Audio data rendering method, renderer and vehicle-mounted audio system
By determining the synthesized sound intensity function of the speaker at the target listening position in the car audio system and reconstructing the virtual sound intensity, the problem of poor rendering effect in the car speaker playback environment is solved, and high-accurate speaker gain control and panoramic view are achieved Sound rendering.
Patent Information
- Application Number
- CN202311049196.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-18
- Publication Date
- 2025-02-21
AI Technical Summary
In car speaker playback environments, traditional rendering techniques cannot effectively achieve immersive panoramic sound effects because the listener is not in the center of the speaker array and the speaker layout is not aligned with the listener.
By obtaining the audio data to be rendered, the coordinates of the virtual sound source and the coordinates of the target listening position, the synthesized sound intensity function of the speaker at the target listening position, the virtual sound intensity is reconstructed, and the gain of each speaker channel is solved. To achieve 3D audio rendering for optimal listening position.
It improves the accuracy of speaker gain determination, realizes immersive panoramic sound rendering in the car, and improves the rendering effect of audio signals.
Smart Images
Figure CN119497032A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of audio processing technology, and in particular to an audio data rendering method, a renderer, and a vehicle-mounted audio system. Background Art
[0002] Atmos, also known as 3D sound, is a 3D immersive sound effect developed after 5.1-channel and 7.1-channel sound, which greatly improves the dynamic effect of sound. Atmos technology has also been widely used in vehicles.
[0003] Different from traditional speaker playback environments such as movie theaters and recording studios, in a car speaker playback environment, the listener is not located at the center of the speaker array, and the speaker is not aimed at the listener. The rendering technology of the traditional speaker playback environment is used to render the car speaker, and the rendering effect is poor. Summary of the invention
[0004] The present application provides an audio data rendering method, a renderer, and a vehicle-mounted audio system, which determine the gain of the speaker when playing audio in combination with the position of the listening position in the vehicle and the layout of each speaker, thereby improving the accuracy of determining the speaker gain. In combination with the vehicle-mounted panoramic sound speakers, immersive panoramic sound effects can be achieved.
[0005] In a first aspect, the present application provides an audio data rendering method, comprising:
[0006] Acquire audio data to be rendered, coordinates of a virtual sound source corresponding to the audio data, and coordinates of a target listening position;
[0007] Determine a virtual sound intensity of a virtual sound source corresponding to the audio data at the target listening position;
[0008] Based on the coordinates of the target listening position and the coordinates of each loudspeaker in the vehicle, determining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position, wherein the synthetic sound intensity function is a function describing the synthetic sound intensity of each loudspeaker in the vehicle with respect to the gain of each loudspeaker channel in the vehicle when rendering the audio data;
[0009] The virtual sound intensity is reconstructed using the synthetic sound intensity function, and the gain of each speaker channel in the vehicle is solved when rendering the audio data.
[0010] In some embodiments, the composite sound intensity function includes a first part and a second part, the first part is a function of the active sound intensity synthesized by the sound pressure and vibration velocity generated by the speakers corresponding to each speaker channel in the active sound intensity of the composite sound intensity, and the second part is a function of the active sound intensity generated by the coupling between speakers of different speaker channels in the active sound intensity of the composite sound intensity;
[0011] The virtual sound intensity is reconstructed using the synthetic sound intensity function to solve the gain of each speaker channel in the vehicle when rendering the audio data, including:
[0012] The active sound intensity of the virtual sound intensity is set equal to the first part, and the gain of each speaker channel in the vehicle when rendering the audio data is solved with the goal of minimizing the second part.
[0013] In some embodiments, determining a synthetic sound intensity function of each speaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of each speaker in the vehicle includes:
[0014] Based on the coordinates of the target listening position and the coordinates of the speakers in the vehicle, as well as the orientations and / or frequency bands of the speakers in the vehicle, the composite sound intensity of each speaker in the vehicle at the target listening position is determined.
[0015] In some embodiments, based on the coordinates of the target listening position and the coordinates of the speakers in the vehicle, as well as the orientation and / or frequency band of the speakers in the vehicle, determining the synthetic sound intensity function of each speaker in the vehicle at the target listening position includes:
[0016] For each speaker in the vehicle, based on the coordinates of the target listening position, as well as the coordinates, frequency band and orientation of the speaker, determine the sound pressure of the speaker at the target listening position;
[0017] Based on the sound pressure of each of the loudspeakers at the target listening position, a synthetic sound intensity function of each of the loudspeakers in the vehicle at the target listening position is obtained.
[0018] In some embodiments, determining the sound pressure of the speaker at the target listening position based on the coordinates of the target listening position, and the coordinates, frequency band, and orientation of the speaker includes:
[0019] Based on the coordinates of the target listening position, the coordinates of the loudspeaker, and the frequency band of the loudspeaker, using Green's function, obtain the sound pressure of the loudspeaker at the target listening position;
[0020] Determining a normal vector of the speaker based on the orientation of the speaker;
[0021] Calculating a spatial angle between a normal vector of the loudspeaker and a vector pointing from the loudspeaker to the target listening position;
[0022] Based on the spatial angle, the sound pressure of the loudspeaker at the target listening position is adjusted to obtain the synthetic sound intensity function based on the adjusted sound pressure of each loudspeaker.
[0023] In some embodiments, adjusting the sound pressure of the speaker at the target listening position based on the spatial angle includes:
[0024] Based on the spatial angle and a pre-stored correspondence between the spatial angle and the directivity intensity, determining the directivity intensity of the speaker at the spatial angle;
[0025] Based on the directivity strength, the sound pressure of the loudspeaker at the target listening position is adjusted.
[0026] In some embodiments, based on the coordinates of the target listening position, the coordinates of the speaker, and the frequency band of the speaker, a Green's function is used to obtain the sound pressure of the speaker at the target listening position, including:
[0027] If the distance between the loudspeaker and the target listening position is greater than a preset distance, based on the coordinates of the target listening position, the coordinates of the loudspeaker, and the frequency band of the loudspeaker, a Green's function is used to describe the sound pressure function of the point sound source corresponding to the loudspeaker at the target listening position to obtain the sound pressure of the loudspeaker at the target listening position;
[0028] If the distance between the loudspeaker and the target listening position is less than or equal to the preset distance, based on the coordinates of the target listening position, the coordinates of the loudspeaker, and the frequency band of the loudspeaker, a Green's function is used to describe the sound pressure function of the surface sound source corresponding to the loudspeaker at the target listening position to obtain the sound pressure of the loudspeaker at the target listening position;
[0029] The surface sound source includes a plurality of point sound sources located at the centers and vertices of a plurality of regular polygons.
[0030] In some embodiments, the method further comprises:
[0031] The preset distance is determined based on the size of the speaker in the vehicle.
[0032] In some embodiments, obtaining the coordinates of the target listening position includes:
[0033] Determine the coordinates of the target listening position based on the selection instruction input by the user; or,
[0034] The coordinates of a plurality of listening positions are acquired, and based on the coordinates of the plurality of listening positions, the coordinates of the target listening position are determined.
[0035] In a second aspect, the present application also provides an audio data rendering device, comprising:
[0036] A data acquisition module, used to acquire audio data to be rendered, coordinates of a virtual sound source corresponding to the audio data, and coordinates of a target listening position;
[0037] A virtual sound intensity determination module, used to determine the virtual sound intensity of the virtual sound source corresponding to the audio data at the target listening position;
[0038] A sound field reconstruction module, for determining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of each loudspeaker in the vehicle; the synthetic sound intensity function is a function describing the synthetic sound intensity of each loudspeaker in the vehicle with respect to the gain of each loudspeaker channel in the vehicle when rendering the audio data;
[0039] The gain solving module is used to reconstruct the virtual sound intensity by using the synthetic sound intensity function, and solve the gain of each speaker channel in the vehicle when rendering the audio data.
[0040] In a third aspect, the present application also provides a renderer, which is arranged in a vehicle and is used to execute the audio data rendering method provided in the first aspect of the present application.
[0041] In a fourth aspect, the present application also provides a vehicle-mounted audio system, which is arranged in a vehicle and includes multiple speakers and the renderer provided in the third aspect of the present application.
[0042] In a fifth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions. When a processor executes the computer execution instructions, the processor implements the audio data method provided in the first aspect of the present application.
[0043] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the audio data method provided in the first aspect of the present application.
[0044] The audio data rendering method, renderer and vehicle audio system provided by the present application are aimed at the application scenario of audio data rendering in a vehicle. Based on the coordinates of the target listening position and the position layout of the speakers in the vehicle, a synthetic sound intensity function of the speakers in the vehicle at the target listening position is determined, and the virtual sound intensity of the virtual sound source corresponding to the audio data at the target listening position is determined, the virtual sound intensity is reconstructed by the synthetic sound intensity function, and the gain of each speaker channel in the vehicle is solved when the audio data to be rendered is rendered with the target listening position as the best listening position, thereby realizing three-dimensional audio rendering with the listening position in the vehicle as the best listening position, improving the accuracy of the speaker gain control, improving the effect of the audio signal rendering, and realizing the panoramic sound rendering in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0046] Figure 1 A schematic diagram of the architecture of a 7.1.4-channel in-vehicle audio system provided in an embodiment of the present application;
[0047] Figure 2 A flowchart of an audio data rendering method provided in an embodiment of the present application;
[0048] Figure 3 A schematic diagram of a hexagonal array of point sound sources corresponding to a surface sound source provided in an embodiment of the present application;
[0049] Figure 4 A schematic diagram of a rendering effect provided in an embodiment of the present application;
[0050] Figure 5 A flowchart of another audio data rendering method provided in an embodiment of the present application;
[0051] Figure 6 A schematic diagram of the spatial relationship between the loudspeaker and the target listening position provided in an embodiment of the present application;
[0052] Figure 7 A schematic diagram of the structure of a vehicle audio system provided in an embodiment of the present application.
[0053] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0054] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.
[0055] The vehicle's audio system or in-vehicle audio system includes a speaker array, the center of which is usually offset from the vehicle's seat, resulting in a listener's listening position sitting on the seat usually not being the optimal listening position, which makes the effect of rendering the in-vehicle audio system using traditional rendering technology poor and unable to achieve immersive three-dimensional sound.
[0056] The following takes the 7.1.4 channel layout of the car audio system as an example for explanation. Figure 1 The schematic diagram of the architecture of the 7.1.4-channel in-vehicle audio system provided in the embodiment of the present application is as follows: Figure 1As shown, the 7.1.4-channel car audio system includes horizontal speakers (or surround speakers), subwoofers and ceiling speakers (or top speakers). The number of horizontal speakers in the 7.1.4-channel speaker array is 7, the number of subwoofers is 1, and the number of ceiling speakers is 4. Figure 1 Solid dots are used to represent horizontal speakers, dotted circles are used to represent subwoofers, and solid circles are used to represent sky speakers.
[0057] The user or passenger in the vehicle usually sits in the seats of each row in the vehicle, and the center of the speaker array of the vehicle audio system is usually not located where the user sits on the seat, that is, the listening position is not located at the center of the speaker array of the vehicle audio system. As a result, the traditional rendering technology cannot make the user's listening position the best listening position in the vehicle, and the sound rendering effect is poor.
[0058] At the same time, the speakers in the vehicle may not be aimed at the listeners, and there may be cross-frequency speakers in the same channel but different spatial positions in the vehicle, which increases the difficulty of rendering the car audio system.
[0059] Based on the above problems, an embodiment of the present application provides an audio data rendering method, which fully considers the position layout of the speaker array in the vehicle and the target listening position. By constructing a synthetic sound intensity function of the speaker array in the vehicle at the target listening position, the virtual sound intensity of the virtual sound source corresponding to the audio data at the target listening position is reconstructed by the synthetic sound intensity, and the gain of each speaker channel in the vehicle when rendering the audio data is solved, thereby realizing three-dimensional sound rendering with the target listening position as the best listening position, improving the rendering effect of the audio data in the vehicle, and the target listening position can be freely set by the user, which improves the freedom of rendering, and realizes the panoramic sound rendering in the vehicle by accurately controlling the gain of each speaker in the vehicle.
[0060] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.
[0061] Figure 2 The present invention provides a flowchart of an audio data rendering method, which is applied to a vehicle and can be executed by an onboard audio system such as a renderer, or by a server or other remote device. Figure 2 As shown, the audio data rendering method includes the following steps:
[0062] Step S201: Acquire audio data to be rendered, coordinates of a virtual sound source corresponding to the audio data, and coordinates of a target listening position.
[0063] The audio data to be rendered is audio data that needs to be rendered in the vehicle, which may be audio data corresponding to music, video, etc., or audio data output by applications such as in-vehicle karaoke and games.
[0064] The virtual sound source corresponding to the audio data is a sound source with the sound source coordinates in the audio data as coordinates, and the sound source coordinates are the coordinates of the virtual sound source corresponding to the audio data. In some embodiments, the audio data is specifically a sound object output by a decoder.
[0065] The target listening position is a position in the vehicle, which can be a designated position, such as the front passenger seat, the middle seat in the back row, etc., or a position determined based on the situation of the users in the vehicle.
[0066] The coordinates of the target listening position may be coordinates in a three-dimensional coordinate system with the left front wheel of the vehicle as the origin, or may be coordinates in a spherical coordinate system with the center of the speaker array in the vehicle as the origin.
[0067] In some embodiments, the coordinates of the target listening position may be the coordinates of the head of a user riding in a vehicle.
[0068] When there are multiple users in the vehicle, the coordinates of the center of the head of any one of the users can be used as the coordinates of the target listening position, such as the user who frequently rides the vehicle, the user with the highest priority, etc.
[0069] In some embodiments, after the input audio passes through the decoder, a sound object (Audio Object), a sound bed (Bed Audio) and sound metadata are obtained. The audio data to be rendered can be a sound object.
[0070] Specifically, the input audio is obtained, inputted into a decoder, a sound object, sound bed data and sound metadata are obtained, and the coordinates of the target listening position are obtained. The subsequent steps are performed with the sound object as the audio data to be rendered.
[0071] Step S202: determining a virtual sound intensity of a virtual sound source corresponding to the audio data at the target listening position.
[0072] Specifically, the virtual sound intensity can be obtained by describing the sound pressure function of the virtual sound source corresponding to the audio data at the target listening position based on the Green's Function and combining the acoustic Euler equation. Step S203: determining the synthetic sound intensity function of each speaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of each speaker in the vehicle.
[0073] The composite sound intensity function is a function of the speaker gain. The composite sound intensity function is used to describe the composite sound intensity of each speaker in the vehicle as a function of the gain of each speaker channel in the vehicle when rendering the audio data.
[0074] Specifically, the Green function can be used to describe the sound pressure of the sound source corresponding to each speaker in the vehicle. Based on the coordinates of the speakers in the vehicle and the coordinates of the target listening position, the sound pressure of the sound source corresponding to each speaker in the vehicle at the target listening position is synthesized to obtain a synthesized sound pressure function. Then, based on the synthesized sound pressure function and the acoustic Euler equation, the synthesized sound intensity function of each speaker in the vehicle at the target listening position is obtained.
[0075] The sound source corresponding to the speaker in the vehicle can be regarded as a point sound source or a surface sound source.
[0076] Based on the distance of the speaker in the vehicle relative to the target listening position, it can be determined whether the sound source corresponding to the speaker is a point sound source or a surface sound source.
[0077] Exemplarily, when the distance between the speaker and the target listening position is less than or equal to a preset distance, the sound source corresponding to the speaker is determined to be a surface sound source; otherwise, the sound source corresponding to the speaker is determined to be a point sound source.
[0078] The preset distance may be obtained based on the size of the speaker, such as a preset multiple of the size of the speaker, the preset multiple being 10 to 15 times, such as 12 times.
[0079] The size of a speaker may be the radius of the speaker diaphragm.
[0080] For a loudspeaker with a point sound source, the spherical wave of the point sound source corresponding to the loudspeaker is described by the Green function to obtain the sound pressure function of the loudspeaker.
[0081] For a loudspeaker with a surface sound source, several points can be taken on the loudspeaker grille as point sound sources, and the sound pressures of the several point sound sources corresponding to the loudspeaker can be described by Green's function to obtain spherical waves of the sound pressures of the several point sound sources. The spherical waves of the several point sound sources can be superimposed to obtain the sound pressure function of the loudspeaker with a surface sound source.
[0082] In some embodiments, one or more regular polygonal point sound source arrays may be used to represent the sound source of the loudspeaker of the surface sound source, such as a regular quadrilateral array, a regular hexagonal array, etc.
[0083] The regular polygon takes the center of the loudspeaker as its center, and the side lengths of different regular polygons in the plurality of regular polygons are not equal.
[0084] In some embodiments, the number of regular polygons is at most three.
[0085] Figure 3A schematic diagram of a hexagonal array of point sound sources corresponding to a surface sound source provided in an embodiment of the present application, such as Figure 3 As shown in FIG. 1 , when the ratio of the distance d from the loudspeaker to the target listening position to the diaphragm radius R of the loudspeaker is greater than a preset multiple T, the sound source corresponding to the loudspeaker is represented by a point sound source 311; when the radio is located at In addition to the point sound source 311, the point sound sources constituting the surface sound source also include the point sound source array located at the vertices of the first regular hexagon, namely, the point sound source 321 to the point sound source 326; when the radio is located at When radio is less than or equal to T / 2, in addition to the point sound source 311 and the point sound source array located at the vertices of the first regular hexagon, namely, the point sound source 321 to the point sound source 326, the point sound sources constituting the surface sound source also include the point sound source array located at the vertices of the second regular hexagon, namely, the point sound source 331 to the point sound source 336; and so on, when radio is less than or equal to T / 2, the point sound sources constituting the surface sound source include the point sound source 311, the point sound source 321 to the point sound source 326, the point sound source 331 to the point sound source 336, and the point sound source 341 to the point sound source 346. The first to third regular hexagons are centered on o (or the point sound source 311) and are centered on 1 / Td, A regular hexagon inscribed in a circle with radius 2 / Td.
[0086] The intervals where the radios are located are only examples and may also be other intervals, which are not limited in this application.
[0087] In the vehicle audio application scenario, the distance from the target listening position to the speaker is usually greater than 5 times the size of the speaker, so the surface sound source corresponding to the speaker can be represented by the point sound source 311 and the above three regular hexagons or parts thereof.
[0088] In some embodiments, the distance between a point sound source on a regular polygon and the nearest point sound source on an adjacent regular polygon (such as point sound source 326 and point sound source 336 ) is about 0.4 times the diaphragm radius R of the speaker.
[0089] After obtaining the sound pressure function of each speaker in the vehicle, for each speaker, based on the coordinates of the target listening position, the coordinates of the speaker and the sound pressure function of the speaker, the acoustic Euler equation is used to obtain the sound pressure of the speaker at the target listening position. The sound pressure of each speaker in the vehicle at the target listening position is synthesized to obtain the above-mentioned synthesized sound pressure function, and combined with the acoustic Euler equation, a synthesized sound intensity function of each speaker in the vehicle at the target listening position is obtained.
[0090] Step S204: reconstruct the virtual sound intensity using the synthetic sound intensity function to solve the gain of each speaker channel in the vehicle when rendering the audio data.
[0091] After obtaining the synthetic sound intensity function and the virtual sound intensity, the synthetic sound intensity function is used to simulate or reconstruct the virtual sound intensity, such as making the sound intensity function corresponding to the synthetic sound field of the speaker autocorrelation in the active sound intensity of the synthetic sound intensity function equal to the virtual sound intensity, with the goal of minimizing the sound intensity function corresponding to the coupled synthetic sound field between the speakers in the active sound intensity of the synthetic sound intensity function, and solving the gain of each speaker channel in the vehicle when rendering audio data.
[0092] For example, Figure 4 A schematic diagram of a rendering effect provided in an embodiment of the present application, see Figure 4 , the layout of the speakers in the vehicle (including speakers A to E) is as follows Figure 4 As shown, with the driver's head as the target listening position, after obtaining the gains of speakers A to E through the audio data rendering method provided in this embodiment, when speakers A to E play audio data (audio data corresponding to bird calls) at a determined gain, the sound heard by the driver is the sound of the bird represented by the dotted line, thereby realizing three-dimensional sound rendering.
[0093] In the technical solution provided in this embodiment, for the application scenario of rendering audio data in a vehicle, based on the coordinates of the target listening position and the position layout of the speakers in the vehicle, a synthetic sound intensity function of the speakers in the vehicle at the target listening position is determined, and the virtual sound intensity of the virtual sound source corresponding to the audio data at the target listening position is determined. The virtual sound intensity is reconstructed by the synthetic sound intensity function, and the gain of each speaker channel in the vehicle is solved when rendering the audio data to be rendered with the target listening position as the best listening position, thereby realizing three-dimensional audio rendering with the listening position in the vehicle as the best listening position, improving the accuracy of speaker gain control, improving the effect of audio signal rendering, and realizing panoramic sound rendering in the vehicle.
[0094] In some embodiments, the audio data includes sound objects and sound bed data. Before, after or while reconstructing the virtual sound intensity using a synthetic sound intensity function and solving the gain of each speaker channel in the vehicle when rendering the audio data, the sound bed data rendering step is also included, such as obtaining the gain of each speaker channel in the vehicle when rendering the sound bed data to be rendered based on upmixing and / or downmixing technology to complete the rendering of the sound bed data.
[0095] In some embodiments, based on the audio production system corresponding to the sound bed data to be rendered, the layout of the speaker array in the vehicle, and the coordinates of the target listening position, the sound bed signal corresponding to each speaker in the vehicle can be obtained to complete the rendering of the sound bed data.
[0096] Specifically, a conversion relationship can be determined based on the audio production system corresponding to the sound bed data to be rendered and the coordinates of the target listening position. The conversion relationship is used to describe the mapping relationship between the signal of each speaker channel of the audio production system and the signal of each speaker channel of the audio system in the vehicle, such as used to describe the gain of each speaker channel of the audio system in the vehicle under each speaker channel of the audio production system; based on the conversion relationship, the sound bed data to be rendered is converted to obtain the sound bed signals corresponding to each speaker channel of the vehicle.
[0097] The conversion relationship can be pre-stored in the memory of the vehicle or the cloud server, and can also be generated in real time.
[0098] In some embodiments, the conversion relationship may be predicted based on a pre-trained conversion relationship prediction model, based on an audio production system corresponding to the sound bed data to be rendered, a layout of speakers in the audio system in the vehicle, and coordinates of a target listening position.
[0099] In some embodiments, the vehicle speaker channels (speaker channels of the audio system in the vehicle) corresponding to each audio production speaker channel (speaker channels of the audio production system) can also be determined based on the layout of each audio speaker in the audio production system, the layout of each speaker in the vehicle and the coordinates of the target listening position; for each audio production speaker channel, based on the channel spatial position of the audio production speaker channel and the channel spatial position of each vehicle speaker channel corresponding to the audio production speaker channel, the gain of each vehicle speaker channel corresponding to the audio production speaker channel with respect to the audio production speaker channel is determined; for each vehicle speaker channel, based on the gain of the vehicle speaker channel with respect to each corresponding audio production speaker channel, the gain vector of the speaker channel is determined; based on the gain vector of each vehicle speaker channel, the conversion relationship is determined.
[0100] The channel spatial position may be an average value of the positions of the speakers in the channel, or may be the position of any speaker in the channel.
[0101] Optionally, determining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of each loudspeaker in the vehicle includes:
[0102] Based on the coordinates of the target listening position and the coordinates of the speakers in the vehicle, as well as the orientations and / or frequency bands of the speakers in the vehicle, the composite sound intensity of each speaker in the vehicle at the target listening position is determined.
[0103] Optionally, determining the synthetic sound intensity of each speaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of the speakers in the vehicle, as well as the orientation and / or frequency band of the speakers in the vehicle, comprises:
[0104] For each speaker in the vehicle, the sound pressure of the speaker at the target listening position is determined based on the coordinates of the target listening position, as well as the coordinates, frequency band and orientation of the speaker; based on the sound pressure of each speaker at the target listening position, a synthetic sound intensity function of each speaker in the vehicle at the target listening position is obtained.
[0105] Based on the Green's function, the sound pressure relationship of the loudspeaker at the target listening position can be described. The sound pressure and the vibration velocity of the sound source satisfy the acoustic Euler equation. The obtained sound pressure relationship of each loudspeaker is substituted into the acoustic Euler equation to obtain the vibration velocity relationship of each loudspeaker at the target listening position; the vibration velocity relationship and the sound pressure relationship are substituted into the sound intensity calculation formula to obtain the sound intensity relationship of each loudspeaker at the target listening position, and the synthetic sound intensity relationship of each loudspeaker at the target listening position is superimposed to obtain the above-mentioned synthetic sound intensity function.
[0106] When there are no crossover speakers in the vehicle, the position vector of each speaker in the vehicle can be obtained based on the coordinates and orientation of each speaker in the vehicle. Through the Green function, a point sound source or a surface sound source is used to describe the sound pressure function of the sound source under the corresponding position vector to obtain the sound pressure function corresponding to each speaker in the vehicle. Then, combined with the position vector of the target listening position, the sound pressure of each speaker in the vehicle at the target listening position is obtained, and the above-mentioned composite sound intensity is obtained based on the acoustic Euler equation.
[0107] When there are frequency-divided speakers in the vehicle, the sound intensity is reconstructed channel by channel. For the speakers of each channel in the vehicle, based on the coordinates of the target listening position, as well as the coordinates, orientation and frequency band of the speaker, the Green function is used to obtain the sound pressure of the speaker at the target listening position. Based on the sound pressure of each speaker in the vehicle at the target listening position, the above-mentioned synthetic sound intensity is obtained.
[0108] In some embodiments, sound intensity reconstruction can be performed first within the channel, that is, based on the sound pressure of multiple frequency-divided speakers in the same channel, a synthetic sound intensity function corresponding to the channel is obtained, and then based on the synthetic sound intensity function corresponding to each channel, a synthetic sound intensity function of each speaker in the vehicle at the target listening position is obtained to complete the sound intensity reconstruction.
[0109] Figure 5 A flowchart of another audio data rendering method provided in an embodiment of the present application, in which Figure 2 Based on the embodiment shown, steps S201 to S203 are further refined as follows: Figure 5 As shown, the audio data rendering method provided in this embodiment may include the following steps:
[0110] Step S501, determining the coordinates of a target listening position based on a selection instruction input by a user; or obtaining the coordinates of a plurality of listening positions, and determining the coordinates of the target listening position based on the coordinates of the plurality of listening positions.
[0111] In some embodiments, the selection instructions may include the coordinates of the target listening position.
[0112] In other embodiments, the selection instruction may include a selected seat, such as a driver's seat, a co-pilot seat, a left rear seat, etc., and the coordinates of the target listening position are determined based on the selected seat.
[0113] The user may input a selection instruction through an interactive device, and the vehicle, or the audio system or renderer of the vehicle, upon receiving the selection instruction, determines the coordinates of the target listening position based on the selection instruction.
[0114] In some embodiments, the selection instruction can be sent to a remote device, such as a server, a user terminal, etc., through the vehicle's networked device, and the remote device obtains the coordinates of the target listening position based on the selection instruction and executes subsequent rendering steps.
[0115] When there are multiple users in the vehicle, that is, when there are multiple listening positions, one can be selected as a target listening position from the listening positions corresponding to the multiple users, and the coordinates of the selected listening position are the coordinates of the target listening position.
[0116] In some embodiments, the coordinates of the target listening position may be an average value or a weighted average value of the coordinates of multiple listening positions.
[0117] The weight of the listening position can be determined based on the seat corresponding to the listening position, the priority of the user at the listening position, etc. The higher the priority of the user at the listening position, the higher the weight of the listening position.
[0118] For example, the weight of the listening position in the back row can be higher than that in the front row. The weight of the listening position in the co-pilot seat can be higher than that in the main driver's seat.
[0119] Step S502: obtaining a sound object to be rendered.
[0120] The sound object to be rendered may be a sound object obtained by decoding an audio signal output by an application (such as a music player application, a game application, etc.) running in the vehicle by a decoder.
[0121] Step S503 : for each speaker in the vehicle, based on the coordinates of the target listening position, the coordinates of the speaker, and the frequency band of the speaker, a Green's function is used to obtain the sound pressure of the speaker at the target listening position.
[0122] A loudspeaker can be represented by one or more point sources.
[0123] For each speaker in the vehicle, based on the coordinates of the speaker, taking the sound source corresponding to the speaker as a point sound source as an example, the sound pressure of the lth speaker is obtained by the Green function: for:
[0124]
[0125] in, is the position vector of the target listening position, which can be determined based on the coordinates of the target listening position and the corresponding orientation of the user's head; is the position vector of the lth loudspeaker; k is the wave number, v is the speed of sound, such as 340m / s, f is the frequency of the sound wave; p0 is the dimensional coefficient of sound pressure; λ is the dimensional coefficient of distance; G() represents the Green's function; i is the imaginary unit.
[0126] Optionally, based on the coordinates of the target listening position, the coordinates of the speaker, and the frequency band of the speaker, using a Green's function to obtain the sound pressure of the speaker at the target listening position includes:
[0127] If the distance between the speaker and the target listening position is greater than a preset distance, based on the coordinates of the target listening position, the coordinates of the speaker and the frequency band of the speaker, a Green's function is used to describe the sound pressure function of the point sound source corresponding to the speaker at the target listening position, so as to obtain the sound pressure of the speaker at the target listening position; if the distance between the speaker and the target listening position is less than or equal to the preset distance, based on the coordinates of the target listening position, the coordinates of the speaker and the frequency band of the speaker, a Green's function is used to describe the sound pressure function of the surface sound source corresponding to the speaker at the target listening position, so as to obtain the sound pressure of the speaker at the target listening position; wherein the surface sound source includes multiple point sound sources located at the center and vertices of several regular polygons.
[0128] The preset distance may be related to the size of the speaker, and may be several times the size of the speaker, such as 5 times, 8 times, 12 times, etc.
[0129] Optionally, the method further includes determining a preset distance based on a radius of a speaker diaphragm.
[0130] Exemplarily, the preset distance may be 10 to 15 times the radius of the speaker diaphragm.
[0131] For a speaker that is far away from the target listening position, that is, the distance between the speaker and the target listening position is greater than the preset distance corresponding to the speaker, a point sound source is used to represent the sound source corresponding to the speaker. Conversely, if the distance between the speaker and the target listening position is less than or equal to the preset distance corresponding to the speaker, a surface sound source is used to represent the sound source corresponding to the speaker. The surface sound source includes multiple point sound sources, such as (1+mn), where m is the number of vertices of a regular polygon and n is the number of regular polygons.
[0132] In some embodiments, the regular polygon may be a regular hexagon.
[0133] In order to avoid excessive calculation, n can be an integer less than or equal to 3.
[0134] The surface sound source includes the point sound source at the center of the speaker and the point sound sources at the vertices of several regular polygons, such as Figure 3 The surface sound source is shown.
[0135] Based on the distance between the loudspeaker and the target listening position, different types of sound sources are used to reconstruct the loudspeaker sound pressure, which improves the accuracy of the loudspeaker sound pressure reconstruction and thus improves the effect of the panoramic sound rendering.
[0136] Step S504: determining a normal vector of the speaker based on the orientation of the speaker.
[0137] The normal vector of the speaker is perpendicular to the position vector of the speaker, and the position vector of the speaker is determined by the coordinates and orientation of the speaker. The normal vector can be a unit vector.
[0138] Step S505: Calculate the spatial angle between the normal vector of the loudspeaker and the vector pointing from the loudspeaker to the target listening position.
[0139] The coordinates of the loudspeaker and the target listening position can be expressed in a spherical coordinate system.
[0140] The vector pointing from the loudspeaker to the target listening position may be a unit vector pointing from the loudspeaker to the target listening position.
[0141] Step S506: adjusting the sound pressure of the loudspeaker at the target listening position based on the spatial angle.
[0142] The spatial angle and the sound pressure relationship of the loudspeaker at the target listening position can be input into a pre-designed adjustment relationship, and the adjusted sound pressure relationship can be output to achieve adjustment of the sound pressure of the loudspeaker at the target listening position.
[0143] Optionally, adjusting the sound pressure of the loudspeaker at the target listening position based on the spatial angle includes:
[0144] Based on the spatial angle and the pre-stored correspondence between the spatial angle and the directivity strength, the directivity strength of the loudspeaker at the spatial angle is determined; based on the directivity strength, the sound pressure of the loudspeaker at the target listening position is adjusted.
[0145] After obtaining the spatial angle corresponding to the loudspeaker, the directivity of the loudspeaker at the spatial angle is obtained, and the sound pressure of the loudspeaker at the target listening position is adjusted to the product of the sound pressure of the loudspeaker at the target listening position and the directivity.
[0146] By adjusting the sound pressure of the loudspeaker at the target listening position based on the spatial angle, the directional characteristics of sound propagation are fully considered and the accuracy of sound pressure reconstruction is improved.
[0147] Figure 6 A schematic diagram of the spatial relationship between the loudspeaker and the target listening position provided in the embodiment of the present application, such as Figure 6 As shown, and Target listening position and the lth speaker of the cth channel The spherical coordinates of For speakers The normal vector of For speakers Point to the target listening position The unit vector of for and The spatial angle of
[0148] Taking the point sound source as an example, the lth speaker of the cth channel At the target listening position The relationship between the sound pressure caused by for:
[0149]
[0150] Among them, τ cl For speakers Delays; For speakers exist The directivity strength of the direction can be obtained from the speaker manufacturer or through experiments.
[0151] Step S507 , obtaining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position based on the adjusted sound pressure of each loudspeaker at the target listening position.
[0152] Step S508: determining the virtual sound intensity of the virtual sound source corresponding to the audio data at the target listening position.
[0153] The virtual sound source corresponding to the audio data is a sound source whose coordinates are the sound source coordinates in the audio data.
[0154] Based on the Green's function, the sound pressure function of the virtual sound source corresponding to the audio data can be described, and combined with the acoustic Euler equation, the virtual sound intensity of the virtual sound source at the target listening position can be obtained.
[0155] The method for determining the virtual sound intensity is similar to the method for determining the sound intensity of the sound source corresponding to the speaker in the vehicle at the target listening position. Only the sound source corresponding to the speaker in the vehicle is replaced by the virtual sound source, which will not be repeated here.
[0156] Step S509: reconstruct the virtual sound intensity using the synthetic sound intensity function to solve the gain of each speaker channel in the vehicle when rendering the audio data.
[0157] Sound intensity includes active sound intensity, which is the real part of sound intensity. The active sound intensity of virtual sound intensity can be reconstructed based on the active sound intensity of synthetic sound intensity, and the gain of each speaker channel in the vehicle when rendering audio data can be solved to achieve in-vehicle rendering of audio data. For example, by making the main part of the active sound intensity of synthetic sound intensity as close as possible to the active sound intensity of virtual sound intensity, the gain of each speaker in the vehicle when rendering audio data can be solved.
[0158] Optionally, the synthetic sound intensity function includes a first part and a second part, the first part being a function of the active sound intensity synthesized by the sound pressure and vibration velocity generated by the speaker corresponding to each speaker channel in the active sound intensity of the synthetic sound intensity, and the second part being a function of the active sound intensity generated by the coupling between speakers of different speaker channels in the active sound intensity of the synthetic sound intensity; reconstructing the virtual sound intensity by using the synthetic sound intensity function to solve the gain of each speaker channel in the vehicle when rendering the audio data includes:
[0159] The active sound intensity of the virtual sound intensity is set equal to the first part, and the gain of each speaker channel in the vehicle when rendering the audio data is solved with the goal of minimizing the second part. The first part of the active sound intensity of the synthetic sound intensity is used to characterize the energy of the self-correlated sound field of each speaker channel in the vehicle, which is the main energy of the active sound intensity and the main source of the content heard by the listener.
[0160] The second part of the synthetic sound intensity active sound intensity is used to characterize the energy of the coupled sound field between the speakers of different speaker channels in the vehicle. It is formed based on the coherence between the speakers, such as spatial acoustic effects such as standing waves in the spatial sound field and spatial aliasing that cause sound distortion.
[0161] Sound pressure and the vibration speed of the sound source The acoustic Euler equation is satisfied:
[0162]
[0163] Wherein, ρ represents the medium density, ω is the angular frequency, ω=2πf.
[0164] The sound pressure Substituting the above acoustic Euler equation, we can get the vibration velocity
[0165] Synthetic sound intensity The calculation formula is: Synthetic sound intensity Active sound intensity for:
[0166] in, is the composite sound pressure, i.e., the sound pressure obtained by synthesizing the sound pressures of the speakers in the vehicle, "*" indicates conjugation; Re[] indicates the real part; is the composite vibration velocity, i.e., the vibration velocity obtained by synthesizing the vibration velocities of the speakers in the vehicle.
[0167] The speaker in the vehicle includes C channels, each channel includes L c For example, the synthesized sound intensity The expression is:
[0168]
[0169] Among them, g c (k) is the gain of the cth channel in the vehicle at wave number k; The lth loudspeaker of the cth channel in the vehicle is at the target listening position. The sound pressure caused by The lth speaker of the cth channel in the vehicle is at the target listening position The vibration speed at ; “*” indicates conjugation. c1 and c2 are both positive integers between 1 and C.
[0170] Active sound intensity for:
[0171]
[0172] in, This is the first part of the active sound intensity mentioned above. The remaining part after removing the active sound intensity is the second part.
[0173] Let the first part above be equal to the active sound intensity of the virtual sound intensity That is
[0174]
[0175] With the goal of minimizing the rest of the active sound intensity of the synthetic sound intensity, i.e., the second part, the gain of each speaker in the vehicle is solved, i.e., g c (k).
[0176] By making the first part of the synthetic sound intensity active sound intensity equal to or as close as possible to the virtual sound intensity active sound intensity, and minimizing the rest of the synthetic sound intensity active sound intensity (the second part), after the speakers in the vehicle play the audio data based on the determined gain, the sound heard by the listener at the target listening position is close to the sound emitted by the virtual sound source corresponding to the audio data, thereby achieving panoramic sound rendering and improving rendering quality.
[0177] In this embodiment, for the speakers in the vehicle, based on the coordinates, frequency bands, and coordinates of the target listening position of the speakers, the reconstruction of the speaker sound field is achieved, and the reconstructed sound pressure is adjusted in combination with the orientation of the speakers, so that the reconstructed sound field fits the layout of the speakers in the vehicle and the application scenario corresponding to the listening position, providing a basis for panoramic sound rendering; by using the synthetic sound intensity function of the speakers in the vehicle to simulate the virtual sound intensity of the audio data to be rendered at the target listening position, the gain of each speaker channel in the vehicle is obtained when rendering the audio data, so that the rendering effect is close to the effect of the sound emitted from the virtual sound source corresponding to the audio data reaching the target listening position, the accuracy of the speaker gain determination is improved, the panoramic sound rendering is achieved, and the audio rendering effect is improved. At the same time, the target listening position can be set flexibly and freely, which improves the freedom of rendering.
[0178] An audio data rendering device provided in an embodiment of the present application includes:
[0179] A data acquisition module, used to acquire audio data to be rendered, the coordinates of a virtual sound source corresponding to the audio data, and the coordinates of a target listening position; a virtual sound intensity determination module, used to determine the virtual sound intensity of the virtual sound source corresponding to the audio data at the target listening position; a sound field reconstruction module, used to determine a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of each loudspeaker in the vehicle, wherein the synthetic sound intensity function is a function that describes the synthetic sound intensity of each loudspeaker in the vehicle with respect to the gain of each loudspeaker channel in the vehicle when rendering the audio data; a gain solving module, used to reconstruct the virtual sound intensity using the synthetic sound intensity function, and solve for the gain of each loudspeaker channel in the vehicle when rendering the audio data.
[0180] In some embodiments, the synthesized sound intensity function includes a first part and a second part, wherein the first part is a function of the active sound intensity synthesized by the sound pressure and vibration velocity generated by the speaker corresponding to each speaker channel in the active sound intensity of the synthesized sound intensity, and the second part is a function of the active sound intensity generated by the coupling between speakers of different speaker channels in the active sound intensity of the synthesized sound intensity. The gain solving module is specifically used to: set the active sound intensity of the virtual sound intensity equal to the first part, and solve the gain of each speaker channel in the vehicle when rendering the audio data with the goal of minimizing the second part.
[0181] In some embodiments, the sound field reconstruction module is specifically used to:
[0182] Based on the coordinates of the target listening position and the coordinates of the speakers in the vehicle, as well as the orientations and / or frequency bands of the speakers in the vehicle, a synthetic sound intensity function of each speaker in the vehicle at the target listening position is determined.
[0183] In some embodiments, the sound field reconstruction module includes:
[0184] A sound pressure determination unit is used to determine the sound pressure of each speaker in the vehicle at the target listening position based on the coordinates of the target listening position, as well as the coordinates, frequency band and orientation of the speaker; a sound field reconstruction unit is used to obtain a synthetic sound intensity function of each speaker in the vehicle at the target listening position based on the sound pressure of each speaker at the target listening position.
[0185] In some embodiments, the sound pressure determination unit comprises:
[0186] A sound pressure description subunit is used to obtain the sound pressure of the speaker at the target listening position using the Green's function based on the coordinates of the target listening position, the coordinates of the speaker and the frequency band of the speaker; a normal vector determination subunit is used to determine the normal vector of the speaker based on the orientation of the speaker; a spatial angle determination subunit is used to calculate the spatial angle between the normal vector of the speaker and the vector of the speaker pointing to the target listening position; a sound pressure adjustment subunit is used to adjust the sound pressure of the speaker at the target listening position based on the spatial angle, so as to obtain the synthetic sound intensity function based on the adjusted sound pressures of each speaker.
[0187] In some embodiments, the sound pressure adjustment subunit is specifically configured to:
[0188] Based on the spatial angle and the pre-stored correspondence between the spatial angle and the directivity strength, determine the directivity strength of the loudspeaker at the spatial angle; and based on the directivity strength, adjust the sound pressure of the loudspeaker at the target listening position.
[0189] In some embodiments, the sound pressure description subunit is specifically configured to:
[0190] If the distance between the speaker and the target listening position is greater than a preset distance, based on the coordinates of the target listening position, the coordinates of the speaker and the frequency band of the speaker, a Green's function is used to describe the sound pressure function of the point sound source corresponding to the speaker at the target listening position, so as to obtain the sound pressure of the speaker at the target listening position; if the distance between the speaker and the target listening position is less than or equal to the preset distance, based on the coordinates of the target listening position, the coordinates of the speaker and the frequency band of the speaker, a Green's function is used to describe the sound pressure function of the surface sound source corresponding to the speaker at the target listening position, so as to obtain the sound pressure of the speaker at the target listening position; wherein the surface sound source includes multiple point sound sources located at the center and vertices of several regular polygons.
[0191] In some embodiments, the apparatus further comprises:
[0192] The preset distance determination module is used to determine the preset distance based on the diaphragm radius of the speaker in the vehicle.
[0193] In some embodiments, the data acquisition module is specifically used to:
[0194] Acquire audio data to be rendered; and determine the coordinates of a target listening position based on a selection instruction input by a user, or acquire the coordinates of multiple listening positions and determine the coordinates of the target listening position based on the coordinates of the multiple listening positions.
[0195] The above device embodiment is an embodiment corresponding to the above method embodiment, and has the same technical effect as the method embodiment. The detailed description of the device embodiment can refer to the detailed description of the above method embodiment, and will not be repeated here.
[0196] An embodiment of the present application also provides a renderer, which is arranged in a vehicle, and is used to execute the audio data rendering method provided in any embodiment of the present application to realize panoramic sound rendering of audio data.
[0197] Figure 7 The structure diagram of a vehicle audio system provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the vehicle audio system includes: multiple speakers and a renderer.
[0198] The renderer is used to execute the audio data rendering method provided in any embodiment of the present application, obtain the gain of each of the multiple speakers when rendering the audio data, and realize the panoramic sound rendering of the audio data.
[0199] In some embodiments, the in-vehicle audio system further includes a plurality of sensors.
[0200] In some embodiments, the in-vehicle audio system includes an ADAS (Advanced Driving Assistance System).
[0201] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the processor implements a method provided in any embodiment of the present application.
[0202] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the method provided in any embodiment of the present application.
[0203] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.
[0204] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.
Claims
1. A method for rendering audio data, characterized in that: include: Acquire audio data to be rendered, coordinates of a virtual sound source corresponding to the audio data, and coordinates of a target listening position; Determine a virtual sound intensity of a virtual sound source corresponding to the audio data at the target listening position; Based on the coordinates of the target listening position and the coordinates of each loudspeaker in the vehicle, determining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position, wherein the synthetic sound intensity function is a function describing the synthetic sound intensity of each loudspeaker in the vehicle with respect to the gain of each loudspeaker channel in the vehicle when rendering the audio data; The virtual sound intensity is reconstructed using the synthetic sound intensity function, and the gain of each speaker channel in the vehicle is solved when rendering the audio data.
2. The method according to claim 1, characterized in that The composite sound intensity function includes a first part and a second part, wherein the first part is a function of the active sound intensity synthesized by the sound pressure and vibration velocity generated by the speakers corresponding to each speaker channel in the active sound intensity of the composite sound intensity, and the second part is a function of the active sound intensity generated by the coupling between speakers of different speaker channels in the active sound intensity of the composite sound intensity; The virtual sound intensity is reconstructed using the synthetic sound intensity function to solve the gain of each speaker channel in the vehicle when rendering the audio data, including: The active sound intensity of the virtual sound intensity is set equal to the first part, and the gain of each speaker channel in the vehicle when rendering the audio data is solved with the goal of minimizing the second part.
3. The method according to claim 1, characterized in that Determining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of each loudspeaker in the vehicle includes: Based on the coordinates of the target listening position and the coordinates of the speakers in the vehicle, as well as the orientations and / or frequency bands of the speakers in the vehicle, a synthetic sound intensity function of each speaker in the vehicle at the target listening position is determined.
4. The method according to claim 3, characterized in that: Determining a synthetic sound intensity function of each speaker in the vehicle at the target listening position based on the coordinates of the target listening position and the coordinates of the speaker in the vehicle, as well as the orientation and / or frequency band of the speaker in the vehicle, includes: For each speaker in the vehicle, based on the coordinates of the target listening position, as well as the coordinates, frequency band and orientation of the speaker, determine the sound pressure of the speaker at the target listening position; Based on the sound pressure of each of the loudspeakers at the target listening position, a synthetic sound intensity function of each of the loudspeakers in the vehicle at the target listening position is obtained.
5. The method according to claim 4, characterized in that Determining the sound pressure of the loudspeaker at the target listening position based on the coordinates of the target listening position, and the coordinates, frequency band, and orientation of the loudspeaker includes: Based on the coordinates of the target listening position, the coordinates of the loudspeaker, and the frequency band of the loudspeaker, using Green's function, obtain the sound pressure of the loudspeaker at the target listening position; Determining a normal vector of the speaker based on the orientation of the speaker; Calculating a spatial angle between a normal vector of the loudspeaker and a vector pointing from the loudspeaker to the target listening position; Based on the spatial angle, the sound pressure of the loudspeaker at the target listening position is adjusted to obtain the synthetic sound intensity function based on the adjusted sound pressure of each loudspeaker.
6. The method according to claim 5, characterized in that Adjusting the sound pressure of the loudspeaker at the target listening position based on the spatial angle includes: Based on the spatial angle and a pre-stored correspondence between the spatial angle and the directivity intensity, determining the directivity intensity of the speaker at the spatial angle; Based on the directivity strength, the sound pressure of the loudspeaker at the target listening position is adjusted.
7. The method according to claim 5, characterized in that Based on the coordinates of the target listening position, the coordinates of the loudspeaker, and the frequency band of the loudspeaker, a Green's function is used to obtain the sound pressure of the loudspeaker at the target listening position, including: If the distance between the loudspeaker and the target listening position is greater than a preset distance, based on the coordinates of the target listening position, the coordinates of the loudspeaker, and the frequency band of the loudspeaker, a Green's function is used to describe the sound pressure function of the point sound source corresponding to the loudspeaker at the target listening position to obtain the sound pressure of the loudspeaker at the target listening position; If the distance between the loudspeaker and the target listening position is less than or equal to the preset distance, based on the coordinates of the target listening position, the coordinates of the loudspeaker, and the frequency band of the loudspeaker, a Green's function is used to describe the sound pressure function of the surface sound source corresponding to the loudspeaker at the target listening position to obtain the sound pressure of the loudspeaker at the target listening position; The surface sound source includes a plurality of point sound sources located at the centers and vertices of a plurality of regular polygons.
8. The method according to any one of claims 1 to 7, characterized in that: Get the coordinates of the target listening position, including: Determine the coordinates of the target listening position based on the selection instruction input by the user; or, The coordinates of a plurality of listening positions are acquired, and based on the coordinates of the plurality of listening positions, the coordinates of the target listening position are determined.
9. A renderer, characterized in that: The renderer is arranged in a vehicle, and the renderer is used to execute the audio data rendering method according to any one of claims 1 to 8.
10. A vehicle audio system, arranged in a vehicle, characterized in that: include: A plurality of speakers and the renderer as claimed in claim 9.