Vehicle control method and device, electronic equipment, storage medium and vehicle

Abstract

The invention relates to a vehicle control method and device, electronic equipment, a storage medium and a vehicle, and relates to the field of vehicles, the method comprises the following steps: determining a sound field area and a mute area of a prompt area of the vehicle according to a relative position between a target object and the vehicle; the target object is located in the sound field area; a plurality of loudspeakers of the vehicle are controlled to output corresponding prompt audios; the amplitude of the audio after the prompt audios output by the plurality of loudspeakers are superposed in the sound field area is not 0, and the amplitude of the audio after the prompt audios output by the plurality of loudspeakers are superposed in the mute area is 0. Therefore, directional emission of sound can be realized.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle control method, device, electronic equipment, storage medium and vehicle. Background Art

[0002] As electric vehicles become more popular, their low noise characteristics are gradually becoming apparent. Compared with traditional internal combustion engine vehicles, electric vehicles produce significantly less noise outside the vehicle when driving at low speeds in pure electric mode. This low noise characteristic makes it difficult for other road users, including pedestrians, cyclists, children, and people with visual impairments, to notice when the vehicle is approaching, thereby increasing the risk of traffic accidents.

[0003] The prior art can emit a low-speed warning sound when the vehicle is traveling at a low speed to remind passers-by of the presence of the vehicle. The prior art can emit a low-speed warning sound when the vehicle is traveling at a low speed, which can effectively protect the safety of passers-by.

[0004] However, in some cases, it can also become a noise that pollutes the urban environment. For example, in residential areas or schools where quietness is required, frequent low-speed vehicle warning sounds may disturb residents' normal rest or students' study. In addition, if the volume or frequency of the warning sound is not set properly, it may also cause unnecessary trouble to surrounding residents. Summary of the invention

[0005] The present application provides a vehicle control method, device, electronic device, storage medium and vehicle, which relate to the field of vehicles and are used to directional emit low-speed warning sounds to pedestrians in front of a low-speed vehicle to reduce noise in other areas.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0008] According to the relative position between the target object and the vehicle, the sound field area and the silent area of ​​the vehicle's prompt area are determined; the target object is located in the sound field area; multiple speakers of the vehicle are controlled to output corresponding prompt audio; the amplitude of the audio after the prompt audio output by the multiple speakers is superimposed in the sound field area is not 0, and the amplitude of the audio after the prompt audio is superimposed in the silent area is 0.

[0009] According to the above technical means, the present application can determine the sound field area and the silent area according to the relative position between the target object and the vehicle, and then control multiple speakers of the vehicle to output corresponding prompt audio; the amplitude of the prompt audio output by multiple speakers after superimposing in the sound field area is not 0, and the amplitude of the superimposed audio in the silent area is 0. Therefore, the object in the sound field area can be prompted to pay attention to the vehicle, and the noise in the silent area can also be eliminated.

[0010] In one possible implementation, a driving coefficient corresponding to the relative position is determined based on the relative position between the target object and the vehicle; based on the driving coefficient, the amplitude and / or phase of the audio output by multiple speakers are adjusted to control the multiple speakers of the vehicle to output corresponding prompt audio.

[0011] According to the above technical means, the present application can determine the driving coefficient corresponding to the relative position according to the relative position between the target object and the vehicle, and adjust the amplitude and / or phase of the original warning sound signal, so that the sound waves emitted by multiple speakers can achieve interference enhancement in the target object area and achieve interference cancellation in other areas, thereby achieving directional emission of audio.

[0012] In a possible implementation, a first sound transfer matrix between multiple speakers and the sound field area, and a second sound transfer matrix between multiple speakers and the silent area are determined; and a driving coefficient is determined based on the first sound transfer matrix and the second sound transfer matrix.

[0013] According to the above technical means, the driving coefficient confirmation method of the present application can pre-calculate the driving coefficient of the speaker array corresponding to each area as the sound field area in an offline state. In actual application scenarios, it is only necessary to call the pre-calculated driving coefficient according to the sound field area to achieve directional audio emission, thereby improving the efficiency of directional audio emission.

[0014] In a possible implementation, a frequency domain driving signal of a speaker of the vehicle is determined according to the first sound transfer matrix and the second sound transfer matrix; and an inverse Fourier transform is performed on the frequency domain driving signal to obtain a driving coefficient.

[0015] According to the above technical means, the present application can obtain driving coefficients through inverse Fourier transform according to the frequency domain driving signal, so that the driving coefficients contain adjustment information of the amplitude and / or phase of different sound waves emitted by different speakers.

[0016] In a possible implementation, the frequency domain driving signal is an eigenvector corresponding to the maximum eigenvalue of a preset matrix; the preset matrix is:

[0017]

[0018] Among them, T brepresents the first sound transfer matrix, T d represents the second acoustic transfer matrix, λ is a preset parameter, and I represents the unit matrix.

[0019] According to the above technical means, the present application can calculate the frequency domain driving signal through a preset matrix.

[0020] In one possible implementation, the amplitude and / or phase of the audio output by the vehicle's speakers is adjusted according to the moving trajectory of the target object, so that the sum of the amplitudes of the audio output by the adjusted speakers in the area where the target object is located is not 0, and the sum of the amplitudes in other areas remains 0.

[0021] According to the above technical means, the sound field area can be changed according to the moving trajectory of the target object, realizing the adaptive directional function of the audio. The driver does not need to adjust the emission direction of the audio by himself, which improves the driving experience of the driver.

[0022] In a possible implementation, the speaker of the vehicle is arranged at the front side of the vehicle, and the sound field area of ​​the vehicle is the front area of ​​the vehicle.

[0023] According to the above technical means, the scope of the sound field area can be limited, thereby avoiding the noise pollution of the warning sound to the urban environment.

[0024] According to a second aspect of the present application, there is provided a vehicle control device, including an acquisition unit and a determination unit;

[0025] An acquisition unit, used for acquiring a relative position between a target object and a vehicle;

[0026] The determination unit is used to determine the sound field area and the silent area of ​​the prompt area of ​​the vehicle; the target object is located in the sound field area.

[0027] The determination unit is also used to control multiple speakers of the vehicle to output corresponding prompt audio; the amplitude of the audio superimposed in the sound field area of ​​the prompt audio output by the multiple speakers is not 0, and the amplitude of the audio superimposed in the silent area is 0.

[0028] In one possible implementation, the determination unit is also used to determine a driving coefficient corresponding to the relative position based on the relative position between the target object and the vehicle; the determination unit is also used to adjust the amplitude and / or phase of the audio output by multiple speakers based on the driving coefficient to control the vehicle's multiple speakers to output corresponding prompt audio.

[0029] In a possible implementation, the determination unit is further used to determine a first sound transfer matrix between the multiple speakers and the sound field area, and a second sound transfer matrix between the multiple speakers and the silent area; and determine the driving coefficient based on the first sound transfer matrix and the second sound transfer matrix.

[0030] In a possible implementation, the determination unit is further used to determine the frequency domain driving signal of the speaker of the vehicle according to the first sound transfer matrix and the second sound transfer matrix; the determination unit is further used to perform an inverse Fourier transform on the frequency domain driving signal to obtain a driving coefficient.

[0031] In a possible implementation, the frequency domain driving signal is an eigenvector corresponding to the maximum eigenvalue of a preset matrix; the preset matrix is:

[0032]

[0033] Among them, T d represents the first sound transfer matrix, T b represents the second acoustic transfer matrix, λ is a preset parameter, and I represents the unit matrix.

[0034] In one possible implementation, the determination unit is also used to adjust the amplitude and / or phase of the audio output by the vehicle's speaker according to the moving trajectory of the target object, so that the sum of the amplitudes of the audio output by the adjusted speaker in the area where the target object is located is not 0, and the sum of the amplitudes in other areas remains 0.

[0035] In a possible implementation, the speaker of the vehicle is arranged at the front side of the vehicle, and the sound field area of ​​the vehicle is the front area of ​​the vehicle.

[0036] According to a third aspect of the present application, there is provided an electronic device, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0037] According to the fourth aspect of the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of the vehicle, the vehicle can execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0038] According to a fifth aspect of the present application, a computer program product is provided, which includes computer instructions. When the computer instructions are executed on a vehicle, the vehicle executes the method of the first aspect and any possible implementation manner thereof.

[0039] According to a sixth aspect of the present application, a vehicle is provided, comprising a vehicle control device.

[0040] Therefore, the above technical features of the present application have the following beneficial effects:

[0041] (1) According to the above technical means, the present application can determine the sound field area and the silent area according to the relative position between the target object and the vehicle, and then control the multiple speakers of the vehicle to output the corresponding prompt audio; the amplitude of the superimposed audio of the prompt audio output by the multiple speakers in the sound field area is not 0, and the amplitude of the superimposed audio in the silent area is 0. Therefore, the object in the sound field area can be prompted to pay attention to the vehicle, and the noise in the silent area can be eliminated at the same time.

[0042] (2) According to the above technical means, the present application can determine the driving coefficient corresponding to the relative position according to the relative position between the target object and the vehicle, and adjust the amplitude and / or phase of the original warning sound signal. This allows the sound waves emitted by multiple speakers to achieve interference enhancement in the target object area and interference cancellation in other areas. This achieves directional emission of audio.

[0043] (3) According to the above technical means, the driving coefficient confirmation method of the present application can pre-calculate the driving coefficient of the speaker array corresponding to each area as the sound field area in an offline state. In actual application scenarios, it is only necessary to call the pre-calculated driving coefficient according to the sound field area to achieve directional audio transmission, thereby improving the efficiency of directional audio transmission.

[0044] (4) According to the above technical means, the present application can obtain the driving coefficient through inverse Fourier transform according to the frequency domain driving signal, so that the driving coefficient contains the adjustment information of the amplitude and / or phase of different sound waves emitted by different speakers.

[0045] (5) According to the above technical means, the present application can calculate the frequency domain driving signal through a preset matrix.

[0046] (6) According to the above technical means, the sound field area can be changed according to the moving trajectory of the target object, thereby realizing the adaptive directional function of the audio. The driver does not need to adjust the emission direction of the audio by himself, thereby improving the driving experience of the driver.

[0047] (7) According to the above technical means, the scope of the sound field area can be limited, thereby avoiding the noise pollution of the warning sound to the urban environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0049] Figure 1 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0050] Figure 2A schematic diagram of a sound field area determination provided in an embodiment of the present application;

[0051] Figure 3 A schematic diagram of a vehicle-mounted radar / vision system deployment method provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of a speaker array deployment method provided in an embodiment of the present application;

[0053] Figure 5 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0054] Figure 6 A schematic diagram of a driving coefficient calculation method provided in an embodiment of the present application;

[0055] Figure 7 A schematic diagram of directional audio transmission provided in an embodiment of the present application;

[0056] Figure 8 A block diagram of a vehicle control device provided in an embodiment of the present application;

[0057] Fig. 9 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0059] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0060] First, a brief introduction is given to the application scenarios involved in this application.

[0061] In the field of vehicles, with the rapid popularization of electric vehicles, their low noise characteristics are gradually emerging. When driving at low speeds, electric vehicles have a low noise level and are not easily detected by other traffic participants such as pedestrians, cyclists, children and the visually impaired, thereby increasing the risk of traffic accidents. Low-speed warning sounds improve the detectability of electric vehicles and reduce the risk of collisions by simulating the sound of traditional internal combustion engine vehicles or emitting other easily recognizable sound signals. However, in order to adapt to different environments, low-speed warning sounds need to have a certain degree of penetration and recognition to ensure that they can be clearly heard in various environments. Therefore, in some cases, low-speed warning sounds will become noise in the urban environment. For example, in areas such as residential areas or schools where quietness is required, frequent low-speed vehicle driving warning sounds may interfere with residents' normal rest or students' study. In addition, if the volume or frequency of the warning sound is set improperly, it may also cause unnecessary trouble to surrounding residents.

[0062] Users can make judgments based on the scenario and drive the speaker array to realize the directional sound function by manipulating the front-end controller of directional sound. However, there are many difficulties in the directional low-speed warning sound of vehicles. For example, the transient position of pedestrians outside the vehicle is constantly changing. In order to send the low-speed warning sound to pedestrians outside the vehicle in a directional manner, the driver needs to operate the controller multiple times to adapt to the position changes of pedestrians outside the vehicle, which seriously affects driving safety.

[0063] In response to the above problems, an embodiment of the present application provides a vehicle control method, which includes: determining the sound field area and the silent area of ​​the vehicle's prompt area according to the relative position between the target object and the vehicle; the target object is located in the sound field area; controlling multiple speakers of the vehicle to output corresponding prompt audio; the amplitude of the prompt audio output by the multiple speakers is not 0 after being superimposed in the sound field area, and the amplitude is 0 after being superimposed in the silent area.

[0064] According to the above technical means, the present application can determine the sound field area and the silent area according to the relative position between the target object and the vehicle. The audio is emitted in a direction to the sound field area in front of the vehicle, and the area in front of the vehicle without pedestrians is the silent area. The emission direction of the audio can be automatically changed according to the change of the position of the pedestrians to prevent the low-speed warning sound from becoming noise that pollutes the environment.

[0065] For ease of understanding, the vehicle control method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0066] It should be noted that the execution subject of the present application may be a vehicle or a component of a vehicle, for example, it may be a vehicle-mounted terminal. The following description will be made taking the execution subject as a vehicle-mounted terminal as an example.

[0067] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 1 As shown, the exception handling method includes: S101-S102.

[0068] S101. The vehicle-mounted terminal determines a sound field area and a silent area of ​​a prompt area of ​​the vehicle according to a relative position between a target object and the vehicle.

[0069] The target object is located in the sound field area. For example, the target object may be other traffic participants; the relative position is the position coordinates of the target object relative to the vehicle. The position coordinates may be coordinates in a coordinate system. The coordinate system may be the vehicle's own vehicle coordinate system.

[0070] In one example, the vehicle's own vehicle coordinate system takes the midpoint of the vehicle head as the origin, the horizontal line of the vehicle's front axle as the x-axis of the vehicle coordinate system, and the x-axis direction is to the right of the horizontal line. When the angle between the position coordinate and the x-axis is less than 60°, the sound field area is judged to be the right front side of the vehicle. When the angle between the position coordinate and the x-axis is greater than 60° and less than 120°, the sound field area is judged to be the front side of the vehicle. When the angle between the position coordinate and the x-axis is greater than 120°, the sound field area is judged to be the left front side of the vehicle.

[0071] In the embodiment of the present application, based on the relative position between the target object and the vehicle, the prompt area in front of the vehicle can be divided into a sound field area and a silent area. The sound field area can be the area where the target object is located, and the silent area is the area where the prompt sound needs to be lowered / reduced.

[0072] For example, Figure 2 As shown, the prompt area can be an area 180° in front of the vehicle. The prompt area can be divided into multiple areas, and the area in front of the vehicle is divided into three 60° areas. Among them, the sound field area is the area where the target object is located, and the silent area is other areas except the sound field area.

[0073] In one example, the vehicle can obtain the relative position between the target object and the vehicle through the on-board radar / vision system. The on-board radar / vision system can emit sound waves through the on-board radar and determine the distance between the target object and the vehicle based on the time it takes for the sound waves to bounce back. The on-board radar / vision system can also obtain the direction information of the target object relative to the vehicle through a camera. According to the direction information and distance of the target object relative to the vehicle, the coordinate position of the target object is determined.

[0074] The vehicle-mounted radar / vision system may include a 360-degree radar / vision system, a remote camera / radar, and multiple peripheral radar / vision systems. Figure 3As shown, the conventional on-board radar / vision system of an intelligent driving vehicle is referred to. The on-board radar / vision system can monitor the front of the vehicle to determine whether a target object appears. If a target object appears in front of the vehicle, the relative position of the target object is determined.

[0075] It should be noted that in the embodiment of the present application, the vehicle-mounted radar / vision system provided in the embodiment of the present application can be used according to Figure 3 The deployment method shown may also be implemented in other ways without limitation.

[0076] S102: The vehicle-mounted terminal controls multiple speakers of the vehicle to output corresponding prompt audio.

[0077] Among them, the amplitude of the superimposed audio of the prompt audio output by multiple speakers in the sound field area is not 0, and the amplitude of the superimposed audio in the silent area is 0. The corresponding prompt audio can be a low-speed warning sound with changed amplitude and / or phase after filtering. The sum of the amplitudes of the corresponding audio emitted by multiple speakers in the sound field area is not 0, and the sum of the amplitudes in the silent area is 0.

[0078] It should be noted that according to the laws of physics, the volume of audio is related to the amplitude of the sound wave propagating in space. When two or more sound waves with the same frequency appear in the same space, interference will occur. When two or more sound waves meet in certain areas of space, they will superimpose on each other. If the sound waves have the same frequency, the same vibration direction, and a constant phase difference, then in some areas, the vibration of the sound waves will be strengthened, forming an interference enhancement phenomenon; while in other areas, the vibration directions are opposite, the vibration of the sound waves will be weakened or even canceled, forming an interference cancellation phenomenon.

[0079] Based on this principle, since the sum of the amplitudes of the audio emitted by multiple speakers to the sound field area is not 0, and the sum of the amplitudes of the audio emitted by multiple speakers to the silent area is 0, the audio emitted by multiple speakers is enhanced in the sound field area and canceled in the silent area. Therefore, the low-speed warning sound can be heard in the sound field area, but not in the silent area, thus achieving directional emission of the low-speed warning sound.

[0080] In one example, four speakers are arranged at the front side of the vehicle, and in the sound field area, the audio output by the four speakers satisfies Formula 1. In the silent area, the audio output by the four speakers satisfies Formula 2.

[0081] P1+P2+P3+P4≠0Formula 1

[0082] P1+P2+P3+P4=0Formula 2

[0083] Wherein, P1, P2, P3, and P4 are the amplitudes of the sounds of the four speakers in the prompt area. Formula 1 indicates that the amplitude is not 0 after the multiple audios are superimposed in the sound field area. Formula 2 indicates that the amplitude is equal to 0 after the multiple audios are superimposed in the silent area.

[0084] It should be noted that due to errors in actual situations, in quiet areas, the result of superimposing the amplitudes of multiple audios may be close to 0 but not equal to 0. This can also reduce the low-speed warning sound in quiet areas and achieve the purpose of reducing noise in quiet areas.

[0085] Based on the above Figure 1 According to the technical solution, the present application can determine the sound field area and the silent area according to the relative position between the target object and the vehicle, and then control the multiple speakers of the vehicle to output the corresponding prompt audio; the amplitude of the audio superimposed in the sound field area by the prompt audio output by the multiple speakers is not 0, and the amplitude of the audio superimposed in the silent area is 0. Therefore, the object in the sound field area can be prompted to pay attention to the vehicle, and the noise in the silent area can be eliminated at the same time.

[0086] In one embodiment, Figure 4 As shown, the speaker can be arranged at the front side of the vehicle, and a plurality of speakers can form a speaker array. Figure 4 A deployment method of a speaker array is shown. The number of speakers may be four, the distance between adjacent speakers may be 0.2 m, and the height of the speakers from the ground may be 0.3 m.

[0087] In one example, Figure 5 As shown, the vehicle terminal determines the driving coefficient corresponding to the sound field area according to the sound field area. The vehicle terminal modulates the original audio through filtering according to the driving coefficient. The vehicle terminal controls multiple speakers of the vehicle to output the corresponding prompt audio.

[0088] Among them, the driving coefficient is obtained by pre-calculation. Specifically, the calculation process of the driving coefficient can refer to the description of Example 2, which will not be repeated here. The driving coefficient may include the amplitude and / or phase change of the audio signal that multiple speakers need to play and the original audio signal. The sum of the amplitudes of the audio output by the adjusted speaker in the area where the target object is located is not 0, and the sum of the amplitudes in other areas remains 0. The vehicle-mounted terminal controls multiple speakers to emit adjusted prompt audio through the excitation signal of the speaker. After the original audio signal is adjusted by filtering, excitation signals of multiple speakers are generated, one speaker corresponds to an excitation signal of one speaker, and the excitation signals of multiple speakers form a speaker excitation signal stream. Each speaker excitation signal can excite the adjusted audio played by the corresponding speaker.

[0089] In another embodiment (embodiment 2), the calculation process of the driving coefficient includes S601-603.

[0090] S601. The vehicle-mounted terminal determines a first sound transfer matrix between a plurality of speakers and a sound field area, and a second sound transfer matrix between the plurality of speakers and a silent area.

[0091] The acoustic transfer matrix may be composed of transfer functions of the acoustic sensor and the speaker array. The transfer function is composed of the ratio of the speaker excitation signal to the response signal at the acoustic sensor. One speaker and one acoustic sensor correspond to one transfer function. The acoustic sensor is arranged at the boundary of the prompt area.

[0092] In one example, Figure 6 As shown, acoustic sensors are set at the boundary of the prompt area. The angle between two adjacent acoustic sensors and the line connecting the origin of the vehicle coordinate system is 5°, and a total of 37 acoustic sensors are set. The acoustic transfer matrix from the speaker array to the acoustic sensors included in the sound field area is the first acoustic transfer matrix, and the acoustic transfer matrix from the speaker array to the acoustic sensors included in the silent area is the second acoustic transfer matrix. For example, when the relative position of the target object is on the left side relative to the driving direction of the vehicle, the acoustic transfer matrix from the speaker array to the acoustic sensors 26-37 is the first acoustic transfer matrix, and the acoustic transfer matrix from the speaker array to the acoustic sensors 1-25 is the second acoustic transfer matrix.

[0093] S602: The vehicle terminal determines a frequency domain driving signal of a speaker of the vehicle according to the first sound transfer matrix and the second sound transfer matrix.

[0094] The frequency domain driving signal refers to a signal in the frequency domain, which may include frequency distribution, amplitude, and phase.

[0095] In one example, the vehicle terminal determines the frequency domain driving signal of the vehicle's speaker based on the first sound transfer matrix and the second sound transfer matrix. The frequency domain driving signal is inverse Fourier transformed to obtain the driving coefficient. The frequency domain driving signal q(f) is the eigenvector corresponding to the maximum eigenvalue of the preset matrix. The preset matrix is:

[0096]

[0097] Among them, T b represents the first sound transfer matrix, T d represents the second acoustic transfer matrix, I represents the identity matrix, and H represents the matrix transpose symbol. λ is a preset parameter, a real number used to improve the accuracy of the calculation result, obtained after multiple calculation optimizations.

[0098] S603: The vehicle-mounted terminal performs an inverse Fourier transform according to the frequency domain driving signal to obtain a driving coefficient corresponding to the sound field area.

[0099] In one example, the vehicle terminal can calculate the corresponding driving coefficient of each area as a sound field area according to the frequency domain driving signal q(f). For example, when the target object is on the left side in front of the vehicle, the driving coefficient is When the target object is directly in front of the vehicle, the driving coefficient is When the target object is on the right front side of the vehicle, the driving coefficient is

[0100] Among them, the frequency domain driving signal q(f) is inverse Fourier transformed to obtain the driving coefficient corresponding to the sound field area The frequency domain driving signal can be converted from its representation in the frequency domain to the driving coefficients represented in the time domain

[0101] In one example, Figure 7 As shown, when a pedestrian is on the left side in front of the vehicle, the multiple sound waves processed by the driving coefficients are enhanced in the left area in front of the vehicle, and the interference in other areas is cancelled. When a pedestrian is on the right side in front of the vehicle, the multiple sound waves processed by the driving coefficients are enhanced in the right area in front of the vehicle, and the interference in other areas is cancelled.

[0102] Based on the above technical solution, the driving coefficient confirmation method of the present application can pre-calculate the driving coefficient of the speaker array corresponding to each area as the sound field area in an offline state. In actual application scenarios, it is only necessary to call the pre-calculated driving coefficient according to the sound field area to achieve directional emission of audio, thereby improving the efficiency of directional emission of audio. According to the movement trajectory of the target object, the sound field area is changed to realize the adaptive directional function of audio. The driver does not need to adjust the emission direction of the audio by himself, thereby improving the driving experience of the driver.

[0103] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the vehicle control device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0104] The embodiments of the present application can exemplarily divide the functional modules of the vehicle control device or electronic device according to the above method. For example, the vehicle control device or electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0105] Figure 8 A block diagram of a vehicle control device according to an exemplary embodiment is shown. Figure 8 The vehicle control device 80 may include an acquisition unit 801 and a determination unit 802.

[0106] An acquisition unit 801 is used to acquire the relative position between the target object and the vehicle;

[0107] The determination unit 802 is used to determine the sound field area and the silent area of ​​the prompt area of ​​the vehicle; the target object is located in the sound field area.

[0108] The determination unit 802 is also used to control multiple speakers of the vehicle to output corresponding prompt audio; the amplitude of the audio superimposed in the sound field area of ​​the prompt audio output by the multiple speakers is not 0, and the amplitude of the audio superimposed in the silent area is 0.

[0109] In one possible implementation, the determination unit 802 is also used to determine a driving coefficient corresponding to the relative position based on the relative position between the target object and the vehicle; the determination unit is also used to adjust the amplitude and / or phase of the audio output by multiple speakers based on the driving coefficient to control the vehicle's multiple speakers to output corresponding prompt audio.

[0110] In a possible implementation, the determination unit 802 is further used to determine a first sound transfer matrix between the multiple speakers and the sound field area, and a second sound transfer matrix between the multiple speakers and the quiet area; and determine the driving coefficient based on the first sound transfer matrix and the second sound transfer matrix.

[0111] In a possible implementation, the determination unit 802 is further used to determine the frequency domain driving signal of the vehicle's speaker based on the first sound transfer matrix and the second sound transfer matrix; the determination unit 802 is also used to perform an inverse Fourier transform on the frequency domain driving signal to obtain a driving coefficient.

[0112] In a possible implementation, the frequency domain driving signal is an eigenvector corresponding to the maximum eigenvalue of a preset matrix; the preset matrix is:

[0113]

[0114] Among them, T b represents the first sound transfer matrix, T d represents the second acoustic transfer matrix, λ is a preset parameter, and I represents the unit matrix.

[0115] In one possible implementation, the determination unit 802 is also used to adjust the amplitude and / or phase of the audio output by the vehicle's speaker according to the moving trajectory of the target object, so that the sum of the amplitudes of the audio output by the adjusted speaker in the area where the target object is located is not 0, and the sum of the amplitudes in other areas remains 0.

[0116] In a possible implementation, the speaker of the vehicle is arranged at the front side of the vehicle, and the sound field area of ​​the vehicle is the front area of ​​the vehicle.

[0117] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0118] Fig. 9 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig. 9 As shown, the electronic device 90 includes but is not limited to: a processor 901 and a memory 902 .

[0119] The memory 902 is used to store executable instructions of the processor 901. It can be understood that the processor 901 is configured to execute instructions to implement the vehicle control method in the above embodiment.

[0120] It should be noted that those skilled in the art can understand that Fig. 9 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig. 9 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0121] The processor 901 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 902, and calling data stored in the memory 902, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 901 may include one or more processing units. Optionally, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 901.

[0122] The memory 902 may be used to store software programs and various data. The memory 902 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0123] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 902 including instructions, and the above instructions can be executed by a processor 901 of an electronic device 90 to implement the method in the above embodiment.

[0124] In actual implementation, Figure 8 The functions of the acquisition unit 801 and the determination unit 802 in Fig. 9 The processor 901 in the embodiment calls the computer program stored in the memory 902 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0125] An embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes each step in the vehicle control method process shown in the above method embodiment.

[0126] An embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the vehicle control method in the above method embodiment.

[0127] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0128] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 901 of the electronic device to complete the method in the above embodiment.

[0129] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0130] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0131] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0132] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0133] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0134] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0135] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Determining a sound field area and a silent area of ​​a prompt area of ​​the vehicle according to a relative position between the target object and the vehicle; the target object is located in the sound field area; Controlling the multiple speakers of the vehicle to output corresponding prompt audio; the amplitude of the audio after the prompt audio output by the multiple speakers is superimposed in the sound field area is not 0, and the amplitude of the audio after the prompt audio is superimposed in the silent area is 0.

2. The method according to claim 1, characterized in that Controlling a plurality of speakers of the vehicle to output corresponding prompt audio, including: According to the relative position between the target object and the vehicle, determining a driving coefficient corresponding to the relative position; According to the driving coefficient, the amplitude and / or phase of the audio output by the multiple speakers are adjusted to control the multiple speakers of the vehicle to output corresponding prompt audio.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Determine a first sound transfer matrix between the plurality of speakers and the sound field area, and a second sound transfer matrix between the plurality of speakers and the quiet area; The drive coefficient is determined based on the first acoustic transfer matrix and the second acoustic transfer matrix.

4. The method according to claim 3, characterized in that The determining the driving coefficient based on the first acoustic transfer matrix and the second acoustic transfer matrix includes: determining a frequency domain driving signal of a speaker of the vehicle according to the first sound transfer matrix and the second sound transfer matrix; An inverse Fourier transform is performed on the frequency domain driving signal to obtain the driving coefficient.

5. The method according to claim 4, characterized in that The frequency domain driving signal is the eigenvector corresponding to the maximum eigenvalue of a preset matrix; the preset matrix is: Among them, T b represents the first acoustic transfer matrix, T d represents the second acoustic transfer matrix, λ is a preset parameter, and I represents the unit matrix.

6. The method according to any one of claims 1, 2, 4 or 5, characterized in that The method further comprises: According to the moving trajectory of the target object, the amplitude and / or phase of the audio output by the speaker of the vehicle is adjusted, so that the sum of the amplitudes of the audio output by the adjusted speaker in the area where the target object is located is not 0, and the sum of the amplitudes in other areas remains 0.

7. The method according to any one of claims 1, 2, 4 or 5, characterized in that The speaker of the vehicle is arranged at the front side of the vehicle, and the sound field area of ​​the vehicle is the front area of ​​the vehicle.

8. A vehicle control device, characterized in that: It includes an acquisition unit and a determination unit; An acquisition unit, used for acquiring a relative position between the target object and the vehicle; A determination unit, used to determine a sound field area and a silent area of ​​a prompt area of ​​the vehicle; The target object is located in the sound field area; The determination unit is also used to control the multiple speakers of the vehicle to output corresponding prompt audio; the amplitude of the audio after the prompt audio output by the multiple speakers is superimposed in the sound field area is not 0, and the amplitude of the audio after superimposed in the silent area is 0.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of a vehicle, the electronic device is capable of performing the method as claimed in any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product comprises computer instructions which, when executed on a vehicle, cause the vehicle to perform the method according to any one of claims 1 to 7 .

12. A vehicle, characterized in that A vehicle control device comprising the vehicle control device as claimed in claim 8.

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