Audio signal processing method, apparatus and device, and computer readable storage medium

Abstract

The invention discloses an audio signal processing method, device and equipment and a computer readable storage medium, and belongs to the technical field of vehicle-mounted intelligent interaction. The method comprises the following steps: acquiring a vehicle interior image of a target vehicle, wherein the vehicle interior image is used for determining the position of each user in the target vehicle; controlling the audio acquisition devices corresponding to the positions of the users to be started; acquiring audio signals acquired by each audio acquisition device; for a first user in the users, processing an audio signal acquired by an audio acquisition device corresponding to the position of the first user to obtain a reference audio signal; a target audio signal is removed from the reference audio signal, an audio signal corresponding to the first user is obtained, and the audio signal corresponding to the first user is used for interaction between the first user and the target vehicle. According to the method, the flexibility of vehicle control is higher.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of in-vehicle intelligent interaction technology, and in particular to a method, device, equipment and computer-readable storage medium for processing audio signals. Background Art

[0002] With the continuous development of in-vehicle intelligent interaction technology, vehicles can provide more and more functions, such as interacting with the vehicle through audio signals.

[0003] In the related technology, a vehicle-mounted microphone is installed at the vehicle's main control position or the vehicle's roof light position. When a user wants to interact with the vehicle, the user inputs voice data, the vehicle-mounted microphone collects the audio signal, and processes the audio signal to obtain interaction instructions, and then interacts with the vehicle according to the interaction instructions.

[0004] However, since users in various positions of the vehicle have vehicle interaction needs, the vehicle microphone can only collect voice data of users in the driving position, which makes the vehicle interaction more limited and less flexible, and thus makes the vehicle interaction effect poor. Summary of the invention

[0005] The embodiments of the present application provide a method, device, apparatus and computer-readable storage medium for processing an audio signal, which can be used to solve the problems in the related art. The technical solution is as follows:

[0006] On the one hand, an embodiment of the present application provides a method for processing an audio signal, the method comprising:

[0007] Acquire a vehicle interior image of a target vehicle, wherein the vehicle interior image is used to determine the position of each user located inside the target vehicle;

[0008] Controlling the audio collection device corresponding to the position of each user to start;

[0009] Acquire the audio signals collected by each audio collection device;

[0010] For a first user among the users, processing an audio signal collected by an audio collection device corresponding to a position where the first user is located to obtain a reference audio signal;

[0011] A target audio signal is eliminated from the reference audio signal to obtain an audio signal corresponding to the first user, wherein the target audio signal is an audio signal including voiceprint feature information of a second user, the second user being a user other than the first user among the users, and the audio signal corresponding to the first user is used for the first user to interact with the target vehicle.

[0012] In a possible implementation manner, before processing the audio signal collected by the audio collection device corresponding to the position of the first user to obtain the reference audio signal, the method further includes:

[0013] Performing echo cancellation processing on the audio signals collected by the respective audio collection devices to obtain echo-cancelled audio signals collected by the respective audio collection devices;

[0014] Determine the voiceprint feature information corresponding to each user according to the echo-cancelled audio signals collected by each audio collection device, wherein the voiceprint feature information corresponding to any user is used to characterize the timbre of any user;

[0015] The step of processing the audio signal collected by the audio collection device corresponding to the position where the first user is located to obtain a reference audio signal includes:

[0016] A beamforming process is performed on the echo-cancelled audio signal collected by the audio collection device corresponding to the position where the first user is located to obtain a reference audio signal.

[0017] In a possible implementation, determining the voiceprint feature information corresponding to each user according to the echo-cancelled audio signals collected by each audio collection device includes:

[0018] For any one of the users, determining a first audio signal from the echo-cancelled audio signals collected by the audio collection devices, the first audio signal being the echo-cancelled audio signal collected by the audio collection device corresponding to the position where the any one of the users is located;

[0019] Determining a second audio signal from the first audio signal, the second audio signal being an audio signal after echo cancellation collected by an audio collection device located at a target position among the audio collection devices corresponding to the position where any one of the users is located, the target position being determined based on the position where any one of the users is located;

[0020] The second audio signal is processed to obtain voiceprint feature information corresponding to any one of the users.

[0021] In a possible implementation manner, the processing the second audio signal to obtain the voiceprint feature information corresponding to any one of the users includes:

[0022] Inputting the second audio signal into a voiceprint feature extraction model;

[0023] Determine that the content output by the voiceprint feature extraction model is the voiceprint feature information corresponding to any one of the users.

[0024] In a possible implementation manner, before removing the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user, the method further includes:

[0025] Processing the reference audio signal in segments to obtain a plurality of candidate audio signals;

[0026] Determine the voiceprint feature information corresponding to each candidate audio signal;

[0027] Determine, as the target audio signal, a candidate audio signal whose corresponding voiceprint feature information among the multiple candidate audio signals is not the voiceprint feature information corresponding to the first user.

[0028] In a possible implementation manner, after removing the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user, the method further includes:

[0029] Determining a control instruction that matches the audio signal corresponding to the first user;

[0030] The target vehicle is controlled according to the control instruction.

[0031] On the other hand, an embodiment of the present application provides an audio signal processing device, the device comprising:

[0032] An acquisition module, used for acquiring a vehicle interior image of a target vehicle, wherein the vehicle interior image is used for determining the position of each user located inside the target vehicle;

[0033] A control module, used to control the audio collection device corresponding to the position of each user to start;

[0034] The acquisition module is further used to acquire the audio signals collected by each audio collection device;

[0035] a processing module, configured to process, for a first user among the users, an audio signal collected by an audio collection device corresponding to a position where the first user is located, to obtain a reference audio signal;

[0036] The acquisition module is further used to eliminate the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user, the target audio signal is an audio signal including the voiceprint feature information of the second user, the second user is a user among the users other than the first user, and the audio signal corresponding to the first user is used for the first user to interact with the target vehicle.

[0037] In a possible implementation, the processing module is further used to perform echo cancellation processing on the audio signals collected by the respective audio collection devices to obtain echo-cancelled audio signals collected by the respective audio collection devices;

[0038] The device also includes:

[0039] A determination module, configured to determine the voiceprint feature information corresponding to each user according to the echo-cancelled audio signals collected by each audio collection device, wherein the voiceprint feature information corresponding to any user is used to characterize the timbre of any user;

[0040] The processing module is used to perform beamforming processing on the echo-cancelled audio signal collected by the audio collection device corresponding to the position where the first user is located, so as to obtain a reference audio signal.

[0041] In a possible implementation, the determination module is used to determine, for any one of the users, a first audio signal from the echo-cancelled audio signals collected by the audio collection devices, where the first audio signal is an echo-cancelled audio signal collected by the audio collection device corresponding to the position of the any one of the users;

[0042] Determining a second audio signal from the first audio signal, the second audio signal being an audio signal after echo cancellation collected by an audio collection device located at a target position among the audio collection devices corresponding to the position where any one of the users is located, the target position being determined based on the position where any one of the users is located;

[0043] The second audio signal is processed to obtain voiceprint feature information corresponding to any one of the users.

[0044] In a possible implementation, the determining module is used to input the second audio signal into a voiceprint feature extraction model;

[0045] Determine that the content output by the voiceprint feature extraction model is the voiceprint feature information corresponding to any one of the users.

[0046] In a possible implementation manner, the device further includes:

[0047] A determination module, configured to process the reference audio signal in sections to obtain a plurality of candidate audio signals;

[0048] Determine the voiceprint feature information corresponding to each candidate audio signal;

[0049] Determine, as the target audio signal, a candidate audio signal whose corresponding voiceprint feature information among the multiple candidate audio signals is not the voiceprint feature information corresponding to the first user.

[0050] In a possible implementation manner, the device further includes:

[0051] a determination module, configured to determine a control instruction matching the audio signal corresponding to the first user;

[0052] The control module is further used to control the target vehicle according to the control instruction.

[0053] On the other hand, an embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor so that the computer device implements any of the above-mentioned audio signal processing methods.

[0054] On the other hand, a computer-readable storage medium is provided, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor so that a computer implements any of the above-mentioned audio signal processing methods.

[0055] On the other hand, a computer program or a computer program product is also provided, wherein at least one computer instruction is stored in the computer program or the computer program product, and the at least one computer instruction is loaded and executed by a processor so that the computer implements any of the above-mentioned audio signal processing methods.

[0056] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0057] The technical solution provided in the embodiment of the present application turns on the audio collection device corresponding to the position of each user, so that no matter where the user is inside the target vehicle, the user's audio signal can be collected, so that each user can interact with the target vehicle, thereby making the vehicle interaction more flexible. In addition, only the audio collection device corresponding to the user's position is turned on, which can also save resources. Since the audio collection device at the user's position may also collect audio signals of users at other positions, the audio signal collected by the audio collection device at the user's position is processed to obtain the user's own audio signal, which can remove interference from other users and interact with the target vehicle only through the user's own audio signal, thereby improving the accuracy of vehicle interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 It is a schematic diagram of an implementation environment of an audio signal processing method provided in an embodiment of the present application;

[0060] Figure 2 is a flowchart of a method for processing an audio signal provided in an embodiment of the present application;

[0061] Figure 3 is an internal schematic diagram of a target vehicle provided in an embodiment of the present application;

[0062] Figure 4 is an internal schematic diagram of another target vehicle provided in an embodiment of the present application;

[0063] Figure 5 is a schematic diagram of a tonic area and a consonant area at any position provided in an embodiment of the present application;

[0064] Figure 6 It is a schematic diagram of the tonic area and consonant area at various positions provided in an embodiment of the present application;

[0065] Figure 7 is another schematic diagram of the tonic area and consonant area at each position provided in an embodiment of the present application;

[0066] Figure 8 is a structural schematic diagram of an audio signal processing device provided in an embodiment of the present application;

[0067] Fig. 9 is a schematic diagram of an audio signal processing system provided in an embodiment of the present application;

[0068] Fig.10 It is a structural diagram of a terminal device provided in an embodiment of the present application;

[0069] Fig.11 It is a structural diagram of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0071] It should be noted that the terms "first", "second", etc. in 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 the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0072] Figure 1 is a schematic diagram of an implementation environment of an audio signal processing method provided in an embodiment of the present application, such as Figure 1 As shown, the implementation environment includes: a computer device 101, which can be a terminal device or a server, which is not limited in the present embodiment. The computer device 101 can be a device installed and running on the target vehicle, or a device capable of remotely controlling the target vehicle, which is not limited in the present embodiment. The computer device 101 is used to execute the audio signal processing method provided in the present embodiment.

[0073] Optionally, the computer device 101 is a terminal device, which can be any electronic device product that can interact with a user through one or more methods such as a keyboard, a touchpad, a remote control, voice interaction, or a handwriting device. For example, PC (Personal Computer), mobile phone, smart phone, PDA (Personal Digital Assistant), wearable device, PPC (Pocket PC), tablet computer, smart car machine, smart TV, smart speaker, smart watch, etc.

[0074] The terminal device may generally refer to one of a plurality of terminal devices. This embodiment is only illustrated by taking the terminal device as an example. Those skilled in the art may know that the number of the terminal devices may be more or less. For example, the terminal device may be only one, or the terminal devices may be dozens or hundreds, or more. The embodiment of this application does not limit the number and device type of the terminal devices.

[0075] When the computer device 101 is a server, the server is a single server, or a server cluster consisting of multiple servers, or any one of a cloud computing platform and a virtualization center, which is not limited in the embodiments of the present application. The server is connected to the terminal device through a wired network or a wireless network. The server has a data receiving function, a data processing function, and a data sending function. Of course, the server may also have other functions, which are not limited in the embodiments of the present application.

[0076] Those skilled in the art should understand that the above-mentioned terminal devices and servers are for illustration only, and other existing or future terminal devices or servers, if applicable to the present application, should also be included in the scope of protection of the present application and are incorporated herein by reference.

[0077] The present application embodiment provides a method for processing an audio signal, which can be applied to the above Figure 1 The implementation environment shown is Figure 2 Taking the flowchart of a method for processing an audio signal provided in an embodiment of the present application as an example, the method can be performed by Figure 1 The computer device 101 in the embodiment is executed. Figure 2 As shown, the method includes the following steps 201 to 205.

[0078] In step 201, a vehicle interior image of a target vehicle is acquired, and the vehicle interior image is used to determine the position of each user located inside the target vehicle.

[0079] In the exemplary embodiment of the present application, an in-vehicle camera module is installed at a reference position of the target vehicle. The reference position can be located on the in-vehicle rearview mirror or on the upper side of the left A-pillar, which is not limited in the present embodiment. The left A-pillar is a pillar between the front windshield and the main driver's side glass. The in-vehicle camera module can be a camera or other modules capable of image acquisition, which is not limited in the present embodiment.

[0080] In a possible implementation, when the target vehicle is started and the doors of the target vehicle are all closed, the in-vehicle camera module is started to collect the vehicle interior image through the in-vehicle camera module. When the in-vehicle camera module collects the vehicle interior image, the in-vehicle camera module sends the vehicle interior image to the computer device, so that the computer device obtains the vehicle interior image.

[0081] The in-vehicle camera module and the computer device can be connected for communication via a wired or wireless network.

[0082] It should be noted that when the target vehicle is stopped and then restarted, or when a door of the target vehicle is opened and then closed, it is necessary to re-capture the interior image of the vehicle.

[0083] In step 202, the audio collection device corresponding to the location of each user is controlled to start.

[0084] In a possible implementation, after acquiring the interior image of the target vehicle, the interior image of the target vehicle is parsed to obtain the position of each user located inside the target vehicle. The position of any user may be the main driver's seat, the co-driver's seat, the position behind the main driver in the back row, the position behind the co-driver in the back row, or the middle position in the back row, which is not limited in the embodiment of the present application.

[0085] Optionally, an audio collection device is installed on the left A-pillar, right A-pillar, left B-pillar, right B-pillar, left C-pillar, right C-pillar, front top light position, rear top light position and important positions on the roof of the target vehicle. Among them, the right A-pillar refers to the pillar between the front windshield and the co-pilot side window glass, the left B-pillar refers to the pillar between the main driver's side window glass and the left rear side window glass, the right B-pillar refers to the pillar between the co-pilot side window glass and the right rear side window glass, the left C-pillar refers to the pillar between the left rear side window glass and the rear windshield, and the right C-pillar refers to the pillar between the right rear side window glass and the rear windshield. The audio collection device can be a microphone or other device capable of collecting audio, which is not limited in the embodiments of the present application.

[0086] In a possible implementation, after determining the location of each user, the audio collection device corresponding to the location of each user is determined, and then the audio collection device corresponding to the location of each user is controlled to be turned on. Optionally, the computer device sends a start instruction to the audio collection device corresponding to the location of each user. The audio collection device corresponding to the location of each user is turned on after receiving the start instruction.

[0087] like Figure 3 is a schematic diagram of the interior of a target vehicle provided in an embodiment of the present application. Figure 3 It can be seen that the target vehicle is equipped with audio collection device A, audio collection device B, audio collection device C, audio collection device D, audio collection device E, audio collection device F, audio collection device G, audio collection device H and audio collection device I. Among them, audio collection device A, audio collection device B, audio collection device D, audio collection device E are audio collection devices corresponding to position A. Audio collection device B, audio collection device C, audio collection device E, audio collection device F are audio collection devices corresponding to position B. Audio collection device D, audio collection device E, audio collection device G, audio collection device H are audio collection devices corresponding to position C. Audio collection device E, audio collection device F, audio collection device H, audio collection device I are audio collection devices corresponding to position D.

[0088] like Figure 4is an internal schematic diagram of another target vehicle provided in an embodiment of the present application. Figure 4 It can be seen that the target vehicle is equipped with audio collection device A, audio collection device B, audio collection device C, audio collection device D, audio collection device E, audio collection device F, audio collection device G, audio collection device H and audio collection device I. Among them, audio collection device A, audio collection device B, audio collection device D, audio collection device E are audio collection devices corresponding to position A. Audio collection device B, audio collection device C, audio collection device E, audio collection device F are audio collection devices corresponding to position B. Audio collection device D, audio collection device E, audio collection device G are audio collection devices corresponding to position C. Audio collection device E, audio collection device G, audio collection device H, audio collection device I are audio collection devices corresponding to position D. Audio collection device E, audio collection device F, audio collection device I are audio collection devices corresponding to position M0.

[0089] In step 203, the audio signals collected by each audio collection device are obtained.

[0090] In a possible implementation, after the audio collection devices corresponding to the locations of each user are turned on, the audio collection devices corresponding to the locations of each user collect audio signals in real time. After the audio collection devices corresponding to the locations of each user collect audio signals, the collected audio signals are sent to the computer device, so that the computer device obtains the audio signals collected by each audio collection device.

[0091] In step 204, for a first user among the users, an audio signal collected by an audio collection device corresponding to the position of the first user is processed to obtain a reference audio signal.

[0092] In a possible implementation, after the audio signals collected by each audio collection device are acquired in the above step 203, the audio signals collected by the audio collection device corresponding to the position of the first user are processed. Before obtaining the reference audio signal, the audio signals collected by each audio collection device need to be processed by echo cancellation to obtain the audio signals collected by each audio collection device after echo cancellation; the voiceprint feature information corresponding to each user is determined based on the audio signals collected by each audio collection device after echo cancellation, and the voiceprint feature information corresponding to any user is used to characterize the timbre of any user. The process of processing the audio signals collected by the audio collection device corresponding to the position of the first user to obtain the reference audio signal includes: performing beamforming processing on the audio signals collected by the audio collection device corresponding to the position of the first user after echo cancellation to obtain the reference audio signal.

[0093] Among them, echo refers to the sound of one's own speech being heard again after a series of reflections of the sound signal. Optionally, the audio signals collected by each audio collection device can be processed for echo cancellation by an adaptive filtering algorithm, and the audio signals collected by each audio stimulation device can be processed for echo cancellation by other methods, which is not limited in the embodiments of the present application.

[0094] Optionally, the process of determining the voiceprint feature information corresponding to each user based on the echo-cancelled audio signals collected by each audio collection device includes: for any user among the users, determining a first audio signal in the echo-cancelled audio signals collected by each audio collection device, the first audio signal being the echo-cancelled audio signal collected by the audio collection device corresponding to the position of any user; determining a second audio signal in the first audio signal, the second audio signal being the echo-cancelled audio signal collected by the audio collection device located at a target position in the audio collection device corresponding to the position of any user, the target position being determined based on the position of any user; and processing the second audio signal to obtain the voiceprint feature information corresponding to any user.

[0095] Optionally, the process of processing the second audio signal to obtain voiceprint feature information corresponding to any user includes: inputting the second audio signal into a voiceprint feature extraction model; and determining that the content output by the voiceprint feature extraction model is the voiceprint feature information corresponding to any user. The voiceprint feature extraction model is any model that can obtain voiceprint feature information.

[0096] When the position of any user is position A, the target position is the upper left position, that is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device located at the upper left position among the audio collection devices corresponding to position A. That is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device A.

[0097] When the position of any user is position B, the target position is the upper right position, that is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device located at the upper right position among the audio collection devices corresponding to position B. That is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device C.

[0098] When the position of any user is position C, the target position is the lower left position, that is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device located at the lower left position among the audio collection devices corresponding to position C. That is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device G.

[0099] When the position of any user is position D, the target position is the lower right position, that is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device located at the lower right position in the audio collection device corresponding to position D. That is, the second audio signal is the audio signal after echo cancellation collected by the audio collection device I.

[0100] In a possible implementation, the audio collection device corresponding to each position can form an audio collection device array corresponding to each position, and the audio collection device array corresponding to each position can divide the main sound area and the consonant area of ​​each position, wherein the main sound area and the consonant area of ​​any position can be swapped as needed, and the embodiment of the present application does not limit the position of the main sound area and the consonant area of ​​each position. The topological structure of the audio collection device array can be a triangle, a quadrilateral, or a rectangle, and the embodiment of the present application does not limit this. The audio collection device at the intersection of the sound zones is a shared audio collection device, and the shared audio collection device belongs to multiple sound zones.

[0101] like Figure 5 Schematic diagram of a main sound area and a consonant area at any position provided by an embodiment of the present application. 501 is an array of audio collection devices corresponding to position A, 502 is the main sound area at position A, and 503 is the consonant area at position A. Alternatively, 501 is an array of audio collection devices corresponding to position A, 502 is the consonant area at position A, and 503 is the main sound area at position A.

[0102] The main and consonant areas of each position on the target vehicle are different. Figure 6 is a schematic diagram of the main tone area and the consonant area at each position provided by the embodiment of the present application, Figure 6 It can be seen that the upper left area of ​​position A is the main sound area of ​​position A, and the lower right area is the consonant area of ​​position A; the upper right area of ​​position B is the main sound area of ​​position B, and the lower left area is the consonant area of ​​position B; the lower right area of ​​position C is the main sound area of ​​position C, and the upper left area is the consonant area of ​​position C; the lower right area of ​​position D is the main sound area of ​​position D, and the upper left area is the consonant area of ​​position D. In this way, the main sound area of ​​each position can be distinguished, the speech content of each position can be effectively distinguished, and cross noise can be reduced.

[0103] like Figure 7 is another schematic diagram of the main tone area and the consonant area at each position provided by the embodiment of the present application, Figure 7It can be seen that the upper left area of ​​position A is the consonant area of ​​position A, and the lower right area is the main area of ​​position A; the upper right area of ​​position B is the consonant area of ​​position B, and the lower left area is the main area of ​​position B; the lower left area of ​​position C is the consonant area of ​​position C, and the upper right area is the main area of ​​position C; the lower right area of ​​position D is the consonant area of ​​position D, and the upper left area is the main area of ​​position D. In this way, when the external environment of the target vehicle is relatively noisy, the audio collection device located at the edge of the vehicle body may receive more noise from the external environment, resulting in a relatively noisy audio signal collected. The main areas of each position can be distributed in the middle of the vehicle body, which can effectively reduce noise.

[0104] In a possible implementation, when there are many users inside the target vehicle (eg, 5 users), each position of the target vehicle does not distinguish between the main sound area and the consonant sound area.

[0105] In step 205, the target audio signal is removed from the reference audio signal to obtain an audio signal corresponding to the first user, where the target audio signal is an audio signal including the voiceprint feature information of the second user.

[0106] The second user is a user other than the first user among all users, and the audio signal corresponding to the first user is used for the first user to interact with the target vehicle.

[0107] In a possible implementation, before removing the target audio signal from the reference audio signal, it is necessary to first determine the target audio signal in the reference audio signal. The embodiment of the present application does not limit the process of determining the target audio signal in the reference audio signal. Exemplarily, the process of determining the target audio signal in the reference audio signal includes: segmenting the reference audio signal to obtain multiple candidate audio signals; determining the voiceprint feature information corresponding to each candidate audio signal; and determining that the candidate audio signal whose corresponding voiceprint feature information among the multiple candidate audio signals is not the voiceprint feature information corresponding to the first user is the target audio signal.

[0108] The lengths of the candidate audio signals are the same.

[0109] After the target audio signal is determined, the target audio signal is removed from the reference audio signal, and the audio signal after the target audio signal is removed is used as the audio signal corresponding to the first user.

[0110] It should be noted that the process of determining the audio signals corresponding to the users other than the first user among the users is similar to the process of determining the audio signals corresponding to the first user, and will not be described in detail in the embodiment of the present application.

[0111] In a possible implementation, after the target audio signal is removed from the reference audio signal to obtain the audio signal corresponding to the first user, a control instruction matching the audio signal corresponding to the first user may be determined, and the target vehicle may be controlled according to the control instruction.

[0112] Optionally, the process of determining the control instruction matching the audio signal corresponding to the first user includes: determining text content corresponding to the audio signal corresponding to the first user; and determining that the instruction matching the text content is the control instruction.

[0113] In a possible implementation manner, the control instruction matching the audio signal corresponding to the first user may also be determined by other means, which will not be described in detail in the embodiment of the present application.

[0114] The embodiment of the present application does not limit the process of controlling the target vehicle according to the control instruction. Optionally, the process of controlling the target vehicle according to the control instruction includes: sending the control instruction to the controller of the target vehicle, so that the controller of the target vehicle controls the target vehicle according to the control instruction.

[0115] For example, the control instruction is to open the window of the main driver's seat, and after sending the control instruction to the controller of the target vehicle, the controller opens the window of the main driver's seat. For another example, the control instruction is to turn on the air conditioner, and after sending the control instruction to the controller of the target vehicle, the controller turns on the air conditioner.

[0116] It should be noted that when the target vehicle is driving, the door is not open or closed, but the user inside the vehicle changes seats, then the previously recorded voiceprint feature information of each user at each position will appear in other positions. Therefore, the interior of the target vehicle is photographed again to re-determine the voiceprint feature information of each user at each position. This process is similar to the process of determining the voiceprint feature information corresponding to each user mentioned above, and will not be repeated here.

[0117] The above method turns on the audio collection device corresponding to the position of each user, so that no matter where the user is inside the target vehicle, the user's audio signal can be collected, so that each user can interact with the target vehicle, thereby making the vehicle interaction more flexible. In addition, only the audio collection device corresponding to the user's position is turned on, which can also save resources. Since the audio collection device at the user's position may also collect audio signals of users at other positions, the audio signal collected by the audio collection device at the user's position is processed to obtain the user's own audio signal, which can remove interference from other users and interact with the target vehicle only through the user's own audio signal, thereby improving the accuracy of vehicle interaction.

[0118] Figure 8FIG. 1 is a schematic diagram of the structure of an audio signal processing device provided in an embodiment of the present application. Figure 8 As shown, the device comprises:

[0119] An acquisition module 801 is used to acquire an interior image of a target vehicle, where the interior image is used to determine the position of each user located inside the target vehicle;

[0120] A control module 802 is used to control the audio collection device corresponding to the location of each user to start;

[0121] The acquisition module 801 is also used to acquire the audio signals collected by each audio collection device;

[0122] The processing module 803 is used to process, for a first user among the users, an audio signal collected by an audio collection device corresponding to a position where the first user is located, to obtain a reference audio signal;

[0123] The acquisition module 801 is also used to eliminate the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user. The target audio signal is an audio signal containing the voiceprint feature information of the second user. The second user is the user other than the first user among all users. The audio signal corresponding to the first user is used for the first user to interact with the target vehicle.

[0124] In a possible implementation, the processing module 803 is further configured to perform echo cancellation processing on the audio signals collected by each audio collection device to obtain the audio signals collected by each audio collection device after echo cancellation;

[0125] The device also includes:

[0126] A determination module, used to determine the voiceprint feature information corresponding to each user according to the echo-cancelled audio signals collected by each audio collection device, and the voiceprint feature information corresponding to any user is used to characterize the timbre of any user;

[0127] The processing module 803 is used to perform beamforming processing on the echo-cancelled audio signal collected by the audio collection device corresponding to the position where the first user is located, so as to obtain a reference audio signal.

[0128] In a possible implementation, the determination module is used to determine, for any user among the users, a first audio signal from the echo-cancelled audio signals collected by the audio collection devices, where the first audio signal is the echo-cancelled audio signal collected by the audio collection device corresponding to the position of any user;

[0129] Determine a second audio signal from the first audio signal, where the second audio signal is an audio signal after echo cancellation collected by an audio collection device located at a target position among the audio collection devices corresponding to the position of any user, and the target position is determined based on the position of any user;

[0130] The second audio signal is processed to obtain voiceprint feature information corresponding to any user.

[0131] In a possible implementation, a determination module is configured to input the second audio signal into a voiceprint feature extraction model;

[0132] Determine that the content output by the voiceprint feature extraction model is the voiceprint feature information corresponding to any user.

[0133] In a possible implementation, the device further includes:

[0134] A determination module, used for segmenting the reference audio signal to obtain multiple candidate audio signals;

[0135] Determine the voiceprint feature information corresponding to each candidate audio signal;

[0136] Determine, as the target audio signal, a candidate audio signal whose corresponding voiceprint feature information is not the voiceprint feature information corresponding to the first user among the multiple candidate audio signals.

[0137] In a possible implementation, the device further includes:

[0138] A determination module, configured to determine a control instruction matching an audio signal corresponding to a first user;

[0139] The control module 802 is also used to control the target vehicle according to the control instruction.

[0140] The above device turns on the audio collection device corresponding to the position of each user, so that no matter where the user is inside the target vehicle, the user's audio signal can be collected, so that each user can interact with the target vehicle, thereby making the vehicle interaction more flexible. In addition, only the audio collection device corresponding to the user's position is turned on, which can also save resources. Since the audio collection device at the user's position may also collect audio signals of users at other positions, the audio signal collected by the audio collection device at the user's position is processed to obtain the user's own audio signal, which can remove interference from other users and interact with the target vehicle only through the user's own audio signal, thereby improving the accuracy of vehicle interaction.

[0141] It should be understood that the above-mentioned device only uses the division of the above-mentioned functional modules as an example to illustrate when implementing its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0142] Fig. 9 is a schematic diagram of an audio signal processing system provided in an embodiment of the present application, such as Fig. 9 As shown, the system includes an in-car camera module 901, an audio acquisition device 902, and a computer device 903.

[0143] The in-vehicle camera module 901 is used to collect the interior image of the target vehicle when the target vehicle is in the start state and the door of the target vehicle is in the closed state, and send the interior image of the vehicle to the computer device 903;

[0144] The computer device 903 is used to determine the position of each user located inside the target vehicle according to the vehicle interior image, and send an opening instruction to the audio collection device 902 corresponding to the position of each user;

[0145] The audio collection device 902 is used to start the audio collection device 902, collect audio signals, and send the collected audio signals to the computer device 903;

[0146] The computer device 903 is also used to process the audio signal collected by the audio collection device corresponding to the position of the first user among the users to obtain a reference audio signal; eliminate the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user, the target audio signal is an audio signal containing the voiceprint feature information of the second user, the second user is the user other than the first user among the users, and the audio signal corresponding to the first user is used for the first user to interact with the target vehicle.

[0147] In a possible implementation, the computer device 903 is further used to perform echo cancellation processing on the audio signals collected by each audio collection device to obtain the audio signals collected by each audio collection device after echo cancellation; determine the voiceprint feature information corresponding to each user according to the audio signals collected by each audio collection device after echo cancellation, and the voiceprint feature information corresponding to any user is used to characterize the timbre of any user;

[0148] The computer device 903 is used to perform beamforming processing on the echo-cancelled audio signal collected by the audio collection device corresponding to the position where the first user is located, so as to obtain a reference audio signal.

[0149] In a possible implementation, the computer device 903 is used to determine, for any user among the users, a first audio signal from the audio signals after echo cancellation collected by the audio collection devices, where the first audio signal is the audio signal after echo cancellation collected by the audio collection device corresponding to the position of any user; determine a second audio signal from the first audio signal, where the second audio signal is the audio signal after echo cancellation collected by the audio collection device located at a target position among the audio collection devices corresponding to the position of any user, where the target position is determined based on the position of any user; and process the second audio signal to obtain voiceprint feature information corresponding to any user.

[0150] In a possible implementation, the computer device 903 is used to input the second audio signal into a voiceprint feature extraction model; and determine that the content output by the voiceprint feature extraction model is the voiceprint feature information corresponding to any user.

[0151] In one possible implementation, the computer device 903 is further used to segment the reference audio signal to obtain multiple candidate audio signals; determine the voiceprint feature information corresponding to each candidate audio signal; and determine that the candidate audio signal whose corresponding voiceprint feature information among the multiple candidate audio signals is not the voiceprint feature information corresponding to the first user is the target audio signal.

[0152] In a possible implementation, the computer device 903 is further configured to determine a control instruction that matches the audio signal corresponding to the first user; and control the target vehicle according to the control instruction.

[0153] In one possible implementation, the system further includes a controller 904;

[0154] Computer device 903, used to send control instructions to controller 904;

[0155] The controller 904 is used to control the target vehicle according to the control instruction.

[0156] Fig.10 The structural block diagram of a terminal device 1000 provided by an exemplary embodiment of the present application is shown. The terminal device 1000 may be any electronic device product that can interact with a user through one or more methods such as a keyboard, a touchpad, a remote controller, voice interaction, or a handwriting device. For example, a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC), a tablet computer, a smart car machine, a smart TV, a smart speaker, a smart watch, etc.

[0157] Typically, the terminal device 1000 includes: a processor 1001 and a memory 1002 .

[0158] The processor 1001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1001 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1001 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0159] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1002 is used to store at least one instruction, which is used to be executed by the processor 1001 to implement the audio signal processing method provided in the method embodiment of the present application.

[0160] In some embodiments, the terminal device 1000 may further optionally include: a peripheral device interface 1003 and at least one peripheral device. The processor 1001, the memory 1002 and the peripheral device interface 1003 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 1003 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 1004, a display screen 1005, a camera assembly 1006, an audio circuit 1007 and a power supply 1008.

[0161] The peripheral device interface 1003 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 1001 and the memory 1002. In some embodiments, the processor 1001, the memory 1002, and the peripheral device interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1001, the memory 1002, and the peripheral device interface 1003 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0162] The radio frequency circuit 1004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1004 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 1004 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1004 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit 1004 can communicate with other terminal devices through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 1004 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0163] The display screen 1005 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 1005 is a touch display screen, the display screen 1005 also has the ability to collect touch signals on the surface or above the surface of the display screen 1005. The touch signal can be input to the processor 1001 as a control signal for processing. At this time, the display screen 1005 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 1005 can be one, arranged on the front panel of the terminal device 1000; in other embodiments, the display screen 1005 can be at least two, respectively arranged on different surfaces of the terminal device 1000 or in a folding design; in other embodiments, the display screen 1005 can be a flexible display screen, arranged on a curved surface or a folding surface of the terminal device 1000. Even, the display screen 1005 can also be arranged as a non-rectangular irregular figure, that is, a special-shaped screen. The display screen 1005 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0164] The camera assembly 1006 is used to capture images or videos. Optionally, the camera assembly 1006 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal device 1000, and the rear camera is arranged on the back of the terminal device 1000. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1006 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0165] The audio circuit 1007 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 1001 for processing, or input them into the radio frequency circuit 1004 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the terminal device 1000. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 1001 or the radio frequency circuit 1004 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 1007 may also include a headphone jack.

[0166] The power supply 1008 is used to power various components in the terminal device 1000. The power supply 1008 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 1008 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0167] In some embodiments, the terminal device 1000 further includes one or more sensors 1009 . The one or more sensors 1009 include, but are not limited to: an acceleration sensor 1010 , a gyroscope sensor 1011 , a pressure sensor 1012 , an optical sensor 1013 , and a proximity sensor 1014 .

[0168] The acceleration sensor 1010 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the terminal device 1000. For example, the acceleration sensor 1010 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 1001 can control the display screen 1005 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 1010. The acceleration sensor 1010 can also be used to collect game or user motion data.

[0169] The gyro sensor 1011 can detect the body direction and rotation angle of the terminal device 1000, and the gyro sensor 1011 can cooperate with the acceleration sensor 1010 to collect the user's 3D actions on the terminal device 1000. The processor 1001 can implement the following functions based on the data collected by the gyro sensor 1011: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0170] The pressure sensor 1012 can be set on the side frame of the terminal device 1000 and / or the lower layer of the display screen 1005. When the pressure sensor 1012 is set on the side frame of the terminal device 1000, it can detect the user's grip signal of the terminal device 1000, and the processor 1001 performs left and right hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 1012. When the pressure sensor 1012 is set on the lower layer of the display screen 1005, the processor 1001 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 1005. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0171] The optical sensor 1013 is used to collect the ambient light intensity. In one embodiment, the processor 1001 can control the display brightness of the display screen 1005 according to the ambient light intensity collected by the optical sensor 1013. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1005 is increased; when the ambient light intensity is low, the display brightness of the display screen 1005 is reduced. In another embodiment, the processor 1001 can also dynamically adjust the shooting parameters of the camera assembly 1006 according to the ambient light intensity collected by the optical sensor 1013.

[0172] The proximity sensor 1014, also called a distance sensor, is usually arranged on the front panel of the terminal device 1000. The proximity sensor 1014 is used to collect the distance between the user and the front of the terminal device 1000. In one embodiment, when the proximity sensor 1014 detects that the distance between the user and the front of the terminal device 1000 is gradually decreasing, the processor 1001 controls the display screen 1005 to switch from the screen-on state to the screen-off state; when the proximity sensor 1014 detects that the distance between the user and the front of the terminal device 1000 is gradually increasing, the processor 1001 controls the display screen 1005 to switch from the screen-off state to the screen-on state.

[0173] Those skilled in the art will understand that Fig.10 The structure shown in the figure does not constitute a limitation on the terminal device 1000, and may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0174] Fig.11The schematic diagram of the structure of the server provided in the embodiment of the present application, the server 1100 may have relatively large differences due to different configurations or performances, and may include one or more processors (Central Processing Units, CPU) 1101 and one or more memories 1102, wherein the one or more memories 1102 store at least one program code, and the at least one program code is loaded and executed by the one or more processors 1101 to implement the audio signal processing method provided in the above-mentioned various method embodiments. Of course, the server 1100 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the server 1100 may also include other components for implementing device functions, which will not be described in detail here.

[0175] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to enable a computer to implement any of the above-mentioned audio signal processing methods.

[0176] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0177] In an exemplary embodiment, a computer program or a computer program product is further provided. The computer program or the computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor to enable a computer to implement any of the above-mentioned audio signal processing methods.

[0178] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0179] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0180] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0181] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for processing an audio signal, characterized in that: The method comprises: Acquire a vehicle interior image of a target vehicle, wherein the vehicle interior image is used to determine the position of each user located inside the target vehicle; Controlling the audio collection device corresponding to the position of each user to start; Acquire the audio signals collected by each audio collection device; For a first user among the users, processing an audio signal collected by an audio collection device corresponding to a position where the first user is located to obtain a reference audio signal; A target audio signal is eliminated from the reference audio signal to obtain an audio signal corresponding to the first user, wherein the target audio signal is an audio signal including voiceprint feature information of a second user, the second user being a user other than the first user among the users, and the audio signal corresponding to the first user is used for the first user to interact with the target vehicle.

2. The method according to claim 1, characterized in that Before the audio signal collected by the audio collection device corresponding to the position of the first user is processed to obtain a reference audio signal, the method further includes: Performing echo cancellation processing on the audio signals collected by the respective audio collection devices to obtain echo-cancelled audio signals collected by the respective audio collection devices; Determine the voiceprint feature information corresponding to each user according to the echo-cancelled audio signals collected by each audio collection device, wherein the voiceprint feature information corresponding to any user is used to characterize the timbre of any user; The step of processing the audio signal collected by the audio collection device corresponding to the position of the first user to obtain a reference audio signal includes: A beamforming process is performed on the echo-cancelled audio signal collected by the audio collection device corresponding to the position where the first user is located to obtain a reference audio signal.

3. The method according to claim 2, characterized in that The step of determining the voiceprint feature information corresponding to each user according to the echo-cancelled audio signals collected by each audio collection device includes: For any one of the users, determining a first audio signal from the echo-cancelled audio signals collected by the audio collection devices, the first audio signal being the echo-cancelled audio signal collected by the audio collection device corresponding to the position where the any one of the users is located; Determining a second audio signal from the first audio signal, the second audio signal being an audio signal after echo cancellation collected by an audio collection device located at a target position among the audio collection devices corresponding to the position where any one of the users is located, the target position being determined based on the position where any one of the users is located; The second audio signal is processed to obtain voiceprint feature information corresponding to any one of the users.

4. The method according to claim 3, characterized in that The processing of the second audio signal to obtain the voiceprint feature information corresponding to any one of the users includes: Inputting the second audio signal into a voiceprint feature extraction model; Determine that the content output by the voiceprint feature extraction model is the voiceprint feature information corresponding to any one of the users.

5. The method according to claim 1, characterized in that Before removing the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user, the method further includes: Processing the reference audio signal in sections to obtain a plurality of candidate audio signals; Determine the voiceprint feature information corresponding to each candidate audio signal; Determine, as the target audio signal, a candidate audio signal whose corresponding voiceprint feature information among the multiple candidate audio signals is not the voiceprint feature information corresponding to the first user.

6. The method according to any one of claims 1 to 5, characterized in that: After removing the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user, the method further includes: Determining a control instruction that matches the audio signal corresponding to the first user; The target vehicle is controlled according to the control instruction.

7. An audio signal processing device, characterized in that: The device comprises: An acquisition module, used for acquiring a vehicle interior image of a target vehicle, wherein the vehicle interior image is used for determining the position of each user located inside the target vehicle; A control module, used to control the audio collection device corresponding to the position of each user to start; The acquisition module is further used to acquire the audio signals collected by each audio collection device; a processing module, configured to process, for a first user among the users, an audio signal collected by an audio collection device corresponding to a position where the first user is located, to obtain a reference audio signal; The acquisition module is further used to eliminate the target audio signal from the reference audio signal to obtain the audio signal corresponding to the first user, the target audio signal is an audio signal including the voiceprint feature information of the second user, the second user is a user among the users other than the first user, and the audio signal corresponding to the first user is used for the first user to interact with the target vehicle.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor, so that the computer device implements the audio signal processing method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor so that a computer implements the audio signal processing method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor, so that a computer implements the audio signal processing method according to any one of claims 1 to 6.

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