system is operable to adjust the vehicle's forward direction. For example, it can be a steering wheel system in one embodiment.

[0158] The throttle is used to control the operating speed of the engine and thus the speed of the vehicle.

[0159] Braking units are used to control vehicle deceleration. Braking units use friction to slow the wheels.

[0160] In other embodiments, the brake unit can convert the kinetic energy of the wheel into electric current. The brake unit can also take other forms to slow down the wheel rotation speed to control the speed of the vehicle.

[0161] The computer vision system can be operated to process and analyze images captured by the camera to identify objects and / or features in the vehicle's surrounding environment. The objects and / or features may include traffic signs, road boundaries, and obstacles. The computer vision system can use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system can be used to map the environment, track objects, estimate the speed of objects, and so on.

[0162] The route control system is used to determine the driving route of the vehicle. In some embodiments, the route control system can combine data from GPS and one or more predetermined maps to determine the driving route for the vehicle.

[0163] Obstacle avoidance systems are used to identify, assess, and avoid or otherwise negotiate potential obstacles in the vehicle's environment.

[0164] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0165] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0166] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other unless there is any conflict.

[0167] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant embodiments of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle sound effect control method, characterized in that: include: Obtain the head posture information of the target user in the vehicle; Extracting a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information; determining filter parameters of each sound output device in the vehicle according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user; When detecting that the head posture information of the target user changes, adjusting the filter parameters of each sound output device in the vehicle according to the adjusted head posture information; Before the step of extracting a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information, the method further includes: For each sound output device, collecting a sound pressure signal of the sound output device through sound input devices of at least two grid spaces within the vehicle space; generating an acoustic transfer function of the sound output device in the grid space according to the sound pressure signal and a reference audio signal of the sound pressure signal; storing the preset acoustic transfer function set of the vehicle in association with the identity information of the vehicle in a preset database; Before extracting the target acoustic transfer function corresponding to the head posture information from the preset acoustic transfer function set, the method includes: Querying the preset database to obtain a preset acoustic transfer function set corresponding to the identity information of the vehicle; The filter parameters of the sound output device include a third filter parameter for forming a preset first sound field partition in the head area of the target user and a fourth filter parameter for forming a preset second sound field partition in the head area of the target user; After determining the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user, the method further includes: When the target audio is a first type of audio, processing the target audio output by the sound output device through a filter corresponding to a third filter parameter; the first type of audio is at least one of a prompt audio and a navigation audio; When the target audio is a second type of audio, the target audio output by the sound output device is processed by a filter corresponding to a fourth filter parameter; the second type of audio is at least one of multimedia audios.

2. The method according to claim 1, characterized in that The extracting, according to the head posture information, a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set comprises: Correcting the position information in the head posture information according to the physiological characteristic parameters corresponding to the posture information in the head posture information to obtain the ear position information of the target user; A target acoustic transfer function corresponding to the ear position information is extracted from a preset acoustic transfer function set according to the ear position information.

3. The method according to claim 1, characterized in that Determining the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function to form a preset sound field partition in the head area of the target user includes: Determining a target sound field partition selected by the target user according to the state information of the target user and / or the input sound field partition instruction; the target sound field partition includes at least one of a bright area and a dark area; The target acoustic transfer function is processed according to a preset sound field partition control method to obtain filter parameters of each sound output device in the vehicle to form the target sound field partition in the head area of the target user.

4. The method according to claim 3, characterized in that The preset sound field partition control method includes at least one of an acoustic contrast method and a sound pressure matching method.

5. The method according to claim 1, wherein The step of extracting a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information further includes: In the case where there are multiple target users, extracting multiple target acoustic transfer functions corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information; the target acoustic transfer functions include at least a first target acoustic transfer function and a second target acoustic transfer function; Determining filter parameters of each sound output device in the vehicle according to the target acoustic transfer function includes: determining first filter parameters for each sound output device in the vehicle based on the first target acoustic transfer function, and determining second filter parameters for each sound output device in the vehicle based on the second target acoustic transfer function; The first filter parameters and the second filter parameters are weighted according to a preset weight coefficient to obtain target filter parameters of each of the sound output devices.

6. The method according to claim 1, characterized in that The method further comprises: In the case that the number of the target user is only one, some of the sound output devices are controlled to be turned off, and target filter parameters of the remaining sound output devices are determined to form a sound field partition in the head area of the target user.

7. A vehicle sound effect control device, characterized in that: include: An acquisition module is used to obtain the head posture information of the target user in the vehicle; an extraction module, configured to extract a target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set according to the head posture information; a determination module, configured to determine filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head area of the target user; The determining module is further configured to adjust the filter parameters of each sound output device in the vehicle according to the adjusted head posture information when a change in the head posture information of the target user is detected; The extraction module is further configured to collect, for each sound output device, a sound pressure signal of the sound output device via sound input devices in at least two grid spaces within the vehicle space; generate an acoustic transfer function of the sound output device within the grid space based on the sound pressure signal and a reference audio signal of the sound pressure signal; and associate a preset acoustic transfer function set of the vehicle with the vehicle identification information and store it in a preset database; The extraction module is further configured to query the preset database to obtain a preset acoustic transfer function set corresponding to the vehicle's identity information; The filter parameters of the sound output device include a third filter parameter for forming a preset first sound field partition in the head area of the target user and a fourth filter parameter for forming a preset second sound field partition in the head area of the target user; The determination module is also used to process the target audio output by the sound output device through a filter corresponding to a third filter parameter when the target audio is a first type of audio; the first type of audio is at least one of prompt audio and navigation audio; and when the target audio is a second type of audio, the target audio output by the sound output device is processed through a filter corresponding to a fourth filter parameter; the second type of audio is at least one of multimedia audio.

8. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program; the processor is configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that The computer storage medium stores instructions, which, when executed by a computer, cause the computer to implement the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product stores instructions, which, when executed by a computer, cause the computer to implement the method according to any one of claims 1 to 6.

11. A vehicle, characterized in that: The vehicle comprises a vehicle controller, a processor and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 6.

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