Target detection method and device, vehicle and storage medium

Abstract

The application provides a target detection method and device, a vehicle and a storage medium, and relates to the field of automatic driving. The method comprises the following steps: collecting sound wave signals in an environment in which a vehicle is located through a microphone array of the vehicle; identifying a target sound source in the environment according to the sound wave signals; measuring a time difference between sub-sound wave signals of the target sound source and any two microphones in the microphone array; and positioning a current position of the target sound source according to the time difference and installation positions of the any two microphones. Thus, the penetration of sound waves is used, the sound wave signals captured by the microphone array installed on the vehicle are used to identify the target sound source (such as a moving object) in the environment in which the vehicle is located and to position the position of the target sound source, the accuracy and comprehensiveness of target sound source identification can be improved, the situation that a sound source or a moving object is missed and a collision accident of the vehicle occurs can be avoided, and the safety of vehicle driving can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and in particular to a target detection method and device, a vehicle and a storage medium. BACKGROUND

[0002] In the related art, the perception device (such as a vehicle-mounted camera, an ultrasonic radar, a laser radar, a millimeter wave radar, etc.) of a vehicle can be used to detect obstacles in the environment in which the vehicle is located, and obtain information related to the obstacles (such as the category and position of the obstacles).

[0003] However, when the vehicle is driving in an environment with many obstructions (such as an underground parking lot), the perception device cannot effectively detect the obstacles or moving objects (such as moving vehicles, pedestrians, etc.) that are blocked by the obstructions (such as walls, etc.). For example, the perception device cannot effectively detect the "ghost probe" scenario caused by the obstruction. When the moving object is detected by the perception device, it may be too late to brake, thereby causing a collision accident of the vehicle and seriously reducing the safety of the vehicle driving. SUMMARY

[0004] The present application aims to at least partially solve one of the technical problems in the related art.

[0005] To this end, the present application proposes a target detection method and device, a vehicle and a storage medium to improve the accuracy and comprehensiveness of target sound source (such as moving object) identification, avoid missing the identification of blocked sound sources or moving objects, and reduce the occurrence of collision accidents of the vehicle, thereby improving the safety of the vehicle driving.

[0006] In one aspect, an embodiment of the present application provides a target detection method, comprising:

[0007] acquiring, by a microphone array of a vehicle, a sound wave signal in an environment in which the vehicle is located;

[0008] identifying a target sound source in the environment according to the sound wave signal;

[0009] measuring a time difference between the arrival of a sub-sound wave signal of the target sound source in the sound wave signal at any two microphones in the microphone array;

[0010] locating a current position of the target sound source according to the time difference and the installation positions of the any two microphones.

[0011] In another aspect, an embodiment of the present application provides a target detection device, comprising:

[0012] an acquisition module configured to acquire, by a microphone array of a vehicle, a sound wave signal in an environment in which the vehicle is located;

[0013] identify a target sound source in the environment according to the sound wave signal;

[0014] measure a time difference of a sub-sound wave signal of the target sound source in the sound wave signal to any two microphones in the microphone array;

[0015] position a current position of the target sound source according to the time difference and installation positions of the any two microphones.

[0016] In an aspect of the present application, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the target detection method according to the foregoing aspect when executing the program.

[0017] In another aspect of the present application, a vehicle is provided, which includes at least one processor, and a memory in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the target detection method according to the foregoing aspect.

[0018] In another aspect of the present application, a non-transitory computer readable storage medium is provided, which stores computer program instructions executable by a processor, and the computer program instructions are executed by the processor to implement the target detection method according to the foregoing aspect.

[0019] In another aspect of the present application, a computer program product is provided, which stores a computer program executable by a processor, and the program is executed by the processor to implement the target detection method according to the foregoing aspect.

[0020] The target detection method, device, vehicle and storage medium provided by the present application use the penetration of sound waves, capture the sound of a specific frequency when a moving object (such as a pedestrian, a non-motor vehicle, a motor vehicle, etc.) moves through a microphone array installed on the vehicle, and then identify a target sound source (such as a moving object) in the environment where the vehicle is located and locate the position of the target sound source according to the sound wave signal captured by the microphone array. This can improve the accuracy and comprehensiveness of target sound source (such as moving object) identification, avoid missing identification of the sound source or moving object that is blocked, and thus avoid the situation where the vehicle collides and causes an accident, thereby improving the safety of vehicle driving.

[0021] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings of which:

[0023] Figure 1 Parking route map for a vehicle in an underground parking lot;

[0024] Figure 2 Flowchart of a first target detection method provided by an embodiment of the present application;

[0025] Figure 3 Flowchart of a second target detection method provided by an embodiment of the present application;

[0026] Figure 4 Flowchart of a third target detection method provided by an embodiment of the present application;

[0027] Figure 5 Flowchart of a fourth target detection method provided by an embodiment of the present application;

[0028] Figure 6 Structure diagram of a valet parking obstacle detection system based on an external microphone array provided by an embodiment of the present application;

[0029] Figure 7 Identification principle diagram of a target sound source provided by an embodiment of the present application;

[0030] Figure 8 Schematic diagram of the relative position relationship between a vehicle and a target sound source S provided by an embodiment of the present application Figure 1 ;

[0031] Figure 9 Schematic diagram of the relative position relationship between a vehicle and a target sound source S provided by an embodiment of the present application Figure 2 ;

[0032] Figure 10 Structure diagram of a target detection device provided by an embodiment of the present application;

[0033] Figure 11 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below with reference to the attached drawings, which show by way of example, embodiments in which like numerals indicate like elements or elements having similar functions. The embodiments described below are examples intended to explain the present application and should not be understood as limiting the present application.

[0035] The valet parking technology is a technical carrier for realizing the last mile. Through a pre-prepared map or a self-learned route map of a parking lot, a valet parking route is planned, and a vehicle is controlled to automatically travel along the predetermined route from a starting position of the route to a target parking position and park in a parking space at the target parking position. During the automatic travel of the vehicle, obstacle information on the parking route is detected in real time by a vehicle-mounted sensing device (such as a vehicle-mounted camera, an ultrasonic radar, a laser radar, a millimeter wave radar, etc.), and decisions such as avoidance, detour, avoidance, braking, etc. are made in a timely manner.

[0036] As an example, the parking route of a vehicle in an underground parking lot can be as shown in Figure 1 The vehicle can automatically travel to the target parking position and park in the parking space at the target parking position according to the planned parking route.

[0037] However, the main scenario of the valet parking function is in an underground parking lot, and the underground parking lot is characterized by many "ghost probe" scenarios caused by shielding. The moving objects (such as moving vehicles, pedestrians, etc.) shielded by the shielding objects (such as walls, etc.) cannot be effectively detected by the vehicle-mounted sensing device. When the moving objects are detected by the sensing device, the vehicle has already braked too late, resulting in a collision accident.

[0038] The "ghost probe" refers to a non-motor vehicle or a pedestrian suddenly jumping out from the roadside when there is a vehicle or an obstacle in front of the line of sight, that is, a blind area of the field of view.

[0039] To solve at least one of the above problems, the present application provides a target detection method, device, electronic equipment, vehicle and storage medium.

[0040] The target detection method, device, vehicle and storage medium of the embodiments of the present application are described below with reference to the accompanying drawings.

[0041] Figure 2 The flowchart of the first target detection method provided by the embodiments of the present application is shown.

[0042] The embodiments of the present application take the target detection method configured in the target detection device as an example, which can be applied to any electronic equipment or vehicle with computing capability, so that the electronic equipment or vehicle can perform the target detection function.

[0043] The electronic equipment can be a personal computer, a mobile terminal, a television, etc. The mobile terminal is, for example, a vehicle-mounted device, a mobile phone, a tablet computer, a personal digital assistant, etc. hardware devices with various operating systems.

[0044] As shown in Figure 2 The target detection method can include the following steps S201 to S204:

[0045] In step S201, a sound wave signal in an environment where the vehicle is located is collected through a microphone array of the vehicle.

[0046] The microphone array is installed on the vehicle, and can be installed inside or outside the vehicle, which is not limited in the embodiments of the present application.

[0047] The microphone array is composed of multiple microphones. It should be noted that the installation positions of the multiple microphones are not limited in the present application, and the installation distances between the multiple microphones are also not limited. For example, the multiple microphones can be installed at equal intervals, or can be installed at unequal intervals. Exemplarily, the number of microphones in the microphone array is denoted as N, where N is a positive integer greater than 1.

[0048] The environment where the vehicle is located is not limited, for example, the environment can be an underground parking lot, a construction road section, a narrow alley, a city street, etc.

[0049] In the embodiments of the present application, the sound wave signal in the environment where the vehicle is located can be collected or captured through the microphone array of the vehicle.

[0050] In a possible implementation manner of the embodiments of the present application, in order to improve the accuracy of target detection, the sound wave signal in the environment where the vehicle is located can be collected through the microphone array installed outside the vehicle.

[0051] In step S202, a target sound source in the environment is identified according to the sound wave signal.

[0052] The number of target sound sources can be one or multiple, which is not limited in the embodiments of the present application.

[0053] Considering that the characteristic frequencies of the motion sounds of different sound sources or moving objects (such as pure electric vehicles, hybrid vehicles, fuel vehicles, electric two-wheeled vehicles, pedestrians, etc.) are different, for example, the characteristic frequency of a pure electric vehicle is f1 Hz (Hertz), the characteristic frequency of a hybrid vehicle is f2 Hz, the characteristic frequency of a fuel vehicle is f3 Hz, the characteristic frequency of an electric two-wheeled vehicle is f4 Hz, etc., in the present application, the sound source (denoted as a target sound source in the present application) existing in the environment where the vehicle is located can be identified according to the sound wave signal based on the characteristic frequencies of different sound sources.

[0054] In step S203, a time difference of a sub-sound wave signal of the target sound source in the sound wave signal to any two microphones in the microphone array is measured.

[0055] In the embodiments of the present application, the sub-acoustic wave signal belonging to the target sound source can be determined from the acoustic wave signal according to the characteristic frequency of the target sound source. For example, the sub-acoustic wave signal of the target sound source can be obtained by filtering and amplifying the acoustic wave signal based on the characteristic frequency of the target sound source.

[0056] In the embodiments of the present application, the time difference of the sub-acoustic wave signal reaching any two microphones in the microphone array can also be measured, that is, the time difference of the sound of the target sound source reaching any two microphones in the microphone array is measured.

[0057] As an example, the time t i at which the sub-acoustic wave signal reaches microphone M i is measured, and the time t j at which the sub-acoustic wave signal reaches microphone M j is measured. Then, the time difference of the sub-acoustic wave signal reaching microphone M i and microphone M j is:

[0058] Δt ij =t i -t j ; (1)

[0059] wherein i, j = {1, 2, 3, …, N}.

[0060] In step S204, the current position of the target sound source is located according to the time difference and the installation positions of any two microphones.

[0061] In the embodiments of the present application, the current position of the target sound source can be calculated according to the time difference of any two microphones in the microphone array and the installation positions of the two microphones.

[0062] As an example, first, a plane coordinate system (i.e., a vehicle coordinate system) is established with the center of the rear axle of the vehicle as the origin, wherein the positive direction of the horizontal axis (x-axis) is consistent with the driving direction of the vehicle, and the vertical axis (y-axis) is perpendicular to the x-axis. The installation position (or installation coordinates) of microphone M i in the vehicle coordinate system is (x i , y i ), the installation position of microphone M j is (x j , y j ), the current position of the target sound source S in the vehicle coordinate system is (x S , y S ), the straight-line distance between the target sound source S and microphone M i is d i , and the straight-line distance between the target sound source S and microphone M j is dj , then there is:

[0063]

[0064] where c is the speed of sound, which is a constant, and i, j = {1, 2, 3, …, N}.

[0065] Since (x i , y i ), (x j , y j ), c are all determined values, and Δt ij is a measurable value, therefore, by the above formula (3) and formula (1), a system of equations can be constructed to solve the current position (x S , y S ) of the target sound source S in the vehicle coordinate system.

[0066] The target detection method of the embodiments of the present application uses the penetrability of sound waves to capture the sound of a specific frequency when a moving object (such as a pedestrian, a non-motor vehicle, a motor vehicle, etc.) moves through the microphone array installed on the vehicle, and then identifies the target sound source (such as a moving object) in the environment in which the vehicle is located and locates the position of the target sound source according to the sound wave signals captured by the microphone array. This can improve the accuracy and comprehensiveness of target sound source (such as moving object) identification, avoid missing identification of a blocked sound source or moving object, and thus prevent the occurrence of a collision accident of the vehicle, thereby improving the safety of the vehicle in driving.

[0067] The embodiments of the present application provide another target detection method, Figure 3 which is a flowchart of the second target detection method provided by the embodiments of the present application.

[0068] It should be noted that the target detection method can be executed alone, or can be executed in combination with any one of the embodiments or the possible implementation manners in the embodiments, or can be executed in combination with any one of the technical solutions in the related art, and the embodiments of the present application do not limit this.

[0069] As shown in Figure 3 , the target detection method can include the following steps S301 to S306:

[0070] Step S301: Collecting sound wave signals in the environment in which the vehicle is located through the microphone array of the vehicle.

[0071] The explanation of step S301 can be referred to the related description in any one of the embodiments of the present application, which will not be repeated here.

[0072] Step S302: Obtaining a sound source frequency set; wherein the sound source frequency set includes characteristic frequencies of multiple types of known sound sources.

[0073] In the embodiments of the present application, sound samples of different types of known sound sources (such as pure electric vehicles, hybrid vehicles, fuel vehicles, electric two-wheel vehicles, pedestrians, etc.) can be collected in advance, and the frequency spectrum of each sound sample is analyzed to extract the main frequency components. According to the results of the frequency spectrum analysis, the characteristic frequency (i.e., the main characteristic frequency) of each type of known sound source is determined, and the characteristic frequencies of these known sound sources are sorted into a sound source frequency set.

[0074] As an example, the number of labeled known sound sources is n, and the sound source frequency set can be f s ={f s1 ,f s2 ,f s3 ,…,f sn}, where f sk is the characteristic frequency of the kth known sound source, k = {1, 2, 3, …, n}.

[0075] It should be noted that the sound source frequency set can also be updated according to actual application requirements, for example, when a new type of sound source is added in a traffic scene, the characteristic frequency of the sound source can be added to the sound source frequency set.

[0076] Step S303: Obtain the frequency spectrum of the sound wave signal.

[0077] In the embodiments of the present application, a correlation transform algorithm (for example, Fourier transform (such as FFT (Fast Fourier Transform), STFT (Short-Time Fourier Transform), MFCCs (Mel-Frequency Cepstral Coefficients), Gammatone Filterbank, Bark algorithm (Bark frequency band algorithm), etc.) can be used to transform and process the sound wave signal to obtain the frequency spectrum of the sound wave signal.

[0078] Step S304: Determine the target sound source in the environment from a plurality of known sound sources based on the sound source frequency set and the frequency spectrum.

[0079] In the embodiments of the present application, the sound source frequency set and the frequency spectrum of the sound wave signal can be combined to determine the target sound source in the environment of the vehicle from a plurality of known sound sources.

[0080] In any one of the embodiments of the present application, the target sound source can be determined using the following steps A to C:

[0081] Step A: Determine the filter frequency band of the plurality of known sound sources according to the sound source frequency set.

[0082] As an example, the characteristic frequency of the kth known sound source is marked as f sk The filter frequency band of the kth known sound source can be [f sk -Δ, f sk +Δ].

[0083] Wherein, Δ is a pre-set frequency interval, and exemplarily, Δ can be 50 Hz.

[0084] Step B: filtering the frequency spectrum based on the filter frequency band of each known sound source, to obtain the filtered frequency spectrum corresponding to each known sound source.

[0085] Still taking the above example, a band-pass filter (filter frequency band [f sk -Δ, f sk +Δ]) can be used to filter the frequency spectrum of the sound wave signal, to obtain the filtered frequency spectrum corresponding to the kth known sound source.

[0086] Step C: energy detection is performed on the filtered frequency spectrum corresponding to each known sound source, to determine the target sound source from the known sound sources according to the detection result.

[0087] In the embodiments of the present application, energy detection can be performed on the filtered frequency spectrum corresponding to each known sound source, to obtain a detection result, wherein the detection result is used to indicate the energy of the known sound sources, so that in the present application, the target sound source in the environment where the vehicle is located can be determined from the known sound sources according to the detection result.

[0088] Exemplarily, the known sound source with relatively high energy can be taken as the target sound source existing in the environment where the vehicle is located.

[0089] As an example, the target sound source can be determined from the known sound sources according to the detection result and a set energy threshold, wherein the energy of the target sound source is higher than the energy threshold.

[0090] Still taking the above example, energy detection can be performed on the filtered frequency spectrum corresponding to the kth known sound source, to obtain the energy of the kth known sound source, and it is judged whether the energy of the kth known sound source is higher than the energy threshold, if yes, the kth known sound source is taken as the target sound source.

[0091] Step S305: measuring the time difference between the arrival of the sub-sound wave signal of the target sound source in the sound wave signal at any two microphones in the microphone array.

[0092] Step S306: positioning the current position of the target sound source according to the time difference and the installation positions of the any two microphones.

[0093] The explanation of steps S305 to S306 can be referred to the related description in any of the embodiments of the present application, which will not be repeated here.

[0094] The target detection method of the embodiments of the present application can effectively identify a specific target sound source from complex sound signals based on a sound source frequency set, can be applied to various application scenarios, and improves the applicability of the method.

[0095] The embodiments of the present application provide another target detection method, Figure 4 The flowchart of the third target detection method provided by the embodiments of the present application is shown.

[0096] It should be noted that the target detection method can be executed alone, or can be executed in combination with any of the embodiments or possible implementation manners of the embodiments of the present application, or can be executed in combination with any of the technical solutions in the related art, and the embodiments of the present application do not limit this.

[0097] As shown in Figure 4 The target detection method can include the following steps S401 to S407.

[0098] Step S401, collecting sound signals in the environment where the vehicle is located through the microphone array of the vehicle.

[0099] Step S402, identifying a target sound source in the environment according to the sound signals.

[0100] Step S403, measuring the time difference of the sub-sound signals of the target sound source in the sound signals to reach any two microphones in the microphone array.

[0101] Step S404, positioning the current position of the target sound source according to the time difference and the installation positions of the two microphones.

[0102] The explanation of steps S401 to S404 can be referred to the related description in any of the embodiments of the present application, which will not be repeated here.

[0103] Step S405, obtaining the initial receiving frequency and the current receiving frequency of the sub-sound signals.

[0104] In the embodiments of the present application, the initial receiving frequency of the sub-sound signals belonging to the target sound source in the sound signals can be obtained, and the frequency of the sub-sound signals received in real time in the movement process of the target sound source (referred to as the current receiving frequency in the present application) can be obtained.

[0105] Step S406, determining the current movement speed of the target sound source according to the initial receiving frequency and the current receiving frequency.

[0106] In the embodiment of the present application, the current motion speed (i.e., real-time motion speed) of the target sound source can be calculated according to the Doppler effect, the initial receiving frequency and the current receiving frequency.

[0107] As an example, the initial receiving frequency is marked as f0, the current receiving frequency is marked as f Δ , and the current motion speed of the target sound source is marked as v, then:

[0108]

[0109] When v>0, it indicates that the target sound source is approaching the vehicle; when v<0, it indicates that the target sound source is moving away from the vehicle; and when v=0, it indicates that the target sound source is stationary (i.e., the target sound source is relatively stationary with the vehicle).

[0110] In step S407, the vehicle is controlled to travel based on the current motion speed and the current position of the target sound source.

[0111] In the embodiment of the present application, the vehicle can be controlled to travel based on the current motion speed and the current position of the target sound source.

[0112] For example, in the case of v>0 and / or the current position of the target sound source is relatively close to the vehicle, the vehicle can be controlled to reduce the travel speed; in the case of v≤0 and / or the current position of the target sound source is relatively far away from the vehicle, the vehicle can be controlled to continue traveling in the current travel state.

[0113] The target detection method of the embodiment of the present application controls the vehicle to travel based on the relative position relationship and speed relationship between the target sound source and the vehicle, which can plan the vehicle to slow down or wait for the other party to give way before the vehicle enters a dangerous area, so as to avoid collision accidents and improve the safety of vehicle travel.

[0114] The embodiment of the present application provides another target detection method, Figure 5 The flowchart of the fourth target detection method provided by the embodiment of the present application is shown in FIG. 6.

[0115] It should be noted that the target detection method can be executed alone, or can be executed in combination with any embodiment or possible implementation manner in the present application, or can be executed in combination with any technical solution in the related art, and the present application does not limit this.

[0116] As shown in FIG. 5, Figure 5 the target detection method can include the following steps S501 to S509:

[0117] In step S501, the sound wave signal in the environment where the vehicle is located is collected through the microphone array of the vehicle.

[0118] Step S502, identifying a target sound source in the environment according to the sound wave signal.

[0119] Step S503, measuring a time difference between the arrival of the sub-sound wave signal of the target sound source at any two microphones in the microphone array.

[0120] Step S504, positioning a current position of the target sound source according to the time difference and the installation positions of the any two microphones.

[0121] Step S505, obtaining an initial receiving frequency and a current receiving frequency of the sub-sound wave signal.

[0122] Step S506, determining a current motion speed of the target sound source according to the initial receiving frequency and the current receiving frequency.

[0123] The explanation of steps S501-S506 can refer to the related description in any embodiment of the present application, and will not be repeated here.

[0124] Step S507, determining a motion trend of the target sound source according to the current motion speed.

[0125] In the embodiments of the present application, the motion trend of the target sound source can be determined according to the current motion speed of the target sound source.

[0126] As an example, when v>0, the motion trend of the target sound source is approaching the vehicle; when v<0, the motion trend of the target sound source is moving away from the vehicle; and when v=0, the motion trend of the target sound source is relatively stationary with the vehicle.

[0127] Step S508, obtaining a distance between the current position and an origin of the vehicle coordinate system.

[0128] In the embodiments of the present application, the distance between the current position of the target sound source and the origin of the vehicle coordinate system can be calculated. For example, the distance can be:

[0129] Step S509, performing driving control on the vehicle according to at least one of the distance and the motion trend.

[0130] In the embodiments of the present application, the driving control on the vehicle can be performed according to at least one of the distance between the target sound source and the origin of the vehicle coordinate system and the motion trend of the target sound source.

[0131] In any one of the embodiments of the present application, it can be determined whether the distance between the target sound source and the origin of the vehicle coordinate system is greater than a first decision radius, and in the case that the distance is greater than the first decision radius, it indicates that the target sound source is far away from the vehicle, and at this time, the vehicle can be controlled to continue driving in the current driving state.

[0132] wherein the first decision radius is greater than a perception radius of the perception device of the vehicle.

[0133] In any one of the embodiments of the present application, in the case that the distance between the target sound source and the origin of the vehicle coordinate system is less than or equal to the first decision radius, it can be further determined whether the distance is greater than a second decision radius; wherein the perception radius of the perception device < the second decision radius < the first decision radius.

[0134] If yes, i.e. the second decision radius < the distance ≤ the first decision radius, it indicates that the target sound source is neither close nor far away from the vehicle, at this time, it can be further determined whether the motion trend of the target sound source is to approach the vehicle, if the motion trend of the target sound source is to approach the vehicle (v>0), the vehicle is controlled to reduce the driving speed to the first vehicle speed threshold, and if the motion trend of the target sound source is not to approach the vehicle (v≤0), i.e. the motion trend of the target sound source is to move away from the vehicle or is relatively stationary with the vehicle, the vehicle is controlled to continue driving in the current driving state.

[0135] wherein the first vehicle speed threshold refers to a pre-set safe vehicle speed.

[0136] In any one of the embodiments of the present application, in the case that the distance between the target sound source and the origin of the vehicle coordinate system is less than or equal to the second decision radius, it can be further determined whether the distance is greater than a third decision radius, wherein the third decision radius matches or is consistent with the perception radius of the perception device of the vehicle.

[0137] If yes, i.e. the third decision radius < the distance ≤ the second decision radius, it indicates that the target sound source is relatively close to the vehicle, at this time, it can be further determined whether the motion trend of the target sound source is to approach the vehicle, if the motion trend of the target sound source is to approach the vehicle (v>0), the vehicle is controlled to reduce the driving speed to the second vehicle speed threshold, and if the motion trend of the target sound source is not to approach the vehicle (v≤0), i.e. the motion trend of the target sound source is to move away from the vehicle or is relatively stationary with the vehicle, the vehicle is controlled to continue driving in the current driving state.

[0138] wherein the second vehicle speed threshold is a pre-set vehicle speed threshold, and the second vehicle speed threshold is less than the first vehicle speed threshold, and exemplarily, the second vehicle speed threshold can be zero.

[0139] In any one of the embodiments of the present application, in the case that the distance between the target sound source and the origin of the vehicle coordinate system is less than or equal to the third decision radius, it indicates that the target sound source has entered the sensing range of the sensing device of the vehicle, at this time, the sensing result of the sensing device can be obtained, and the vehicle is controlled to travel based on the sensing result, and at the same time, the alarm information can be sent to remind the relevant personnel (such as the driver, the passenger, the remote control personnel who takes over the vehicle in the background) that the target sound source is approaching the vehicle, and pay attention to avoid in time.

[0140] The target detection method of the embodiments of the present application controls the vehicle to travel based on the relative position relationship and speed relationship between the target sound source and the vehicle, which can plan the vehicle to slow down or wait for the right-of-way before entering the dangerous area, so as to avoid the occurrence of collision accidents and improve the safety of vehicle travel.

[0141] Taking the installation of the Microflown array outside the vehicle as an example, in order to solve the "ghost probe" scene in the automatic driving process of the valet parking function which cannot be effectively solved by the existing sensing device (such as vehicle-mounted camera, ultrasonic radar, laser radar, millimeter wave radar, etc.), the present application proposes a valet parking obstacle detection system based on the car exterior microphone array, which uses the way of adding car exterior microphone, uses the penetration of sound wave, captures the sound of specific frequency when the moving object runs through the car exterior microphone, calculates the relative position and distance relationship between the moving object and the ego vehicle through the Doppler principle, so as to realize the detection of the moving object in the sensing blind area of the vehicle, and plan the ego vehicle to slow down or wait for the right-of-way before entering the dangerous area, so as to avoid the collision accident of the vehicle.

[0142] As an example, the structure of the valet parking obstacle detection system based on the car exterior microphone array can be as shown in Figure 6 , mainly including: a microphone array system 1 composed of multiple car exterior microphones; a traditional sensing device 2 composed of vehicle-mounted camera, ultrasonic radar, millimeter wave radar and laser radar; an automatic driving control system 3; a driving system 4; a braking system 5.

[0143] Among them, the microphone array system 1 is mainly used to realize the super-distance detection of the blocked moving object; the traditional sensing device 2 mainly realizes the limited area detection in the straight road driving process; the automatic driving control system 3 mainly realizes the processing of the sensing output, the planning of the route, the decision of the control strategy, and sends the control instruction to the whole vehicle driving system 4 and the braking system 5.

[0144] The following only describes the implementation of the microphone array system 1 for super-distance detection, and the remaining technical implementations are known to those skilled in the art and will not be described here. Among them, the microphone array system 1 realizes super-distance detection, mainly including the following steps: 1. Identifying the target sound source; 2. Calculating the relative position relationship and speed relationship of the target sound source and the ego vehicle; 3. Deciding the driving strategy of the ego vehicle according to the kinematic relationship between the target sound source and the ego vehicle.

[0145] 1. Identify the target sound source.

[0146] The moving sound of different moving objects is divided by frequency, such as pure electric vehicles, hybrid vehicles, fuel vehicles, electric two-wheeled vehicles, etc., and a sound source frequency set f s ={f s1 ,f s2 ,f s3 ,…,f sn} is established. When the microphone array receives the sound outside the vehicle, the characteristic frequencies in the sound source frequency set f s are detected and amplified through an adaptive filter as shown in Figure 7 , so as to identify the target sound source in the environment in which the vehicle is located from a plurality of moving objects, and determine the sound belonging to the target sound source (denoted as a sub-sound wave signal in this disclosure) from the sound wave signal based on the characteristic frequency of the target sound source.

[0147] 2. Calculate the kinematic relationship (including the relative position relationship and the speed relationship) of the target sound source and the ego vehicle.

[0148] First, the vehicle coordinate system as shown in Figure 8 is established with the center of the rear axle of the ego vehicle, and it is assumed that the microphone array is composed of four microphones M i , i={1, 2, 3, 4}, and the installation position or installation coordinates of the microphones in the vehicle coordinate system are (x i , y i ), respectively, and it is assumed that the current position of the target sound source S in the vehicle coordinate system is (x S , y S ), the time when the sound of the target sound source reaches each microphone is t i , the sound speed is a constant c, the time difference Δt ij when the sound of the target sound source reaches any two microphones is a measurable value, the installation position (x i , y i ) of the microphone is also a determined value, and the straight-line distance between the target sound source and any microphone is d i , then the following formula can be used to calculate the relative position relationship of the target sound source and the ego vehicle:

[0149]

[0150]

[0151] where \(i,j = \{1,2,3,4\}\), \(\Delta t\) ij is a measurable value, \((x\) i , y\) i ) is a determined value, and the current position \((x\) S , y\) S ) of the target sound source can be solved by constructing a system of equations through the above equations.

[0152] Furthermore, according to the Doppler effect, the moving speed of the target sound source can be calculated. Assume that the initial received frequency of the sound of the target sound source is \(f_0\), the real-time received frequency during the movement is \(f\) Δ , and the moving speed of the target sound source is \(v\). Then, according to the Doppler effect, the moving speed of the target sound source can be calculated as:

[0153]

[0154] where when \(v>0\), it means that the target sound source is approaching the vehicle; when \(v<0\), it means that the target sound source is moving away from the vehicle; when \(v = 0\), it means that the target sound source is stationary (i.e., the target sound source is relatively stationary with respect to the vehicle).

[0155] 3. Determine the driving strategy of the host vehicle according to the kinematic relationship between the target sound source and the host vehicle.

[0156] Three decision radii can be set, namely the first decision radius \(R_1\), the second decision radius \(R_2\), and the third decision radius \(R_3\), where \(R_3<R_2<R_1\), and \(R_3 coincides with the sensing radius of the traditional sensing device. If the calculated coordinate position of the target sound source \(S\) is outside \(R_1\) as shown in Figure 9 , the host vehicle is controlled to drive at the current motion state; if the calculated coordinate position of the target sound source enters \(R_1\) but does not enter \(R_2\), and the motion trend is away from the host vehicle, the host vehicle is controlled to drive at the current motion state; if the calculated coordinate position of the target sound source enters \(R_1\) but does not enter \(R_2\), and the motion trend is towards the host vehicle, the vehicle speed is reduced to the safe vehicle speed \(v\) sf ; if the calculated coordinate position of the target sound source enters \(R_2\) but does not enter \(R_3\), and the motion trend is away from the host vehicle, the host vehicle is controlled to drive at the current motion state; if the calculated coordinate position of the target sound source enters \(R_2\) but does not enter \(R_3\), and the motion trend is towards the host vehicle, the vehicle speed is reduced to 0 and wait for other vehicles to pass; if the calculated coordinate position of the target sound source enters \(R_3\), only an alarm message is sent, and the decision information only depends on the sensing result of the traditional sensing device.

[0157] In summary, the solution provided by this application has at least the following advantages:

[0158] 1) can effectively solve the underground parking lot "ghost probe" scene, improve the operation safety of the valet parking function, and improve the user's property safety;

[0159] 2) can improve the user's confidence in the intelligent driving function, and improve the market penetration rate;

[0160] 3) solve such long tail scenarios, and help the industry to promote the unmanned valet parking function.

[0161] In order to realize the above-mentioned embodiments, the embodiment of the application further provides a target detection device.

[0162] Figure 10 The structure diagram of a target detection device provided by the embodiment of the application.

[0163] As Figure 10 shown, the target detection device 1000 can include: a collection module 1010, an identification module 1020, a measurement module 1030, and a positioning module 1040.

[0164] The collection module 1010 is configured to collect sound wave signals in an environment in which a vehicle is located through a microphone array of the vehicle.

[0165] The identification module 1020 is configured to identify a target sound source in the environment according to the sound wave signals.

[0166] The measurement module 1030 is configured to measure a time difference between arrival of a sub-sound wave signal of the target sound source in the sound wave signals at any two microphones in the microphone array.

[0167] The positioning module 1040 is configured to position a current position of the target sound source according to the time difference and installation positions of the any two microphones.

[0168] Further, in an implementation manner of the embodiment of the application, the identification module 1020 is specifically configured to: obtain a sound source frequency set; wherein the sound source frequency set includes characteristic frequencies of a plurality of types of known sound sources; obtain a frequency spectrum of the sound wave signals; and determine the target sound source in the environment from the plurality of known sound sources based on the sound source frequency set and the frequency spectrum.

[0169] In an implementation manner of the embodiment of the application, the identification module 1020 is specifically configured to: determine filter frequency bands of the plurality of known sound sources according to the sound source frequency set; perform filter processing on the frequency spectrum based on the filter frequency bands of the plurality of known sound sources respectively, to obtain filtered frequency spectrums corresponding to the plurality of known sound sources; and perform energy detection on the filtered frequency spectrums corresponding to the plurality of known sound sources respectively, to determine the target sound source from the plurality of known sound sources according to a detection result.

[0170] In an implementation form of the embodiment of the application, the identification module 1020 is specifically configured to: perform energy detection on the filtered frequency spectrums corresponding to the plurality of known sound sources respectively to obtain detection results; wherein the detection results are used to indicate the energy of the plurality of known sound sources; and determine a target sound source from the plurality of known sound sources according to the detection results and an energy threshold; wherein the energy of the target sound source is higher than the energy threshold.

[0171] In an implementation form of the embodiment of the application, the target detection apparatus 1000 can further include:

[0172] The acquisition module is configured to acquire an initial receiving frequency and a current receiving frequency of the sub-sound wave signal of the target sound source in the sound wave signal.

[0173] The determination module is configured to determine a current motion speed of the target sound source according to the initial receiving frequency and the current receiving frequency.

[0174] The control module is configured to perform driving control on the vehicle based on the current motion speed and the current position of the target sound source.

[0175] In an implementation form of the embodiment of the application, the control module is specifically configured to: determine a motion trend of the target sound source according to the current motion speed; acquire a distance between the current position and an origin of a vehicle coordinate system; and perform driving control on the vehicle according to at least one of the distance and the motion trend.

[0176] In an implementation form of the embodiment of the application, the control module is specifically configured to: in a case where the distance is greater than a first decision radius, control the vehicle to continue driving in a current driving state; wherein the first decision radius is greater than a sensing radius of a sensing device of the vehicle; and in a case where the distance is less than or equal to the first decision radius and greater than a second decision radius, determine whether the motion trend is approaching the vehicle; wherein the second decision radius is greater than the sensing radius; if yes, control the vehicle to reduce a driving speed to a first vehicle speed threshold; and if no, control the vehicle to continue driving in the current driving state.

[0177] In an implementation form of the embodiment of the application, the control module is specifically configured to: in a case where the distance is less than or equal to the second decision radius and greater than a third decision radius, determine whether the motion trend is approaching the vehicle; wherein the third decision radius matches the sensing radius of the sensing device of the vehicle; if yes, control the vehicle to reduce the driving speed to a second vehicle speed threshold; wherein the second vehicle speed threshold is less than the first vehicle speed threshold; and if no, control the vehicle to continue driving in the current driving state.

[0178] In an implementation form of the embodiment of the application, the control module is specifically configured to: in a case where the distance is less than or equal to the third decision radius, send an alarm information; wherein the alarm information is used to indicate that the target sound source is close to the vehicle; acquire a sensing result of a sensing device of the vehicle; and based on the sensing result, perform driving control on the vehicle.

[0179] It should be noted that the foregoing explanation and description of the target detection method embodiment also applies to the target detection device of this embodiment, which will not be described here again.

[0180] In the target detection device of the embodiment of the application, the penetrating property of sound waves is used to capture the sound of a specific frequency when a moving object (such as a pedestrian, a non-motor vehicle, a motor vehicle, etc.) moves through a microphone array installed on the vehicle, and then the target sound source (such as a moving object) in the environment where the vehicle is located and the position where the target sound source is located are identified according to the sound wave signals captured by the microphone array, which can improve the accuracy and comprehensiveness of the identification of the target sound source (such as a moving object), avoid missing the identification of the sound source or moving object that is blocked, and thus avoid the situation where the vehicle collides with other objects, thereby improving the safety of the vehicle driving.

[0181] To implement the above-mentioned embodiments, the application further provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the target detection method according to any one of the preceding embodiments when executing the program.

[0182] To implement the above-mentioned embodiments, the application further provides a vehicle, which comprises at least one processor and a memory in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the target detection method according to any one of the preceding embodiments.

[0183] To implement the above-mentioned embodiments, the application further provides a non-transitory computer readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the target detection method according to any one of the preceding embodiments.

[0184] To implement the above-mentioned embodiments, the application further provides a computer program product having stored thereon a computer program, which, when executed by a processor, implements the target detection method according to any one of the preceding embodiments.

[0185] Figure 11is a block diagram of a vehicle 1100 according to an example embodiment. The vehicle 1100 can be a hybrid vehicle, for example, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 1100 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0186] Referring to Figure 11 The vehicle 1100 can include various subsystems, such as an infotainment system 1110, a perception system 1120, a decision control system 1130, a drive system 1140, and a computing platform 1150. The vehicle 1100 can include more or fewer subsystems, and each subsystem can include multiple components. In addition, each subsystem and each component of the vehicle 1100 can be interconnected by wired or wireless means.

[0187] In some embodiments, the infotainment system 1110 can include a communication system, an entertainment system, a navigation system, and the like.

[0188] The perception system 1120 can include several sensors for sensing information about the environment surrounding the vehicle 1100. For example, the perception system 1120 can include a global positioning system (which can be a GPS system, a Beidou system, or other positioning system), an inertial measurement unit (IMU), a lidar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0189] The decision control system 1130 can include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0190] The drive system 1140 can include components that provide motive power for the vehicle 1100. In one embodiment, the drive system 1140 can include an engine, an energy source, a transmission system, and wheels. The engine can be one or a combination of an internal combustion engine, an electric motor, an air compression engine, or the like. The engine can convert energy provided by the energy source into mechanical energy.

[0191] Some or all of the functions of the vehicle 1100 are controlled by the computing platform 1150. The computing platform 1150 can include at least one processor 1151 and a memory 1152, and the processor 1151 can execute instructions 1153 stored in the memory 1152.

[0192] The processor 1151 can be any conventional processor, such as a commercially available CPU. The processor can also include a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0193] The memory 1152 can be implemented by any type of volatile or nonvolatile memory devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0194] In addition to the instructions 1153, the memory 1152 can store data, such as road maps, route information, the position, direction, speed, and the like of the vehicle. The data stored by the memory 1152 can be used by the computing platform 1150.

[0195] In the embodiments of the present application, the processor 1151 can execute the instructions 1153 to complete all or part of the steps of the method embodiments described above.

[0196] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present description and the features of the different embodiments or examples, without contradiction.

[0197] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, and the like, unless otherwise specifically limited.

[0198] Any processes or methods described in the flowcharts or otherwise described herein can be understood as representing modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) and / or can be implemented entirely in hardware. The various embodiments of the application can include additional or fewer steps or methods as desired for a given implementation. The various embodiments of the application can also be implemented in a wide variety of computing systems, environments, and / or configurations. The various embodiments of the application can include additional or fewer components, steps, or functions as desired for a given implementation. The various embodiments of the application can also be implemented in a wide variety of computing systems, environments, and / or configurations. The various embodiments of the application can include additional or fewer components, steps, or functions as desired for a given implementation.

[0199] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be embodied in non-transitory computer-readable media, in which the sequences of instructions are permanently stored and executed by an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a computer- readable storage medium or a computer-readable communication medium. The computer-readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires (electrical connections), a portable computer diskette (a magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber (an optical device), and a portable compact disc read-only memory (CDROM). Note that the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0200] It is to be understood that the various parts of the present application can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any of the following technologies, or a combination thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application-specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field-programmable gate arrays (FPGA), and so forth.

[0201] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0202] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0203] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A target detection method characterized by, The method comprises: acquiring, by a microphone array of a vehicle, a sound wave signal in an environment in which the vehicle is located; obtaining a sound source frequency set comprising characteristic frequencies of a plurality of types of known sound sources and a frequency spectrum of the sound wave signal, and determining a target sound source in the environment from the plurality of known sound sources based on the sound source frequency set and the frequency spectrum, comprising: determining filter frequency bands of the plurality of known sound sources according to the sound source frequency set; filtering the frequency spectrum based on the filter frequency bands of the plurality of known sound sources respectively to obtain filtered frequency spectrums corresponding to the plurality of known sound sources; respectively performing energy detection on the filtered frequency spectrums corresponding to the plurality of known sound sources to determine the target sound source from the plurality of known sound sources according to detection results; measuring a time difference of arrival of a sub-sound wave signal of the target sound source at any two microphones in the microphone array, wherein the sub-sound wave signal is determined from the sound wave signal according to a characteristic frequency of the target sound source; locating a current position of the target sound source according to the time difference and installation positions of the any two microphones.

2. The method of claim 1, wherein, The respectively performing energy detection on the filtered frequency spectrums corresponding to the plurality of known sound sources to determine the target sound source from the plurality of known sound sources according to detection results comprises: respectively performing energy detection on the filtered frequency spectrums corresponding to the plurality of known sound sources to obtain detection results; wherein the detection results are used to indicate energies of the plurality of known sound sources; determining the target sound source from the plurality of known sound sources according to the detection results and an energy threshold value; wherein the energy of the target sound source is higher than the energy threshold value.

3. The method according to any one of claims 1-2, characterized in that, The method further comprises: obtaining an initial receiving frequency and a current receiving frequency of the sub-sound wave signal; determining a current motion speed of the target sound source according to the initial receiving frequency and the current receiving frequency; performing driving control on the vehicle based on the current motion speed and the current position of the target sound source.

4. The method of claim 3, wherein, The performing driving control on the vehicle based on the current motion speed and the current position of the target sound source comprises: determining a motion trend of the target sound source according to the current motion speed; obtaining a distance between the current position and an origin of a vehicle coordinate system; performing driving control on the vehicle according to at least one of the distance and the motion trend.

5. The method of claim 4, wherein, The performing driving control on the vehicle according to at least one of the distance and the motion trend comprises: in a case where the distance is greater than a first decision radius, controlling the vehicle to continue driving in a current driving state; wherein the first decision radius is greater than a perception radius of a perception device of the vehicle; in a case where the distance is less than or equal to the first decision radius and greater than a second decision radius, judging whether the motion trend is approaching the vehicle; wherein the second decision radius is greater than the perception radius; if yes, controlling the vehicle to reduce a driving speed to a first vehicle speed threshold; if no, controlling the vehicle to continue driving in the current driving state.

6. The method of claim 4, wherein, The performing driving control on the vehicle according to at least one of the distance and the motion trend comprises: if the distance is less than or equal to the second decision radius and greater than a third decision radius, determining whether the motion trend is approaching the vehicle, wherein the third decision radius matches a perception radius of a perception device of the vehicle; if yes, controlling the vehicle to reduce a current driving speed to a second speed threshold, wherein the second speed threshold is less than the first speed threshold; if no, controlling the vehicle to continue driving in a current driving state.

7. The method of claim 4, wherein, The driving control of the vehicle according to at least one of the distance and the motion trend comprises: if the distance is less than or equal to the third decision radius, sending an alarm information, wherein the alarm information is used to indicate that the target sound source is approaching the vehicle; obtaining a perception result of a perception device of the vehicle; controlling the vehicle to drive based on the perception result.

8. A target detection apparatus characterized by comprising: The method comprises: a collection module, configured to collect, by a microphone array of a vehicle, a sound wave signal in an environment in which the vehicle is located; an identification module, configured to obtain a sound source frequency set comprising characteristic frequencies of a plurality of types of known sound sources and a frequency spectrum of the sound wave signal, and determine a target sound source in the environment from the plurality of known sound sources based on the sound source frequency set and the frequency spectrum; a measurement module, configured to measure a time difference between arrival of a sub-sound wave signal of the target sound source at any two microphones in the microphone array, wherein the sub-sound wave signal is determined from the sound wave signal according to a characteristic frequency of the target sound source and belongs to the target sound source; a positioning module, configured to position a current position of the target sound source according to the time difference and installation positions of the any two microphones. The identification module is further configured to: determine filter frequency bands of the plurality of known sound sources according to the sound source frequency set; perform filter processing on the frequency spectrum based on the filter frequency bands of the plurality of known sound sources respectively, to obtain filtered frequency spectrums corresponding to the plurality of known sound sources respectively; perform energy detection on the filtered frequency spectrums corresponding to the plurality of known sound sources respectively, to determine the target sound source from the plurality of known sound sources according to a detection result.

9. A vehicle characterized by comprising: The method comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the method in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having stored thereon computer program instructions, wherein, The program instructions are executed by the processor to implement the steps of the method in any one of claims 1 to 7.

11. A computer program product, characterised in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7. The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7.

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