Sound simulation method for target orientation

Abstract

The invention provides a sound simulation method for a target azimuth. The method comprises the following steps: step 1, acquiring target azimuth information; 2, determining an output volume ratio and a phase difference of a target loudspeaker according to the target azimuth information, and generating a driving parameter; and step 3, driving each loudspeaker in the vehicle to produce sound according to the driving parameters so as to realize simulation of the target azimuth information. The driver is prevented from frequently watching the display screen, so that the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of driving assistance, and in particular to a sound simulation method for a target orientation. Background Art

[0002] With the rapid development of intelligent driving assistance technology, various types of in-vehicle safety assistance devices are widely used in modern cars. At present, most in-vehicle safety assistance products on the market mainly rely on image acquisition devices such as cameras for environmental monitoring. Although such solutions can improve driving safety to a certain extent, their effectiveness is greatly limited in certain situations (such as driving at night or in bad weather conditions). In addition, if the driver focuses on the display screen for a long time, it may also cause distraction and cause traffic safety accidents. Summary of the invention

[0003] The present invention provides a target orientation sound simulation method, aiming to solve the defects in the prior art and avoid the driver from frequently watching the display screen, thereby improving driving safety.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] The present invention provides a method for simulating sound of a target orientation, comprising:

[0006] Step 1: Obtain target position information;

[0007] Step 2: determining the output volume ratio and phase difference of the target speaker according to the target orientation information, and generating driving parameters;

[0008] Step 3: driving each speaker in the vehicle to emit sound according to the driving parameters to achieve simulation of the target position information.

[0009] Specifically, the preset number is 4, including a front left channel, a front right channel, a rear left channel and a rear right channel.

[0010] Specifically, the step 2 includes:

[0011] Step 201: Determine target speakers according to the target position information, where the target speakers are three speakers closest to the target;

[0012] Step 202: Calculate the volume weight of each target speaker according to the relative position of the target and the target speaker, and normalize the volume weight;

[0013] Step 203: Determine the output phase difference of each target speaker according to the target information.

[0014] Specifically, step 202 includes:

[0015] Step A1, obtaining the azimuth angle of the target, the position of the first target speaker, the position of the second target speaker, and the position of the third target speaker;

[0016] Step A2, calculating the first vector, the second vector, the third vector corresponding to each target speaker and the target vector corresponding to the target;

[0017] Step A3, calculating the first weight, the second weight, and the third weight corresponding to each target speaker;

[0018] Step A4, normalizing the first weight, the second weight, and the third weight;

[0019] Step A5: setting the output volume of the channel corresponding to each target speaker according to the normalized weight through a first preset relationship, and shielding the output of the channel other than the target speaker channel.

[0020] Specifically, the first preset relationship is:

[0021] L k =W k *L T

[0022] Among them, L k (k=1,2,3,4) represents the output volume of the corresponding channel of each target speaker, W k represents the normalized weight corresponding to each target speaker, L T Indicates the overall loudness, determined by the system volume.

[0023] Specifically, the step 203 includes:

[0024] Step B1, obtaining the azimuth angle and relative approach speed of the target;

[0025] Step B2, determining the frequency of the sound to be output by a second preset relationship according to the relative approach speed;

[0026] Step B3, calculating the distance between the target and each target loudspeaker and the distance difference between the target and the origin;

[0027] Step B4: determining the phase difference of each target loudspeaker according to the distance difference and the frequency of the sound to be output by using a third preset relationship.

[0028] Specifically, the second preset relationship is:

[0029] f=f0+k*v

[0030] Among them, f is the adjusted prompt audio frequency, f0 is the basic frequency, k is the proportional constant, and v is the relative approach speed.

[0031] Specifically, the third preset relationship is:

[0032]

[0033] in, is the phase difference of each target loudspeaker, Δd(k) is the distance difference, c is the speed of sound, and f is the frequency of the sound to be output.

[0034] Furthermore, after step 2, the method further includes:

[0035] Step 21: According to the type of the target and the driving mode, the driving parameters are modified according to preset rules.

[0036] The beneficial effect of the present invention is that the present invention obtains target position information, determines the driving parameters of the target speaker according to the target position information, and then drives the speakers in the vehicle to make sounds according to the driving parameters, thereby simulating the target position information, so that the driver can "hear" the positions of other vehicles near the vehicle, avoiding the driver from frequently watching the display screen, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of the target orientation sound simulation method of the present invention. DETAILED DESCRIPTION

[0038] The following specifically describes the embodiments of the present invention in conjunction with the accompanying drawings, which are only for reference and illustration and do not constitute a limitation on the scope of patent protection of the present invention.

[0039] In the process described in the specification, claims or drawings of the present invention, the serial numbers of each step (such as step 10, 20, etc.) are included. The serial numbers are only used to distinguish the steps, and the serial numbers themselves do not represent any execution order. It should be noted that the descriptions such as "first" and "second" in this article are only used to distinguish the description objects, etc., and do not represent the order of precedence, nor do they mean that "first", "second", etc. are different types.

[0040] like Figure 1 As shown, this embodiment provides a method for simulating sound at a target location, including:

[0041] Step 1: Get the target location information.

[0042] In this embodiment, multiple cameras or other visual sensors installed around the vehicle can be used to obtain images within a preset range of the vehicle (including the rear and both sides of the vehicle, and of course, the surroundings of the vehicle), and pre-processing (including denoising, contrast enhancement, etc.) is performed first, and then the image recognition algorithm (such as a deep learning model) is used to identify the vehicle and its relative position relationship with the vehicle, relative approach speed and other information. It is easy to understand that the camera can use a high-resolution wide-angle camera to ensure that as much information as possible can be obtained; the target's orientation information can also be obtained by other means, such as by using a radar (array) to obtain the target's orientation information. The present invention is not limited to this.

[0043] Step 2: Determine the output volume ratio and phase difference of the target speaker according to the target orientation information, and generate driving parameters.

[0044] In this embodiment, the preset number is 4, including a front left channel (FL), a front right channel (FR), a rear left channel (BL), and a rear right channel (BR).

[0045] In this embodiment, step 2 includes:

[0046] Step 201: Determine target speakers according to the target position information, where the target speakers are three speakers closest to the target.

[0047] Step 202: Calculate the volume weight of each target speaker according to the relative position of the target and the target speaker, and normalize the volume weight.

[0048] In this embodiment, step 202 includes:

[0049] Step A1, obtaining the azimuth angle θ of the target, the position of the first target speaker (x1, y1), the position of the second target speaker (x2, y2), and the position of the third target speaker (x3, y3).

[0050] In this embodiment, a coordinate system is established with the center of the driver's head as the origin, the parallel axle pointing to the front of the driver as the positive direction of the X-axis, and the vertical axle pointing to the right of the driver as the positive direction of the Y-axis.

[0051] Step A2: Calculate the first vector v1, the second vector v2, the third vector v3 corresponding to each target speaker and the target vector v corresponding to the target θ .

[0052] In this embodiment, the first vector v1, the second vector v2, the third vector v3, the target vector v θ Determined according to the following formula:

[0053] v1=(x1,y1)-(0,0)

[0054] v2=(x2,y2)-(0,0)

[0055] v3=(x3,y3)-(0,0)

[0056] v θ =(cosθ,sinθ)

[0057] Step A3: Calculate the first weight w1, the second weight w2, and the third weight w3 corresponding to each target speaker.

[0058] In this embodiment, the first weight w1, the second weight w2, and the third weight w3 are determined according to the following formula:

[0059]

[0060] Step A4: normalize the first weight w1, the second weight w2, and the third weight w3.

[0061]

[0062] In this embodiment, the loudness of the speakers other than the target speaker is 0, so W4=0.

[0063] Step A5: setting the output volume of the channel corresponding to each target speaker according to the normalized weight through a first preset relationship, and shielding the output of the channel other than the target speaker channel.

[0064] In this embodiment, the first preset relationship is:

[0065] L k =W k *L T

[0066] Among them, L k (k=1,2,3,4) represents the output volume of the corresponding channel of each target speaker, W k represents the normalized weight corresponding to each target speaker, L T Indicates the overall loudness, determined by the system volume.

[0067] Step 203: Determine the output phase difference of each target speaker according to the target information.

[0068] In this embodiment, step 203 includes:

[0069] Step B1, obtaining the azimuth angle θ and relative approach speed v of the target.

[0070] Step B2: determining the frequency f of the sound to be output according to the relative approach speed v by using a second preset relationship.

[0071] In this embodiment, the second preset relationship is:

[0072] f=f0+k*v

[0073] Among them, f is the adjusted prompt audio frequency, f0 is the basic frequency, k is the proportional constant, and v is the relative approach speed.

[0074] The base frequency f0 is usually a moderate frequency, such as 1000Hz. The proportional constant k is used to adjust the sensitivity of the frequency to speed changes. It can be determined based on actual tests and user experience. Generally, a smaller k value is selected to ensure that the frequency change is not too drastic, such as k = 0.1. The unit of the relative proximity speed v is m / s.

[0075] Step B3: Calculate the difference Δd(k) between the distance between the target and each target loudspeaker and the distance between the target and the origin.

[0076] In this embodiment, the distance difference Δd(k) is determined according to the following formula:

[0077]

[0078] Among them, (x0, y0) is the position coordinate of the target object, (x k ,y k ) are the position coordinates of each target speaker.

[0079] Step B4: Determine the phase difference of each target speaker according to the distance difference Δd(k) and the frequency f of the sound to be output by a third preset relationship.

[0080] In this embodiment, the third preset relationship is:

[0081]

[0082] in, is the phase difference of each target loudspeaker, Δd(k) is the distance difference, c is the speed of sound, and f is the frequency of the sound to be output.

[0083] Step 3: driving each speaker in the vehicle to emit sound according to the driving parameters to achieve simulation of the target position information.

[0084] This embodiment simulates the sound effect coming from the target direction by precisely controlling the phase difference and volume ratio of the sound emitted by each speaker in the car, thereby allowing the driver to "hear" the position of other vehicles near the car, avoiding the driver from frequently watching the display screen, thereby improving driving safety.

[0085] In another embodiment of the present invention, after step 2, the method further includes:

[0086] Step 21: According to the type of the target and the driving mode, the driving parameters are modified according to preset rules.

[0087] For example, the sound prompt method is adjusted according to different types of target objects and different scenes.

[0088] Another example is the way to automatically adjust the sound prompt according to different driving modes (such as city driving, highway driving, night driving, etc.):

[0089] City driving: detailed, slow prompts, and louder prompts;

[0090] High-speed driving: concise and quick prompts, maintaining moderate loudness;

[0091] Night driving: Gentle and concise reminders with reduced sound volume.

[0092] For another example, a variety of sound mode options may be provided based on the type and intensity of the user-defined sound prompt, such as natural ambient sound, alarm sound, etc., to suit the preferences of different users.

[0093] The above disclosure is only a preferred embodiment of the present invention, which cannot be used to limit the scope of protection of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A method for simulating sound at a target location, characterized in that: include: Step 1: Obtain target position information; Step 2: determining the output volume ratio and phase difference of the target speaker according to the target orientation information, and generating driving parameters; Step 3: driving each speaker in the vehicle to emit sound according to the driving parameters to achieve simulation of the target position information.

2. The method for simulating the sound of a target position according to claim 1, characterized in that: The preset number is 4, including a front left channel, a front right channel, a rear left channel and a rear right channel.

3. The method for simulating the sound of a target position according to claim 2, characterized in that: The step 2 comprises: Step 201: Determine target speakers according to the target position information, where the target speakers are three speakers closest to the target; Step 202: Calculate the volume weight of each target speaker according to the relative position of the target and the target speaker, and normalize the volume weight; Step 203: Determine the output phase difference of each target speaker according to the target information.

4. The method for simulating the sound of a target position according to claim 3, characterized in that: The step 202 includes: Step A1, obtaining the azimuth angle of the target, the position of the first target speaker, the position of the second target speaker, and the position of the third target speaker; Step A2, calculating the first vector, the second vector, the third vector corresponding to each target speaker and the target vector corresponding to the target; Step A3, calculating the first weight, the second weight, and the third weight corresponding to each target speaker; Step A4, normalizing the first weight, the second weight, and the third weight; Step A5: setting the output volume of the channel corresponding to each target speaker according to the normalized weight through a first preset relationship, and shielding the output of the channel other than the target speaker channel.

5. The method for simulating the sound of a target position according to claim 4, characterized in that: The first preset relationship is: L k =W k *L T Among them, L k (k=1,2,3,4) represents the output volume of the corresponding channel of each target speaker, W k represents the normalized weight corresponding to each target speaker, L T Indicates the overall loudness, determined by the system volume.

6. The method for simulating the sound of a target position according to claim 3, characterized in that: The step 203 includes: Step B1, obtaining the azimuth angle and relative approach speed of the target; Step B2, determining the frequency of the sound to be output by a second preset relationship according to the relative approach speed; Step B3, calculating the distance between the target and each target loudspeaker and the distance difference between the target and the origin; Step B4: determining the phase difference of each target loudspeaker according to the distance difference and the frequency of the sound to be output by using a third preset relationship.

7. The method for simulating the sound of a target position according to claim 6, characterized in that: The second preset relationship is: f=f0+k*v Among them, f is the adjusted prompt audio frequency, f0 is the basic frequency, k is the proportional constant, and v is the relative approach speed.

8. The method for simulating the sound of a target position according to claim 7, characterized in that: The third preset relationship is: in, is the phase difference of each target loudspeaker, Δd(k) is the distance difference, c is the speed of sound, and f is the frequency of the sound to be output.

9. The method for simulating the sound of a target orientation according to any one of claims 1 to 8, characterized in that: After step 2, the method further includes: Step 21: According to the type of the target and the driving mode, the driving parameters are modified according to preset rules.

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