Audio signal rendering method, renderer and vehicle-mounted audio system

Abstract

The invention provides an audio signal rendering method, a renderer and a vehicle-mounted audio system. The audio signal rendering method comprises the following steps: acquiring an audio signal to be rendered and a target listening position; based on the layout of loudspeakers in the vehicle, rendering a virtual spherical loudspeaker array taking the target listening position as a sphere center to obtain a first gain corresponding relation; rendering the audio signal to be rendered based on the virtual spherical loudspeaker array by adopting a panoramic sound rendering algorithm to obtain a second gain corresponding relation; and rendering the audio signal to be rendered based on the first gain corresponding relation and the second gain corresponding relation. Through secondary rendering based on the virtual spherical loudspeaker array, panoramic sound rendering in the vehicle is realized, the accuracy of loudspeaker gain determination is improved, and the rendering effect of the audio signal is realized.

Description

Technical Field

[0001] The present application relates to the field of audio processing technology, and in particular to an audio signal rendering method, a renderer, and a vehicle-mounted audio system. Background Art

[0002] Atmos, also known as 3D sound, is a 3D immersive sound format that greatly improves the dynamic effect and spatial stereo effect of sound compared to previous stereo and surround sound. Atmos technology has also been widely used in vehicles.

[0003] Unlike traditional speaker playback environments such as movie theaters and recording studios, in vehicle application scenarios, the listener in the vehicle speaker playback environment is usually not located at the center of the speaker array in the car. It is difficult to achieve accurate stereo rendering when rendering the vehicle speakers using the rendering technology of the traditional speaker playback environment, and the rendering effect is poor. Summary of the invention

[0004] The present application provides an audio signal 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 signal rendering method, comprising:

[0006] Acquire an audio signal to be rendered and a target listening position; based on the layout of the speakers in the vehicle, render a virtual spherical speaker array with the target listening position as the center of the sphere, and obtain a first gain correspondence relationship, wherein the virtual speakers in the virtual spherical speaker array are distributed along the sphere, and the first gain correspondence relationship is used to describe the gain of each speaker channel in the vehicle when the speakers in the vehicle are used to render the sound sources at each virtual speaker; use a panoramic sound rendering algorithm to render the audio signal to be rendered based on the virtual spherical speaker array, and obtain a second gain correspondence relationship, wherein the second gain correspondence relationship is used to describe the gain when each virtual speaker in the virtual spherical speaker array is used to render the virtual sound source corresponding to the audio signal to be rendered; render the audio signal to be rendered based on the first gain correspondence relationship and the second gain correspondence relationship.

[0007] In some embodiments, a panoramic sound rendering algorithm is used to render the audio signal to be rendered based on the virtual spherical speaker array to obtain a second gain correspondence relationship, including:

[0008] Based on the spherical harmonic function, the audio signal to be rendered is expanded into spherical harmonics to obtain a spherical harmonic weight coefficient matrix; based on the sound source coordinates, the N-order spherical harmonic vector of the audio signal to be rendered is obtained, where N is a positive integer; based on the coordinates of each of the virtual speakers, the N-order spherical harmonic vector of each of the virtual speakers is obtained; based on the N-order spherical harmonic vector of each of the virtual speakers, the spherical harmonic weight coefficient matrix and the N-order spherical harmonic vector of the audio signal to be rendered, the second gain correspondence is determined.

[0009] In some embodiments, based on the first gain correspondence relationship and the second gain correspondence relationship, rendering the to-be-rendered audio signal includes:

[0010] On a virtual spherical surface corresponding to the virtual spherical speaker array, the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker is calculated to obtain a speaker gain vector to achieve rendering of the audio signal to be rendered. The speaker gain vector includes the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered.

[0011] In some embodiments, on a spherical surface corresponding to the virtual spherical speaker array, calculating the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain a speaker gain vector, including:

[0012] Discretize the integral of the product of the first gain correspondence and the second gain correspondence on the spherical surface corresponding to the virtual spherical speaker array with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain multiple discrete items; and obtain the speaker gain vector based on the multiple discrete items.

[0013] In some embodiments, the product of the first gain correspondence relationship and the second gain correspondence relationship is discretized with respect to the integral of the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain a plurality of discrete items, including:

[0014] The product of the first gain correspondence and the second gain correspondence on the spherical surface corresponding to the virtual spherical speaker array is integrated with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker, and is discretized on the preset speaker array to obtain discrete items corresponding to each virtual speaker in the preset speaker array; wherein the virtual speakers in the preset speaker array are evenly distributed along the spherical surface.

[0015] In some embodiments, determining the second gain correspondence based on the N-order spherical harmonic vector of each virtual speaker, the spherical harmonic weight coefficient matrix, and the N-order spherical harmonic vector of the audio signal to be rendered includes:

[0016] For each of the virtual speakers, the distance attenuation coefficient of the virtual speaker is calculated based on the spherical coordinates of the virtual speaker, the spherical coordinates of the virtual sound source corresponding to the audio signal to be rendered, and a preset distance function; the second gain correspondence is determined based on the distance attenuation coefficient of each of the virtual speakers, the spherical harmonic weight coefficient matrix, the N-order spherical harmonic vector of each of the virtual speakers, and the N-order spherical harmonic vector of the audio signal to be rendered.

[0017] In some embodiments, the method further comprises:

[0018] Determine whether the target listening position is located in a preset area; if not, execute the step of rendering a virtual spherical speaker array with the target listening position as the center of the sphere based on the layout of the speakers in the vehicle; wherein the preset area includes the main driver's seat and the co-driver's seat.

[0019] In some embodiments, the method further comprises:

[0020] If the target listening position is located in a preset area, a synthetic sound intensity function of each speaker in the vehicle at the target listening position is determined based on the target listening position and the coordinates of each speaker in the vehicle; based on the virtual sound source corresponding to the audio signal to be rendered, a virtual sound intensity of the virtual sound source at the target listening position is determined; the synthetic sound intensity function is used to reconstruct the virtual sound intensity, and the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered is solved.

[0021] In some embodiments, obtaining the coordinates of the target listening position includes:

[0022] When a plurality of users are seated in the vehicle, the target listening position is determined based on the seat positions of the respective users, the position priorities of the seat positions of the users, and the priorities of the respective users.

[0023] In a second aspect, the present application further provides an audio signal rendering device, comprising:

[0024] An audio signal acquisition module is used to acquire an audio signal to be rendered and a target listening position; a first rendering module is used to render a virtual spherical speaker array with the target listening position as the center of the sphere based on the layout of the speakers in the vehicle, and obtain a first gain correspondence relationship, wherein the virtual speakers in the virtual spherical speaker array are distributed along the sphere, and the first gain correspondence relationship is used to describe the gain of the speakers in the vehicle when rendering the sound sources at each of the virtual speakers; a second rendering module is used to render the audio signal to be rendered based on the virtual spherical speaker array using a panoramic sound rendering algorithm, and obtain a second gain correspondence relationship, wherein the second gain correspondence relationship is used to describe the gain when each virtual speaker in the virtual spherical speaker array renders the virtual sound source corresponding to the audio signal to be rendered; an audio signal rendering module is used to render the audio signal to be rendered based on the first gain correspondence relationship and the second gain correspondence relationship.

[0025] In a third aspect, the present application also provides a renderer, which is arranged in a vehicle and is used to execute the audio signal rendering method provided in the first aspect of the present application.

[0026] 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.

[0027] 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 signal method provided in the first aspect of the present application.

[0028] 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 signal method provided in the first aspect of the present application.

[0029] The audio signal rendering method, renderer and vehicle audio system provided by the present application are aimed at the application scenario of audio signal rendering in a vehicle. Based on the layout of the speakers in the vehicle, a virtual spherical speaker array with the target listening position as the center is obtained through the first rendering, and the gain of each speaker channel in the vehicle when the virtual speaker sound source in the virtual spherical speaker array is rendered by the speakers in the vehicle, that is, the first gain correspondence relationship is obtained, and then the panoramic sound rendering algorithm is adopted to realize the rendering of the audio signal to be rendered by the virtual spherical speaker array through the second rendering, and the gain when the virtual speaker is used to render the virtual sound source corresponding to the audio signal to be rendered is obtained, that is, the second gain correspondence relationship is obtained, and the rendering of the audio signal to be rendered is performed in combination with the first gain correspondence relationship and the second gain correspondence relationship, and the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered is obtained. By rendering the virtual speaker array distributed along the sphere with the target listening position as the sphere center, the panoramic sound rendering algorithm is used for the rendering of the audio signal in the vehicle, and the panoramic sound audio rendering with the listening position in the vehicle as the best listening position is realized, the accuracy of the speaker channel gain control is improved, and the effect of the audio signal rendering is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0031] 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;

[0032] Figure 2 A flowchart of an audio signal rendering method provided in an embodiment of the present application;

[0033] Figure 3 For this application Figure 2 A schematic diagram of a virtual spherical speaker array provided by the illustrated embodiment;

[0034] Figure 4 A schematic diagram of a flow chart of another audio signal rendering method provided in an embodiment of the present application;

[0035] Figure 5 A flowchart of another audio signal rendering method provided in an embodiment of the present application;

[0036] Figure 6 A schematic diagram of a preset speaker array provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of the structure of an audio signal rendering device provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the structure of a vehicle audio system provided in an embodiment of the present application.

[0039] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0040] 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 embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0041] The in-vehicle audio system includes a speaker array composed of multiple speakers. The listening position in the vehicle is the position of the user's head sitting on the vehicle seat. The listening position is usually deviated from the center of the speaker array of the in-vehicle audio system. Therefore, the listening position in the vehicle is usually not the best listening position, which makes the effect of rendering the in-vehicle audio system using traditional rendering technology poor and unable to achieve panoramic sound rendering.

[0042] The following takes the 7.1.4 channel layout of the car audio system as an example. 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 1 As shown in the figure, the 7.1.4-channel car audio system includes 7 horizontal speakers (or surround speakers), 1 subwoofer and 4 sky speakers (or top speakers). 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.

[0043] The seats of users or passengers in a vehicle are usually in the rows of seats in the vehicle. Figure 1 Take five seats as an example. The listening positions corresponding to the five seats are located at O1 to O5 respectively, and the center of the speaker array of the vehicle audio system is located at O6. It can be seen that the five listening positions are not located at the center of the speaker array of the vehicle audio system. The traditional rendering technology uses the center of the speaker array, that is, point O6, as the best listening position for rendering, which cannot make the listening position on the vehicle the best listening position, resulting in poor sound rendering effect.

[0044] Based on the above problems, an embodiment of the present application provides an audio signal rendering method, which fully considers the position layout of the speaker array in the vehicle and the target listening position. Based on the layout of the speakers in the vehicle and the position of the target listening position, a virtual speaker array distributed along the spherical surface of a sphere with the target listening position as the center is rendered, that is, a virtual spherical speaker array, to obtain the gain of each speaker channel in the vehicle when the sound source at each virtual speaker is rendered using the speakers in the vehicle; a panoramic sound rendering algorithm is used to render the audio signal based on the virtual spherical speaker array, to obtain the gain of the virtual sound source corresponding to the audio signal when the virtual spherical speaker array is used to render the audio signal, and the gain correspondence relationship obtained by the two renderings is used to determine the gain of each speaker channel in the vehicle when rendering the audio signal, thereby improving the accuracy of determining the speaker channel gain, realizing panoramic sound rendering of the audio signal with the target listening position as the best listening position, improving the rendering effect of the audio signal in the vehicle, and the target listening position can be freely set by the user, thereby improving the freedom of rendering.

[0045] 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.

[0046] Figure 2 The present invention provides a flowchart of an audio signal rendering method provided in an embodiment of the present invention. The method 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 signal rendering method includes the following steps:

[0047] Step S201, obtaining an audio signal to be rendered and a target listening position.

[0048] The audio signal to be rendered is an audio signal that needs to be rendered in the vehicle, which may be an audio signal corresponding to music, video, etc., or an audio signal output by an application program such as in-vehicle karaoke or games.

[0049] In some embodiments, the audio signal may specifically be a sound object output by a decoder.

[0050] 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.

[0051] In some embodiments, the target listening position may be the position of the head of a user riding in a vehicle, such as the center of the head.

[0052] When there are multiple users in a vehicle, the center of the head of any one of the users can be used as the target listening position, such as a user who frequently rides the vehicle, a user with the highest priority, etc.

[0053] After receiving the input audio signal, the decoder decomposes the input audio signal into a sound object (AudioObject), a sound bed (Bed Audio) and sound metadata, and performs subsequent steps using the sound object as the audio signal to be rendered.

[0054] Step S202 : Based on the layout of the speakers in the vehicle, a virtual spherical speaker array with the target listening position as the sphere center is rendered to obtain a first gain correspondence relationship.

[0055] The virtual speakers in the virtual spherical speaker array are distributed along a sphere, and the first gain correspondence relationship is used to describe the gain of the speaker channel in the vehicle when the speaker in the vehicle is used to render the sound source at each of the virtual speakers.

[0056] The layout of the speakers in the vehicle may be a position layout of the speakers in the vehicle, and may also include a channel layout of the speakers. The position layout is used to describe the position or coordinates of each speaker, and the channel layout is used to describe the channel or channel corresponding to each speaker.

[0057] The virtual spherical speaker array is a hollow spherical array including a plurality of virtual speakers. The virtual speakers in the virtual spherical speaker array may be evenly distributed along the surface of a sphere with the target listening position as the center of the sphere.

[0058] When rendering a virtual spherical speaker array, the subwoofer can be ignored and only the horizontal speakers and the ceiling speakers can be considered.

[0059] The number of virtual speakers in the virtual spherical speaker array is greater than the number of speakers in the vehicle.

[0060] The more virtual speakers there are in the virtual spherical speaker array, the better the rendering effect is, and the higher the utilization rate of computing resources is. The number of virtual speakers in the virtual spherical speaker array can be configured based on the computing resources or computing performance of the audio signal rendering device (such as a renderer, server, etc.).

[0061] In some embodiments, the number of virtual speakers in the virtual spherical speaker array is at least k times the total number of horizontal speakers and sky speakers in the vehicle, and the value of k may be 10, 50, 100 or other values.

[0062] Based on a preset rendering algorithm, a virtual spherical speaker array with the target listening position as the center of the sphere can be rendered. The preset rendering algorithm can be an amplitude- or intensity-based rendering algorithm, such as DBAP (Distance Based Amplitude Panning), VBAP (Vector Based Amplitude Panning), VBIP (Vector Based Intensity Panning), MDAP (Multiple Direction Amplitude Panning), etc. It can also be a sound field reconstruction algorithm, such as a wave field synthesis algorithm (Wave Field Synthesis, WFS), or other rendering algorithms.

[0063] For example, Figure 3 For this application Figure 2 The schematic diagram of the virtual spherical speaker array provided by the embodiment shown is as follows: Figure 3 As shown, Figure 3 Taking the channel layout of the speaker array in the vehicle as 5.1.4 channels as an example, the speaker array in the vehicle includes speakers 301 to 310, speakers 301 to 305 are horizontal speakers, speaker 306 is a subwoofer, speakers 307 to 310 are sky speakers, Figure 3 Taking the target listening position as the center of the driver's head O31 as an example, based on the positions of the speakers 301 to 305, the speakers 307 to 310 and the position of the target listening position O31, a virtual spherical speaker array 32 is rendered. The virtual spherical speaker array includes a large number of virtual speakers distributed along the surface of a sphere with the target listening position O31 as the center of the sphere. Figure 3 Virtual speakers are represented by short lines.

[0064] Step S203: using a panoramic sound rendering algorithm to render the audio signal to be rendered based on the virtual spherical speaker array to obtain a second gain correspondence relationship.

[0065] The panoramic sound rendering algorithm is a rendering algorithm based on Ambisonics, which can be a first-order panoramic sound rendering algorithm (First Order Ambisonics, FOA) or a high-order panoramic sound rendering algorithm (High Order Ambisonics, HOA).

[0066] The panoramic sound rendering algorithm is a rendering algorithm proposed for spherical arrays, but the arrangement of the speaker array in the vehicle is not spherical, and the panoramic sound rendering algorithm cannot be directly applied for rendering. By rendering the speaker array in the vehicle as a virtual spherical speaker array, the audio rendering in the vehicle can be performed using the panoramic sound rendering algorithm.

[0067] Step S204: Rendering the audio signal to be rendered based on the first gain correspondence relationship and the second gain correspondence relationship.

[0068] For a virtual spherical speaker array Virtual speakers at In the first gain correspondence, the virtual speaker The corresponding gain vector of the speaker array in the vehicle is expressed as Through the virtual speaker The gain vector of the channel array of the speaker in the vehicle obtained when rendering the audio signal to be rendered is:

[0069] The gain vectors of the speaker channel array in the vehicle under each virtual speaker in the virtual spherical speaker array are superimposed to obtain the gain of each speaker channel in the speaker array in the vehicle when rendering the audio signal to be rendered, thereby realizing the panoramic sound rendering of the audio signal to be rendered.

[0070] In the technical solution provided in this embodiment, for the application scenario of rendering audio signals in a vehicle, based on the layout of the speakers in the vehicle, a virtual spherical speaker array centered on the target listening position is obtained through the first rendering, and the gain of each speaker channel in the vehicle when the virtual speaker sound source in the virtual spherical speaker array is rendered by the speakers in the vehicle, that is, the first gain correspondence relationship is obtained, and then the panoramic sound rendering algorithm is adopted, and the virtual spherical speaker array is used to render the audio signal to be rendered through the second rendering, and the gain when the virtual speaker is used to render the virtual sound source corresponding to the audio signal to be rendered is obtained, that is, the second gain correspondence relationship is obtained, and the rendering of the audio signal to be rendered is performed in combination with the first gain correspondence relationship and the second gain correspondence relationship, and the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered is obtained. By rendering the virtual speaker array distributed along the sphere with the target listening position as the sphere center, the panoramic sound rendering algorithm is used for the rendering of the audio signal in the vehicle, and the panoramic sound audio rendering with the listening position in the vehicle as the best listening position is realized, the accuracy of the speaker channel gain control is improved, and the effect of the audio signal rendering is improved.

[0071] In some embodiments, the coordinates of the target listening position may be determined based on a selection instruction input by the user. The selection instruction may include the coordinates of the target listening position. The selection instruction may include a selected seat, such as a main driver's seat, a co-pilot seat, a rear left seat, etc., and the coordinates of the target listening position are determined based on the selected seat.

[0072] 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, obtains a target listening position based on the selection instruction.

[0073] In some other embodiments, multiple listening positions may be acquired, and the target listening position may be determined based on the multiple listening positions.

[0074] When there are multiple users in the vehicle, that is, when there are multiple listening positions, one may be selected as a target listening position from the listening positions corresponding to the multiple users.

[0075] Optionally, obtain the coordinates of the target listening position, including:

[0076] When a plurality of users are seated in the vehicle, the target listening position is determined based on the seat positions of the respective users, the position priorities of the seat positions of the users, and the priorities of the respective users.

[0077] The coordinates of the target listening position may be an average value or a weighted average value of the coordinates of multiple listening positions.

[0078] 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.

[0079] 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.

[0080] By automatically determining the target listening position, the automation level of the entire rendering process is improved. There is no need for users to specify the target listening position, which improves the convenience of rendering. At the same time, multiple factors are taken into consideration when determining the target listening position, which improves the accuracy of the target listening position and thereby improves the overall auditory effect for multiple users in the vehicle.

[0081] Figure 4 A flowchart of another audio signal rendering method provided in an embodiment of the present application. Figure 2 Based on the embodiment shown, steps S201 to S203 are further refined as follows: Figure 4 As shown, the audio signal rendering method provided in this embodiment may include the following steps:

[0082] Step S401: obtaining an audio signal to be rendered and a target listening position.

[0083] In some embodiments, the audio signal to be rendered may be a sound object to be rendered.

[0084] The sound object to be rendered can be a sound object output after the audio signal to be rendered passes through a decoder in the vehicle, such as a sound object obtained after the audio signal output by an application running in the vehicle (such as a music player application, a game application, etc.) is input into a decoder.

[0085] Step S402, determine whether the target listening position is located in a preset area; if not, execute step S403; if yes, jump to step S406.

[0086] The preset area may be a designated area within the vehicle, such as the space corresponding to the first row of seats in the vehicle, an area near the front of the vehicle, etc.

[0087] The preset area may be an area that does not block the front row speakers or the front channel speakers, such as an area corresponding to the first row of seats.

[0088] In some embodiments, the preset area includes a main driver's seat and a co-driver's seat.

[0089] The preset areas are configurable parameters that can be determined by personnel based on the spatial geometry of the vehicle and the distribution of the speakers within the vehicle.

[0090] Specifically, it can be determined whether the coordinates of the target listening position fall within the interval where the preset area is located. If so, it is determined that the target listening position is within the preset area, otherwise, it is not within the preset area.

[0091] When the target listening position is within the preset area, such as the main driver's seat or the co-driver's seat, the key speakers in the vehicle, such as the front speakers, the front left speaker and the front right speaker, will not be blocked, and an algorithm based on sound field synthesis or reconstruction can be used for rendering, such as the rendering algorithm corresponding to steps S406 to S408; when the target listening position is not within the preset area, such as on the back seat, the key speakers in the vehicle, such as the front speakers, the front left speaker and the front right speaker, will be blocked by the front seat, and a panoramic sound rendering algorithm needs to be used for rendering to bypass the blockage, such as the rendering algorithm corresponding to steps S403 to S405, so that more sound details can reach the target listening position and improve the rendering effect.

[0092] Step S403 : Based on the layout of the speakers in the vehicle, a virtual spherical speaker array with the target listening position as the sphere center is rendered to obtain a first gain correspondence relationship.

[0093] Step S404: using a panoramic sound rendering algorithm to render the audio signal to be rendered based on the virtual spherical speaker array to obtain a second gain correspondence relationship.

[0094] Step S405: Rendering the audio signal to be rendered based on the first gain correspondence relationship and the second gain correspondence relationship.

[0095] Step S406: determining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position based on the target listening position and the coordinates of each loudspeaker in the vehicle.

[0096] The composite sound intensity function is a function that describes the composite sound intensity of each speaker in the vehicle with respect to the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered.

[0097] Specifically, the synthetic sound intensity function of each speaker in the vehicle at the target listening position can be determined based on the coordinates of the target listening position and the coordinates of the speakers in the vehicle, as well as parameters such as the orientation and frequency band of the speakers in the vehicle.

[0098] Specifically, the sound pressure of the speakers in the vehicle at the target listening position can be determined based on the coordinates of the target listening position, as well as the coordinates, frequency and orientation of the speakers in the vehicle; based on the sound pressure of each speaker in the vehicle at the target listening position, the synthetic sound intensity function of each speaker in the vehicle at the target listening position can be obtained.

[0099] The Green's Function can be used to describe the sound pressure of the sound source corresponding to each speaker in the vehicle.

[0100] The sound source corresponding to the loudspeaker can be regarded as a point sound source or a surface sound source.

[0101] Based on the distance of the loudspeaker relative to the target listening position, it can be determined whether the sound source corresponding to the loudspeaker is a point sound source or a surface sound source.

[0102] 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.

[0103] The preset distance may be a default value, or may be obtained based on the size of the speaker, such as a preset multiple of the size of the speaker, where the preset multiple may be 8 times, 10 times, 15 times, or other multiples. The size of the speaker may be a speaker diaphragm radius.

[0104] 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.

[0105] 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.

[0106] Step S407: determining a virtual sound intensity of the virtual sound source at a target listening position based on the virtual sound source corresponding to the audio signal to be rendered.

[0107] Based on the Green function, the sound pressure function of the virtual sound source corresponding to the audio signal to be rendered 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.

[0108] Step S408: 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 signal to be rendered.

[0109] In some embodiments, the synthesized 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 speaker corresponding to the same 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. Step S408 is specifically:

[0110] 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 signal to be rendered is solved with the goal of minimizing the second part.

[0111] In this embodiment, after obtaining the target listening position and the audio signal to be rendered, it is first determined whether the target listening position is located in the preset area, so that the audio signal to be rendered is divided into two different scenarios; for the situation within the preset area, the sound field synthesis method is used for rendering, which has a small amount of calculation compared to the panoramic sound rendering algorithm and reduces the rendering cost; for the situation not within the preset area, the panoramic sound rendering algorithm is used to bypass obstructions, such as the front seats, so that more sound details can reach the target listening position and improve the rendering effect.

[0112] Figure 5 A flowchart of another audio signal rendering method provided in an embodiment of the present application is provided. This embodiment is based on the previous embodiment and further defines the step of obtaining the second gain relationship, and further defines step S204 or step S405.

[0113] like Figure 5 As shown, the audio signal rendering method provided in this embodiment may specifically include the following steps:

[0114] Step S501: obtaining an audio signal to be rendered and a target listening position.

[0115] Step S502 : Based on the layout of the speakers in the vehicle, a virtual spherical speaker array with the target listening position as the sphere center is rendered to obtain a first gain correspondence relationship.

[0116] Step S503: Based on the spherical harmonic function, a spherical harmonic expansion is performed on the audio signal to be rendered to obtain a spherical harmonic weight coefficient matrix.

[0117] A point on a unit sphere or a point vector in three-dimensional space is mapped to a complex function value through a spherical harmonic function (also called spherical harmonics).

[0118] The corresponding audio signal to be rendered The virtual sound source at The virtual sound source at the position is expanded by spherical harmonics, and the obtained coefficients are formed into a diagonal matrix A, A = diag{a 0 , a 1 , a 1 , a 1 , ..., a N}, where diag{} represents a diagonal matrix, a i Virtual sound source The spherical harmonic weight coefficients obtained after the i-th order spherical harmonic expansion, the diagonal matrix A is the above-mentioned spherical harmonic weight coefficient matrix. The value range of the i-th order spherical harmonic function degree is [-i, i].

[0119] Step S504: obtaining an N-th order spherical harmonic vector of the audio signal to be rendered based on the sound source coordinates.

[0120] The N-order spherical harmonic vector of the audio signal to be rendered is for:

[0121]

[0122] in, Indicates that it is located The position of the virtual sound source at Y i，j () is the spherical harmonic function.

[0123] Step S505 : obtaining an N-order spherical harmonic vector of each virtual loudspeaker based on the coordinates of each virtual loudspeaker.

[0124] Wherein, N is a positive integer.

[0125] In some embodiments, N is a positive integer greater than 1.

[0126] Virtual Speaker The Nth-order spherical harmonic vector for:

[0127]

[0128] in, Indicates the position of the virtual speaker.

[0129] Step S506: determining the second gain correspondence relationship based on the N-order spherical harmonic vector of each virtual speaker, the spherical harmonic weight coefficient matrix, and the N-order spherical harmonic vector of the audio signal to be rendered.

[0130] For the virtual spherical loudspeaker array located The virtual speaker at which the rendered audio signal corresponds to The gain of each speaker channel in the vehicle when the virtual sound source is at for:

[0131]

[0132] Where N is the order of the selected panoramic sound rendering algorithm; For The Nth-order spherical harmonic vector of the virtual sound source at i，j () is the spherical harmonic function, i and j are integers less than or equal to N; A is the virtual sound source to be rendered The matrix composed of coefficients obtained after N-order spherical harmonic expansion; For sound source The Nth-order spherical harmonic vector at .

[0133] In the aforementioned embodiment, when the spherical harmonic function is used for panoramic sound rendering, the rendering is performed only based on the spatial angle.

[0134] In some embodiments, when determining the rendering step corresponding to the second gain correspondence relationship, the distance between the virtual sound source and the virtual speaker may also be considered for rendering, that is, a panoramic sound rendering algorithm combining distance.

[0135] Step S507, on the virtual spherical surface corresponding to the virtual spherical speaker array, calculate the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain a speaker gain vector to achieve rendering of the audio signal to be rendered.

[0136] The speaker gain vector includes the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered.

[0137] Loudspeaker gain vector The relationship is:

[0138]

[0139] in, Indicates that the integration is performed on the spherical surface where the virtual speaker is located, and the integral variable is the spherical coordinates of the virtual speaker The pitch angle and horizontal angle in Ω represent the sphere where the virtual speaker is located. The spherical surface representing the sphere on which the virtual speaker resides.

[0140] In some embodiments, due to the large number of virtual speakers on the sphere, the above integral calculation amount is large and the demand for computing resources is high. In order to reduce the integral calculation amount and improve the rendering efficiency, the above integral can be discretized.

[0141] Optionally, on a spherical surface corresponding to the virtual spherical speaker array, calculating the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship with respect to a pitch angle and a horizontal angle in the coordinates of the virtual speaker to obtain a speaker gain vector, including:

[0142] Discretize the integral of the product of the first gain correspondence and the second gain correspondence on the spherical surface corresponding to the virtual spherical speaker array with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain multiple discrete items; and obtain the speaker gain vector based on the multiple discrete items.

[0143] The discrete processing of the integral may adopt any discrete method, such as obtaining discrete items corresponding to some virtual speakers by sampling, and then obtaining the adjacent speaker gains by superimposing the discrete items corresponding to some virtual speakers.

[0144] The method of using multiple discrete terms to replace the original integral to obtain the speaker gain vector greatly reduces the amount of calculation, improves the efficiency of determining the speaker gain vector, and further improves the efficiency of audio signal rendering.

[0145] In some embodiments, the above integral may be discretized onto a preset speaker array to obtain discrete items corresponding to each virtual speaker in the preset speaker array.

[0146] Optionally, a product of the first gain correspondence relationship and the second gain correspondence relationship is subjected to discretization processing with respect to an integral of a pitch angle and a horizontal angle in the coordinates of the virtual speaker to obtain a plurality of discrete items, including:

[0147] The product of the first gain correspondence and the second gain correspondence on the spherical surface corresponding to the virtual spherical speaker array is integrated with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker, and is discretized on the preset speaker array to obtain discrete items corresponding to each virtual speaker in the preset speaker array; wherein the virtual speakers in the preset speaker array are evenly distributed along the spherical surface.

[0148] The number of virtual speakers in the preset speaker array is less than the number of virtual speakers in the virtual spherical speaker array. The speakers in the preset speaker array are regularly and evenly distributed.

[0149] In some embodiments, the virtual speakers in the preset speaker array are distributed along a sphere. For example, the preset speaker array may be an N-order virtual spherical speaker array, and the number of virtual speakers in the N-order virtual spherical speaker array is L.

[0150] In some embodiments, L and N satisfy the following relationship: L ≥ (N + 1) 2 In some embodiments, N is a positive integer greater than 1, and may specifically be between [2, 5]. For example, N may be 3.

[0151] For example, Figure 6 A schematic diagram of a preset speaker array provided in an embodiment of the present application, Figure 6 Two preset speaker arrays are shown in FIG. 1 , in which the number of virtual speakers in one preset speaker array is 6 and the number of virtual speakers in the other is 12, which correspond to the preset speaker arrays when N is 1 and N is 2, respectively. , the distribution of virtual speakers in the preset speaker array when N is 3, 4, and 5 is similar. Figure 6 As shown, the preset speaker array is evenly distributed along the spherical surface.

[0152] In some embodiments, when N is 2, the corresponding preset speaker array may include 9, 10, 11 or other numbers of speakers.

[0153] The relationship between the speaker gain vector obtained by integration is:

[0154]

[0155] make And discretize D on the preset speaker array composed of L virtual speakers to obtain in The relationship is:

[0156]

[0157] in, Indicates the position of the virtual speaker in the preset speaker array.

[0158] lie in The discrete term corresponding to the virtual speaker at is:

[0159]

[0160] Through the above discretization process, the final speaker gain vector is

[0161]

[0162] In this embodiment, high-order panoramic sound rendering is achieved through N-order spherical harmonic vectors, so that the sound source corresponding to the audio signal to be rendered can be rendered through a virtual spherical speaker array, thereby improving the fidelity of the sound source rendering, increasing the sound and image details, and thus improving the quality of the audio data rendering in the vehicle, and realizing panoramic sound rendering with the free listening position as the best listening position.

[0163] Optionally, determining the second gain correspondence based on the N-order spherical harmonic vector of each virtual speaker, the spherical harmonic weight coefficient matrix, and the N-order spherical harmonic vector of the audio signal to be rendered includes:

[0164] For each of the virtual speakers, the distance attenuation coefficient of the virtual speaker is calculated based on the spherical coordinates of the virtual speaker, the spherical coordinates of the virtual sound source corresponding to the audio signal to be rendered, and a preset distance function; based on the distance attenuation coefficient of each of the virtual speakers, the spherical harmonic weight coefficient matrix, the N-order spherical harmonic vector of each of the virtual speakers, and the N-order spherical harmonic vector of the audio signal to be rendered

[0165] Preset distance function Can be any type and distance The related function is specifically an inverse function of the distance, such as a first-order inverse function, an inverse square function, etc.

[0166] Exemplarily, the first-order inverse function may be:

[0167]

[0168] Among them, k 1 A constant, such as 1 or other value.

[0169] Exemplarily, the inverse square ratio may be:

[0170]

[0171] Among them, k 2 A constant, such as 1 or other value.

[0172] The spherical coordinates of the virtual speaker are And the spherical coordinates of the virtual sound source corresponding to the audio signal to be rendered, such as Substitute it into the preset distance function to obtain the distance attenuation coefficient of the virtual speaker.

[0173] In this embodiment, for the virtual speakers in the virtual spherical speaker array The virtual sound source corresponding to the audio signal to be rendered Gain for:

[0174]

[0175] Among them, A 1 is the normalization parameter.

[0176]

[0177] θ and denote the elevation angle and horizontal angle of the virtual speaker in spherical coordinates; θ s and They respectively represent the pitch angle and horizontal angle in spherical coordinates of the virtual sound source corresponding to the audio signal to be rendered. Indicates that the integration is performed on the spherical surface where the virtual speaker is located, and the integral variable is the spherical coordinates of the virtual speaker Ω is the sphere on which the virtual speaker is located.

[0178] Figure 7 A schematic diagram of the structure of an audio signal rendering device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the audio signal rendering device includes an audio signal acquisition module 710 , a first rendering module 720 , a second rendering module 730 and an audio signal rendering module 740 .

[0179] The audio signal acquisition module 710 is used to obtain the audio signal to be rendered and the target listening position; the first rendering module 720 is used to render a virtual spherical speaker array with the target listening position as the center of the sphere based on the layout of the speakers in the vehicle, and obtain a first gain correspondence relationship, wherein the virtual speakers in the virtual spherical speaker array are distributed along the sphere, and the first gain correspondence relationship is used to describe the gain of each speaker channel in the vehicle when the speakers in the vehicle render the sound sources at each virtual speaker; the second rendering module 730 is used to use a panoramic sound rendering algorithm to render the audio signal to be rendered based on the virtual spherical speaker array, and obtain a second gain correspondence relationship, wherein the second gain correspondence relationship is used to describe the gain when each virtual speaker in the virtual spherical speaker array is used to render the virtual sound source corresponding to the audio signal to be rendered; the audio signal rendering module 740 is used to render the audio signal to be rendered based on the first gain correspondence relationship and the second gain correspondence relationship.

[0180] In some embodiments, the second rendering module 730 includes:

[0181] An audio signal expansion unit is used to perform spherical harmonic expansion on the audio signal to be rendered based on a spherical harmonic function to obtain a spherical harmonic weight coefficient matrix; a first spherical harmonic vector acquisition unit is used to obtain the N-order spherical harmonic vector of the audio signal to be rendered based on the sound source coordinates, where N is a positive integer; a second spherical harmonic vector acquisition unit is used to obtain the N-order spherical harmonic vector of each virtual speaker based on the coordinates of each virtual speaker; a second gain correspondence determination unit is used to determine the second gain correspondence based on the N-order spherical harmonic vector of each virtual speaker, the spherical harmonic weight coefficient matrix and the N-order spherical harmonic vector of the audio signal to be rendered.

[0182] In some embodiments, the audio signal rendering module 740 is specifically configured to:

[0183] On a virtual spherical surface corresponding to the virtual spherical speaker array, the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker is calculated to obtain a speaker gain vector to achieve rendering of the audio signal to be rendered. The speaker gain vector includes the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered.

[0184] In some embodiments, the audio signal rendering module 740 includes:

[0185] An integral discrete unit is used to discretize the integral of the product of the first gain correspondence and the second gain correspondence on the spherical surface corresponding to the virtual spherical speaker array with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain multiple discrete items; a speaker gain vector obtaining unit is used to obtain the speaker gain vector based on the multiple discrete items.

[0186] In some embodiments, the integral discrete unit is specifically used to:

[0187] The product of the first gain correspondence and the second gain correspondence on the spherical surface corresponding to the virtual spherical speaker array is integrated with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker, and is discretized on the preset speaker array to obtain discrete items corresponding to each virtual speaker in the preset speaker array; wherein the virtual speakers in the preset speaker array are evenly distributed along the spherical surface.

[0188] In some embodiments, the second gain correspondence determination unit is specifically configured to:

[0189] For each of the virtual speakers, the distance attenuation coefficient of the virtual speaker is calculated based on the spherical coordinates of the virtual speaker, the spherical coordinates of the virtual sound source corresponding to the audio signal to be rendered, and a preset distance function; the second gain correspondence is determined based on the distance attenuation coefficient of each of the virtual speakers, the spherical harmonic weight coefficient matrix, the N-order spherical harmonic vector of each of the virtual speakers, and the N-order spherical harmonic vector of the audio signal to be rendered.

[0190] In some embodiments, the apparatus further comprises:

[0191] The listening position determination module is used to determine whether the target listening position is located in a preset area, wherein the preset area includes a main driver's seat and a co-driver's seat.

[0192] Accordingly, the first rendering module 720 is specifically configured to:

[0193] If the target listening position is not within the preset area, a virtual spherical speaker array with the target listening position as the sphere center is rendered based on the layout of the speakers in the vehicle to obtain a first gain correspondence relationship.

[0194] In some embodiments, the device further comprises a sound field reconstruction rendering module, which is used to:

[0195] If the target listening position is located in a preset area, a synthetic sound intensity function of each speaker in the vehicle at the target listening position is determined based on the target listening position and the coordinates of each speaker in the vehicle; based on the virtual sound source corresponding to the audio signal to be rendered, a virtual sound intensity of the virtual sound source at the target listening position is determined; the synthetic sound intensity function is used to reconstruct the virtual sound intensity, and the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered is solved.

[0196] In some embodiments, the audio signal acquisition module 710 is specifically used to:

[0197] Acquire an audio signal to be rendered; and when there are multiple users in the vehicle, determine the target listening position based on the seating position of each user, the position priority of the user's seating position, and the priority of each user.

[0198] 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.

[0199] An embodiment of the present application also provides a renderer, which is arranged in a vehicle, and is used to execute the audio signal rendering method provided in any embodiment of the present application to achieve panoramic sound rendering of the audio signal.

[0200] Figure 8 The structure diagram of a vehicle audio system provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the vehicle audio system includes: multiple speakers and a renderer.

[0201] The renderer is used to execute the audio signal rendering method provided in any embodiment of the present application, obtain the gain of each of the multiple speakers when rendering the audio signal, and realize the panoramic sound rendering of the audio signal.

[0202] In some embodiments, the in-vehicle audio system further includes a plurality of sensors.

[0203] In some embodiments, the in-vehicle audio system includes an ADAS (Advanced Driving Assistance System).

[0204] 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.

[0205] 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.

[0206] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0207] It should be understood that the present disclosure is not limited to the exact 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 disclosure is limited only by the appended claims.

Claims

1. A method for rendering an audio signal, characterized in that: include: Obtain the audio signal to be rendered and the target listening position; Based on the layout of the speakers in the vehicle, a virtual spherical speaker array with the target listening position as the sphere center is rendered to obtain a first gain correspondence relationship, wherein the virtual speakers in the virtual spherical speaker array are distributed along the sphere, and the first gain correspondence relationship is used to describe the gain of each speaker channel in the vehicle when the speakers in the vehicle are used to render the sound source at each virtual speaker; Using a panoramic sound rendering algorithm, rendering the audio signal to be rendered based on the virtual spherical speaker array, to obtain a second gain correspondence relationship, wherein the second gain correspondence relationship is used to describe the gain when each virtual speaker in the virtual spherical speaker array is used to render a virtual sound source corresponding to the audio signal to be rendered; The to-be-rendered audio signal is rendered based on the first gain correspondence relationship and the second gain correspondence relationship.

2. The method according to claim 1, characterized in that The panoramic sound rendering algorithm is used to render the audio signal to be rendered based on the virtual spherical speaker array to obtain a second gain correspondence relationship, including: Based on the spherical harmonic function, performing spherical harmonic expansion on the audio signal to be rendered to obtain a spherical harmonic weight coefficient matrix; Based on the sound source coordinates, obtaining an N-th order spherical harmonic vector of the audio signal to be rendered, where N is a positive integer; Based on the coordinates of each of the virtual loudspeakers, obtaining an N-order spherical harmonic vector of each of the virtual loudspeakers; The second gain correspondence is determined based on the N-order spherical harmonic vector of each virtual speaker, the spherical harmonic weight coefficient matrix, and the N-order spherical harmonic vector of the audio signal to be rendered.

3. The method according to claim 2, characterized in that Rendering the to-be-rendered audio signal based on the first gain correspondence relationship and the second gain correspondence relationship includes: On a virtual spherical surface corresponding to the virtual spherical speaker array, the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker is calculated to obtain a speaker gain vector to achieve rendering of the audio signal to be rendered. The speaker gain vector includes the gain of each speaker channel in the vehicle when rendering the audio signal to be rendered.

4. The method according to claim 3, characterized in that On a spherical surface corresponding to the virtual spherical speaker array, the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker is calculated to obtain a speaker gain vector, including: Discretize the integral of the product of the first gain correspondence relationship and the second gain correspondence relationship on the spherical surface corresponding to the virtual spherical speaker array with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain a plurality of discrete items; The loudspeaker gain vector is obtained based on the plurality of discrete items.

5. The method according to claim 4, characterized in that The product of the first gain correspondence relationship and the second gain correspondence relationship is subjected to discretization processing with respect to the integral of the pitch angle and the horizontal angle in the coordinates of the virtual speaker to obtain a plurality of discrete items, including: Discretize the product of the first gain correspondence relationship and the second gain correspondence relationship on the spherical surface corresponding to the virtual spherical speaker array with respect to the pitch angle and the horizontal angle in the coordinates of the virtual speaker on the preset speaker array to obtain discrete items corresponding to each virtual speaker in the preset speaker array; Wherein, the virtual speakers in the preset speaker array are evenly distributed along the spherical surface.

6. The method according to claim 2, characterized in that Determining the second gain correspondence relationship based on the N-order spherical harmonic vector of each virtual speaker, the spherical harmonic weight coefficient matrix, and the N-order spherical harmonic vector of the audio signal to be rendered includes: For each of the virtual speakers, based on the spherical coordinates of the virtual speaker, the spherical coordinates of the virtual sound source corresponding to the audio signal to be rendered, and a preset distance function, calculating a distance attenuation coefficient of the virtual speaker; The second gain correspondence is determined based on the distance attenuation coefficient of each virtual speaker, the spherical harmonic weight coefficient matrix, the N-order spherical harmonic vector of each virtual speaker, and the N-order spherical harmonic vector of the audio signal to be rendered.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Determining whether the target listening position is located in a preset area; If not, the step of rendering a virtual spherical speaker array with the target listening position as the sphere center based on the layout of the speakers in the vehicle is performed.

8. The method according to claim 7, characterized in that The method further comprises: If the target listening position is located in a preset area, determining a synthetic sound intensity function of each loudspeaker in the vehicle at the target listening position based on the target listening position and the coordinates of each loudspeaker in the vehicle; Determining a virtual sound intensity of the virtual sound source at a target listening position based on a virtual sound source corresponding to the audio signal to be rendered; The synthetic sound intensity function is used to reconstruct the virtual sound intensity, and the gain of each speaker channel in the vehicle is solved when rendering the audio signal to be rendered.

9. The method according to any one of claims 1 to 6, characterized in that: Get the coordinates of the target listening position, including: When a plurality of users are seated in the vehicle, the target listening position is determined based on the seat positions of the respective users, the position priorities of the seat positions of the users, and the priorities of the respective users.

10. A renderer, characterized in that: The renderer is arranged in a vehicle, and is used to execute the method according to any one of claims 1 to 9 to render an audio signal.

11. A vehicle audio system, arranged in a vehicle, characterized in that: include: A plurality of speakers and the renderer as claimed in claim 10.

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