Vehicle noise reduction method, vehicle, electronic equipment and storage medium

Abstract

The invention discloses a vehicle noise reduction method, a vehicle, electronic equipment and a storage medium, and the vehicle noise reduction method comprises the steps that a historical noise error signal in the vehicle is collected, the historical noise error signal represents a signal difference between a vehicle warning sound and a historical warning sound elimination signal, and the historical noise error signal represents the signal difference between the vehicle warning sound and the historical warning sound elimination signal; the historical warning sound elimination signal is used for eliminating the vehicle warning sound; generating a current warning sound elimination signal based on the historical noise error signal; the vehicle warning sound is eliminated by outputting the current warning sound elimination signal so as to reduce the noise error signal. According to the vehicle noise reduction method, the feedback type active noise control method is adopted, the current warning sound elimination signal is generated based on the historical noise error signal to eliminate the warning sound of the vehicle, it is not needed to install an additional sensor to collect the warning sound as a reference signal, the noise reduction method is simpler and more convenient, and the cost is reduced.

Description

Technical Field

[0001] The present application relates to technical fields such as vehicle noise reduction and sound information processing, and in particular to a vehicle noise reduction method, a vehicle, an electronic device and a storage medium. Background Art

[0002] Existing electric vehicles or vehicles equipped with external warning sound systems are required to provide pedestrian warning sounds (warning sounds) that meet the minimum sound level requirements. However, the low-frequency part of the pedestrian warning sound can easily be transmitted to the interior of the vehicle, thereby affecting the sound quality inside the vehicle. Therefore, it is crucial to reduce the impact of pedestrian warning sounds on people in the car through noise reduction methods. Related technologies usually reduce noise by installing additional sensors to collect warning sounds as reference signals, or by using complex noise reduction logic, which results in high noise reduction methods and poor noise reduction effects. Summary of the invention

[0003] The embodiments of the present application aim to solve at least one of the technical problems in the related art to a certain extent. To this end, the purpose of the embodiments of the present application is to propose a vehicle noise reduction method, a vehicle, an electronic device, a storage medium and a program product, which adopts a feedback active noise control method, does not need to collect warning sounds as reference signals by installing additional sensors, and the noise reduction method is simpler, more convenient and reduces costs.

[0004] An embodiment of the present application provides a vehicle noise reduction method, the method comprising: collecting a historical noise error signal inside a vehicle, wherein the historical noise error signal represents a signal difference between a vehicle warning sound and a historical warning sound elimination signal, and the historical warning sound elimination signal is used to eliminate the vehicle warning sound; based on the historical noise error signal, generating a current warning sound elimination signal; and eliminating the vehicle warning sound by outputting the current warning sound elimination signal to reduce the noise error signal.

[0005] Exemplarily, generating a current warning sound elimination signal based on the historical noise error signal includes: generating a current warning sound reference signal based on the historical noise error signal and the historical warning sound elimination signal, wherein the current warning sound reference signal is an estimated signal of the vehicle warning sound; and processing the current warning sound reference signal to obtain a current warning sound elimination signal.

[0006] Exemplarily, generating a current warning sound reference signal based on the historical noise error signal and the historical warning sound elimination signal includes: using an estimated electroacoustic transfer function to process the historical warning sound elimination signal to obtain an estimated propagated warning sound elimination signal, wherein the historical warning sound elimination signal is played by a speaker, the estimated propagated warning sound elimination signal is a signal of the historical warning sound signal propagated from the speaker to the microphone, and the estimated electroacoustic transfer function characterizes a propagation path of the sound signal from the speaker to the microphone; obtaining a current warning sound reference signal based on the estimated propagated warning sound elimination signal and the historical noise error signal.

[0007] Exemplarily, the processing the current warning sound reference signal to obtain the current warning sound elimination signal includes: using the current adaptive filtering parameter to filter the current warning sound reference signal to obtain the current warning sound elimination signal.

[0008] Exemplarily, the current adaptive filtering parameters are obtained in the following manner: with the goal of minimizing the noise error signal, historical adaptive filtering parameters are updated to obtain the current adaptive filtering parameters.

[0009] Exemplarily, the current adaptive filtering parameters are associated with the historical adaptive filtering parameters, the convergence coefficient, the historical noise error signal, and a filtered historical warning sound reference signal, wherein the filtered historical warning sound reference signal is obtained by filtering the historical warning sound reference signal using an estimated electroacoustic transfer function.

[0010] Exemplarily, the estimated electroacoustic transfer function is obtained in the following manner: in an environment without a vehicle warning sound, white noise is played through a speaker; a first sound signal of the white noise transmitted from a real environment to a microphone is obtained; a second sound signal of the white noise is obtained after being processed by the constructed electroacoustic transfer function, wherein the white noise is processed by the constructed electroacoustic transfer function to simulate the propagation of the white noise from the speaker to the microphone; and parameters of the constructed electroacoustic transfer function are adjusted with the goal of minimizing the error between the first sound signal and the second sound signal, thereby obtaining an estimated electroacoustic transfer function.

[0011] Exemplarily, at least one of a speaker and a microphone in the vehicle is located at a distance from a vehicle seat that is less than a preset distance.

[0012] Another embodiment of the present application provides a vehicle, wherein the vehicle is used to implement the steps of the method of any one of the above embodiments.

[0013] Another embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of any of the above embodiments when executing the computer program.

[0014] Another embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method of any of the above embodiments are implemented.

[0015] Another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed by a processor of a computer device, the computer device is enabled to perform the steps of the method of any of the above embodiments.

[0016] In the above implementation, a historical noise error signal inside the vehicle is collected, wherein the historical noise error signal represents the signal difference between the vehicle warning sound and the historical warning sound elimination signal, and the historical warning sound elimination signal is used to eliminate the vehicle warning sound; based on the historical noise error signal, a current warning sound elimination signal is generated; and the vehicle warning sound is eliminated by outputting the current warning sound elimination signal to reduce the noise error signal. The vehicle noise reduction method of the present application adopts a feedback active noise control method, and generates a current warning sound elimination signal based on the historical noise error signal to eliminate the vehicle warning sound. There is no need to install additional sensors to collect warning sounds as reference signals, and the noise reduction method is simpler, more convenient, and reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of a vehicle noise reduction method provided in an embodiment of the present application;

[0018] Figure 2 A flowchart of obtaining a current warning sound cancellation signal provided in an embodiment of the present application;

[0019] Figure 3 A flowchart of generating a current warning sound reference signal provided by an embodiment of the present application;

[0020] Figure 4 A flow chart of obtaining an estimated electroacoustic transfer function provided in an embodiment of the present application;

[0021] Figure 5 A framework diagram of the active control of the in-vehicle warning sound feedback provided in the implementation mode of the present application;

[0022] Figure 6 A logical diagram of a noise reduction algorithm provided for an embodiment of the present application;

[0023] Figure 7 A schematic diagram of the frequency domain results of simulating a warning sound signal provided in an embodiment of the present application;

[0024] Figure 8 A schematic diagram of a time domain result of simulating a warning sound signal provided in an embodiment of the present application;

[0025] Fig. 9 A block diagram of an electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] Existing electric vehicles or vehicles equipped with an external warning sound system are required to provide pedestrian warning sounds (warning sounds) that meet the minimum sound level requirements. However, the low-frequency part of the pedestrian warning sound can easily be transmitted to the interior of the vehicle, thereby affecting the sound quality inside the vehicle. Therefore, it is crucial to reduce the impact of pedestrian warning sounds on people inside the vehicle through noise reduction methods.

[0028] In some examples, the noise reduction method includes, for example: obtaining the vehicle running speed, the correspondence between the vehicle running speed and the warning sound outside the vehicle; according to the vehicle running speed, the correspondence between the vehicle running speed and the warning sound outside the vehicle, synchronously playing the warning sound outside the vehicle corresponding to the vehicle running speed and the pre-modulated reverse wave corresponding to the warning sound outside the vehicle, and then playing the reverse sound signal of the warning sound through the speaker to achieve the noise reduction effect. However, this method does not take into account the influence of the phase and amplitude of the noise inside the car changing with the environment. The pedestrian warning sound of an electric vehicle is usually transmitted through a speaker outside the vehicle body, and the amplitude and phase information of each frequency component in the warning sound will change with the propagation path. The control logic of this noise reduction method is complex, and the noise reduction process is easy to cause poor noise reduction effect.

[0029] In some examples, the noise reduction method includes, for example: placing a warning sound collection sensor outside the vehicle, and then sending the collected warning sound reference signal to a feedforward active noise control system, the feedforward active noise control system generates a warning sound reverse sound signal, and then the warning sound reverse sound signal is played through a speaker to achieve a noise reduction effect. The noise reduction method also includes, for example: generating an anti-noise signal through an active noise control method, the anti-noise signal is configured to drive a speaker to generate sound waves, thereby destructively interfering with the unwanted sounds in the target space. However, this method requires the installation of a warning sound collection device outside the vehicle, which increases the cost of the warning sound in-vehicle noise reduction system.

[0030] Based on this, the present application proposes a vehicle noise reduction method, which does not require the installation of a warning sound collection device outside the vehicle, reduces the noise reduction cost, and the noise reduction method is simpler and more convenient.

[0031] Figure 1 It is a flow chart of a vehicle noise reduction method according to an embodiment of the present application.

[0032] like Figure 1 As shown, the vehicle noise reduction method includes S101-S103.

[0033] S101, collecting a historical noise error signal inside a vehicle, wherein the historical noise error signal represents a signal difference between a vehicle warning sound and a historical warning sound elimination signal, and the historical warning sound elimination signal is used to eliminate the vehicle warning sound.

[0034] S102, generating a current warning sound elimination signal based on the historical noise error signal.

[0035] S103, eliminating the vehicle warning sound by outputting a current warning sound elimination signal to reduce the noise error signal.

[0036] Exemplarily, the historical noise error signal inside the vehicle can be first collected by a sensor, and the historical noise error signal represents the signal difference between the vehicle warning sound and the historical warning sound elimination signal. The present application installs a microphone in the vehicle to collect the historical noise error signal. It can be understood that the vehicle warning sound can be a sound signal that the warning sound propagates into the vehicle after the vehicle honks, or it can also be a sound signal that the warning sound generated by other vehicles outside the vehicle propagates into the vehicle. In order to eliminate the vehicle warning sound, the present application also installs a speaker in the vehicle, and the speaker is used to output a warning sound elimination signal to eliminate the vehicle warning sound. Under normal circumstances, it takes a period of time to completely eliminate the vehicle warning sound or achieve a good elimination effect through the warning sound elimination signal. Before the vehicle warning sound is completely eliminated, there is a certain signal difference between the vehicle warning sound and the warning sound elimination signal. The difference is the noise error signal, because the signal collected by the microphone is the historical noise error signal under the combined action of the warning sound elimination signal in the vehicle and the vehicle warning sound. Of course, the smaller the noise error signal, the better the noise reduction effect.

[0037] Exemplarily, when the warning sound is playing, the vehicle starts FBANC (Feedback Active noise control), the microphone sensor collects the historical noise error signal inside the vehicle, the historical noise error signal is recorded as e(n), the vehicle warning sound is recorded as d(n), the historical warning sound elimination signal output by the microphone is recorded as y(n), and the signal obtained after the historical warning sound elimination signal y(n) is propagated to the microphone and undergoes a decay change is recorded as y'(n), wherein the relationship between y'(n) and y(n) is: y'(n)=s(n)*y(n), s(n) is the electroacoustic transfer function, which represents the propagation path of sound from the speaker to the microphone, and the sound will decay or undergo other changes after passing through this propagation path.

[0038] The in-vehicle warning sound elimination signal and the vehicle warning sound are fused, so y'(n) is difficult to measure accurately. In order not to set up additional sensors to reduce costs or to reduce system control logic, this application does not need to directly measure y'(n), but only needs to collect the historical noise error signal e(n) through the microphone. The historical noise error signal e(n) collected by the microphone represents the signal difference between the vehicle warning sound d(n) and the historical warning sound elimination signal y'(n), as shown in the following formula:

[0039] e(n)=d(n)-y'(n)

[0040] Among them, n represents the moment or step size. Taking the moment as an example, the speaker continuously outputs the warning sound elimination signal y, and the historical warning sound elimination signal is recorded as y(n). Then the warning sound elimination signal at the next moment is y(n+1), which is referred to as the current warning sound elimination signal in this application, that is, the signal ultimately sought by this application. The speaker outputs the historical warning sound elimination signal y(n). The historical warning sound elimination signal y(n) output by the speaker is transformed into the signal y'(n) after being transmitted to the microphone after decay changes. Since the signal y(n) and the signal e(n) are fused at the microphone, for microphone acquisition, the signal collected by the microphone is the historical noise error signal e(n), and e(n) represents the signal difference between the vehicle warning sound d(n) and the historical warning sound elimination signal y'(n) = d(n)-y'(n).

[0041] Since there is no need to directly measure y'(n), a series of processing is performed based on the collected historical noise error signal e(n), such as inputting the collected historical noise error signal e(n) into the vehicle's feedback noise active control system for processing to obtain the required current warning sound elimination signal y(n+1), and then outputting the current warning sound elimination signal y(n+1) to continue eliminating the vehicle warning sound to reduce the noise error signal. For example, the current warning sound elimination signal can be output through a speaker to reduce the noise error signal, for example, the noise error signal is gradually reduced through elimination over a period of time, such as continuous noise elimination to make the current noise error signal e(n+1) smaller than the historical noise error signal e(n).

[0042] The vehicle noise reduction method of the present application does not need to install a warning sound collection device outside the vehicle, that is, there is no need to install an additional sensor to collect the vehicle warning sound as a reference signal for noise reduction. It only needs to collect the noise error signal between the vehicle warning sound and the warning sound elimination signal. The feedback noise active control system can achieve noise reduction based on the noise error signal, thereby reducing the noise reduction cost. The noise reduction method is simpler and more convenient, the control logic is simple, and the robustness is high.

[0043] The following describes in detail how to calculate the current warning sound elimination signal y(n+1).

[0044] As an example, Figure 2 As shown, based on the historical noise error signal, a current warning sound elimination signal is generated, including S201-S202.

[0045] S201 : generating a current warning sound reference signal based on a historical noise error signal and a historical warning sound elimination signal, wherein the current warning sound reference signal is an estimated signal of a vehicle warning sound.

[0046] S202: Process the current warning sound reference signal to obtain a current warning sound elimination signal.

[0047] Exemplarily, based on the historical noise error signal e(n) and the historical warning sound elimination signal y(n), a current warning reference signal is generated, and the current warning reference signal is denoted as x(n+1). The historical noise error signal e(n) is acquired through a microphone, and the historical warning sound elimination signal y(n) is a signal generated by the system and can therefore be directly acquired. The vehicle warning sound is d(n), and the estimated signal of the vehicle warning sound is denoted as d'(n+1). According to the historical noise error signal e(n) and the historical warning sound elimination signal y(n), the estimated signal d'(n+1) of the vehicle warning sound is obtained by calculation.

[0048] The present application uses the estimated signal d'(n+1) of the vehicle warning sound as the current warning reference signal x(n+1). The current warning sound reference signal x(n+1) is processed to obtain the current warning sound elimination signal y(n+1). For example, the processing of the current warning sound reference signal may be a filtering process.

[0049] As an example, Figure 3 As shown, based on the historical noise error signal and the historical warning sound elimination signal, a current warning sound reference signal is generated, including S301 - S302 .

[0050] S301, using the estimated electroacoustic transfer function, processing the historical warning sound elimination signal to obtain an estimated propagated warning sound elimination signal, wherein the historical warning sound elimination signal is played by a loudspeaker, and the estimated propagated warning sound elimination signal is an estimated signal of the historical warning sound elimination signal propagated from the loudspeaker to the microphone, that is, the propagation of the historical warning sound elimination signal is estimated to estimate the signal of the historical warning sound elimination signal at the microphone, and the estimated electroacoustic transfer function characterizes the propagation path of the sound signal from the loudspeaker to the microphone.

[0051] S302: Obtain a current warning sound reference signal based on the estimated propagated warning sound elimination signal and the historical noise error signal.

[0052] Exemplarily, the electroacoustic transfer function is recorded as s(n). The electroacoustic transfer function is the electroacoustic transfer function of the actual environment and is usually difficult to obtain accurately. Therefore, an estimated electroacoustic transfer function can be obtained through an offline white noise test. The estimated electroacoustic transfer function is recorded as s'(n). The estimated electroacoustic transfer function characterizes the propagation path of the sound signal from the speaker to the microphone. The estimated electroacoustic transfer function s'(n) can be obtained by offline measurement in advance. The historical warning sound elimination signal y(n) is processed using the estimated electroacoustic transfer function s'(n) to obtain an estimated propagated warning sound elimination signal. The processing can be a signal superposition processing. The estimated propagated warning sound elimination signal is recorded as s'(n)y(n). According to the estimated propagated warning sound elimination signal s'(n)y(n) and the historical noise error signal e(n), the current warning sound reference signal x(n+1) is obtained.

[0053] Exemplarily, the estimated signal of the vehicle warning sound is the difference between the historical warning sound elimination signal and the estimated propagated warning sound elimination signal, that is, d'(n+1)=e(n)-s'(n)y(n). The present application uses the estimated propagated warning sound elimination signal d'(n+1) as the current warning sound reference signal x(n+1).

[0054] The estimated electroacoustic transfer function will be described in detail below.

[0055] As an example, Figure 4 As shown, the estimated electroacoustic transfer function is obtained by:

[0056] S401, playing white noise through a speaker in an environment without vehicle warning sounds.

[0057] S402: Acquire a first sound signal of white noise transmitted from a real environment to a microphone.

[0058] S403, obtaining a second sound signal obtained by processing white noise through the constructed electroacoustic transfer function, wherein the white noise is processed through the constructed electroacoustic transfer function to simulate the white noise propagating from the speaker to the microphone.

[0059] S404, adjusting the parameters of the constructed electroacoustic transfer function with the goal of minimizing the error between the first sound signal and the second sound signal, thereby obtaining an estimated electroacoustic transfer function.

[0060] Exemplarily, the estimated electroacoustic transfer function can be obtained by offline measurement, wherein the measurement steps are as follows: first, when the vehicle is stationary and there is no engine or road noise, offline secondary path identification is performed. A section of white noise is generated using computing software, which serves as both a reference signal for the system and an output signal played by a speaker. The error signal of the played white noise is collected from a microphone, and an LMS (Least Mean Square) algorithm is adaptively updated to obtain the estimated electroacoustic transfer function.

[0061] Exemplarily, white noise can be played through a speaker when the vehicle is stationary and there is no engine or road noise. For example, a piece of white noise is generated using computing software, which serves as both a reference signal for the system and an output signal played by the speaker. The signal output by the speaker is denoted as A(n), that is, the white noise is A(n). The white noise A(n) propagates through two paths: one is the propagation of white noise in a real environment, and the other is the processing of the white noise after being processed using the constructed electroacoustic transfer function. A(n) is transmitted in a real environment (indicating that the white noise A(n) is acted upon by S(n)), and after attenuation and other transformations, it reaches the microphone. At this time, the microphone collects a first sound signal, denoted as B(n). The second sound signal obtained by processing the white noise after being processed using the constructed electroacoustic transfer function is denoted as B'(n). The constructed electroacoustic transfer function is recorded as S'(n), and B(n) and B'(n) are superimposed to obtain e'(n), where e'(n) represents the error between the first sound signal B(n) and the second sound signal B'(n). With the goal of minimizing the error e'(n) between the first sound signal B(n) and the second sound signal B'(n), the relevant parameters in S'(n) are iteratively adjusted so that e'(n) converges to zero, and the converged S'(n) is used as the final estimated electroacoustic transfer function. It can be understood that S'(n) can be regarded as a filter.

[0062] The above method is used to obtain the estimated electroacoustic transfer function S'(n), and the estimated propagated warning sound elimination signal d'(n+1) can be obtained according to the formula d'(n+1)=e(n)-s'(n)y(n), and the estimated propagated warning sound elimination signal d'(n+1) is used as the current warning sound reference signal x(n+1). It can be seen that the present application does not need to collect the warning sound signal as a reference signal through an additional sensor, that is, it is not necessary to collect the current warning sound reference signal x(n+1), and only needs to input the noise error signal into the feedback noise active control system, and the current warning sound reference signal x(n+1) can be calculated based on the noise reduction algorithm, and noise reduction is performed based on the current warning sound reference signal x(n+1).

[0063] As an example, processing the current warning sound reference signal to obtain the current warning sound elimination signal includes: using the current adaptive filtering parameter to filter the current warning sound reference signal to obtain the current warning sound elimination signal.

[0064] Exemplarily, the current warning sound reference signal x(n+1) is obtained through the above steps, and the current warning sound reference signal x(n+1) is processed to obtain the current warning sound elimination signal y(n+1). For example, the current warning sound reference signal x(n+1) is filtered using the current adaptive filtering parameters. The current adaptive filtering parameters can be updated and obtained in advance, and the adaptive filtering parameters are recorded as w(n+1). The current warning sound elimination signal y(n+1)=w(n+1)x(n+1).

[0065] As an example, the current adaptive filtering parameters are obtained in the following manner: taking the minimization of the noise error signal as the goal, the historical adaptive filtering parameters are updated to obtain the current adaptive filtering parameters.

[0066] Exemplarily, similar to the estimated electroacoustic transfer function obtained by the LMS method, the present application updates the historical adaptive filter parameters by the FxLMS (Filtered-x Least Mean Square) algorithm to obtain the current adaptive filter parameters. The historical adaptive filter parameters are denoted as w(n), the current adaptive filter parameters are denoted as w(n+1), and the updating formula of the adaptive filter parameters is as shown below:

[0067] w(n+1)=w(n)+μe(n)x'(n)

[0068] Among them, μ is the convergence coefficient, which can be configured in advance, w(n) is the historical adaptive filtering parameter, e(n) is the historical noise error signal, x'(n) is the filtered historical warning sound reference signal, and the adaptive filtering parameter is an ANC (Active noise control) adaptive filter parameter. With the goal of minimizing the historical noise error signal e(n), the update formula is iterated so that e(n) converges to zero, and the converged w(n+1) is used as the current adaptive filtering parameter. The present application updates the adaptive filter parameters in real time, and uses the updated adaptive filtering parameters to filter the warning sound reference signal. It can adapt to environmental changes to better filter the warning sound reference signal, so that the output warning sound elimination signal can better eliminate the vehicle warning sound and achieve a better noise reduction effect.

[0069] As an example, the current adaptive filtering parameters are associated with historical adaptive filtering parameters, a convergence coefficient, a historical noise error signal, and a filtered historical warning sound reference signal, wherein the filtered historical warning sound reference signal is obtained by filtering the historical warning sound reference signal using an estimated electroacoustic transfer function.

[0070] Exemplarily, as shown in the formula w(n+1)=w(n)+μe(n)x'(n), the current adaptive filtering parameter w(n+1) is associated with the historical adaptive filtering parameter w(n), the convergence coefficient μ, the historical noise error signal e(n), and the filtered historical warning sound reference signal x'(n). The filtered historical warning sound reference signal x'(n) is obtained by filtering the historical warning sound reference signal x(n). The filtering formula is as follows:

[0071] x'(n)=s'(n)*x(n)

[0072] The current adaptive filter parameter w(n+1) is obtained through the above-mentioned FxLMS algorithm, and then the current warning sound elimination signal y(n+1) is obtained through the formula y(n+1)=w(n+1)x(n+1). The current warning sound elimination signal y(n+1) can be output through the speaker to eliminate the vehicle warning sound to reduce the noise error signal.

[0073] This application uses feedback active noise control to reduce the reliance of the noise reduction system on collecting warning sounds as reference signals through additional sensors, eliminating the need to install reference signal sensors and reducing noise reduction costs. Compared with the related art method of calculating the reverse sound wave signal of the prompt sound through the corresponding relationship between the vehicle running speed and the vehicle running speed and the warning sound outside the vehicle, the method of this application uses a feedback active noise control method to adaptively adjust the silencing signal according to the sound environment inside the vehicle, thereby improving the noise reduction effect.

[0074] As an example, at least one of a speaker and a microphone in a vehicle is located at a distance less than a preset distance from a vehicle seat.

[0075] For example, the speaker and microphone in the present application are both installed in the vehicle. To reduce the noise felt by the user, at least one of the speaker and microphone in the vehicle is located at a distance less than a preset distance from the vehicle seat. The preset distance is, for example, 20 cm. Figure 5 As shown, the microphone can be installed behind the seat, and the number of microphones can be 4. Of course, the number of microphones can be adjusted according to the number of seats in the vehicle. The speaker can be installed at the side of the seat, and the number of speakers can also be 4. Of course, the number of speakers can also be adjusted according to the number of seats in the vehicle.

[0076] Figure 5This is a framework diagram of the in-vehicle warning sound feedback active control according to an embodiment of the present application.

[0077] like Figure 5 As shown, the active control system for the in-vehicle warning sound of the present application includes: a noise reduction control module (which can be a hardware device installed on the vehicle), a speaker playback reverse sound signal module, a microphone signal acquisition module and a vehicle CAN (Controlarea network, bus) data reading module. The vehicle CAN bus data reading module is a serial communication bus for real-time applications, which is used to read data, such as the time when the vehicle initiates the warning sound and other related data, transmit the data or generate corresponding instructions to the noise reduction control module to start the noise reduction control process, and is responsible for data transmission between the modules. The above four modules influence and cooperate with each other to realize the vehicle noise reduction method.

[0078] Figure 6 It is a logic diagram of a noise reduction algorithm according to an embodiment of the present application.

[0079] like Figure 6 As shown, the ultimate goal of this application is to obtain y at each moment in order to control the speaker to output y. Take y(n+1) at moment n+1 as an example:

[0080] Step 1: First, prepare the data, including: collecting the historical noise error signal e(n) at time n, obtaining the historical warning sound elimination signal y(n) at time n, y(n) is the output of the system at the previous moment, so y(n) is known. Of course, at the very beginning of the algorithm, y can be set to the initial value, and the current adaptive filter parameter w(n+1) calculated in advance based on FxLMS is updated.

[0081] Step 2: Calculate the estimated propagated warning sound cancellation signal d'(n+1) according to the formula d'(n+1)=e(n)-s'(n)y(n), wherein the estimated electroacoustic transfer function S'(n) is obtained in advance by offline measurement of white noise.

[0082] Step 3: Use the estimated propagated warning sound cancellation signal d'(n+1) as the current warning sound reference signal x(n+1).

[0083] Step 4: The current warning sound elimination signal y(n+1) is calculated according to the formula y(n+1)=w(n+1)x(n+1).

[0084] It should be noted that the result of y(n) after S'(n) acts on it can be regarded as an estimation result of y'(n). After x(n) passes through S'(n), x'(n) can be obtained, which can be regarded as a filtering result of x(n). In some examples, S'(n) can be obtained offline according to actual needs, wherein S'(n) for processing y(n) and S'(n) for processing x(n) can be different. In some cases, x(n) is calculated by the system through an algorithm, and the calculation speed of x(n) is usually faster than the actual transmission speed of sound. Therefore, it is necessary to perform phase delay, amplitude modification and other related filtering processing on x(n) through S'(n) to obtain x'(n), so that the estimation of x'(n) is closer to the actual transmitted sound. Of course, w(n+1)=w(n)+μe(n)x'(n). At the first moment of the algorithm, w can be set to the initial value, and μ can be flexibly changed according to the driving environment such as road conditions.

[0085] Understandably, Figure 6 The two "+" signs in the formula can represent the fusion and superposition of signals. The symbols "+" and "-" in the above formula do not strictly limit their meanings. Their meanings are determined according to the phase information of the signal in actual conditions. The multiplication sign in the formula (not shown in some examples) can represent the interaction of two signals or the processing of one signal on another signal. Of course, when converting the signal into a matrix or vector, the multiplication sign in the formula can represent the product or dot product between matrices or vectors in some cases.

[0086] Figure 7 It is the result of simulating the frequency domain of the warning sound signal on the computer side using the noise reduction method of the present application.

[0087] Figure 8 It is the time domain result of simulating the warning sound signal on the computer side using the noise reduction method of the present application.

[0088] from Figure 7 and Figure 8 It can be seen that the noise reduction method of the present application can achieve good effect in active noise reduction control of vehicle warning sounds.

[0089] The application also proposes a vehicle.

[0090] In this embodiment, a vehicle is used to implement the steps of the above-mentioned vehicle noise reduction method.

[0091] The application also proposes a computer-readable storage medium.

[0092] In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle noise reduction method are implemented.

[0093] Fig. 9 A block diagram of an electronic device provided for an embodiment of the present application.

[0094] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the above-mentioned vehicle noise reduction method is implemented when the processor executes the computer program.

[0095] like Fig. 9 As shown, for ease of understanding, the embodiment of the present application shows a specific electronic device.

[0096] Electronic devices are intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0097] like Fig. 9 As shown, the device includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded from a storage unit 908 into a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the electronic device can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0098] Multiple components in the electronic device are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0099] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 901 performs the various methods described above, such as the vehicle noise reduction method. For example, in some embodiments, the vehicle noise reduction method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via ROM 902 and / or a communication unit 909. When the computer program is loaded into RAM 903 and executed by the computing unit 901, the vehicle noise reduction method described above may be executed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the vehicle noise reduction method in any other appropriate manner (e.g., by means of firmware).

[0100] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this application, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0101] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0102] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0103] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0104] In addition, the terms "first", "second", etc. used in the embodiments of the present application are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present application can explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present application, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0105] In this application, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific implementation situation.

[0106] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0107] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle noise reduction method, characterized in that: The method comprises: Collecting a historical noise error signal inside the vehicle, wherein the historical noise error signal represents a signal difference between a vehicle warning sound and a historical warning sound elimination signal, and the historical warning sound elimination signal is used to eliminate the vehicle warning sound; generating a current warning sound elimination signal based on the historical noise error signal; The vehicle warning sound is eliminated by outputting the current warning sound elimination signal to reduce a noise error signal.

2. The method according to claim 1, characterized in that The generating a current warning sound elimination signal based on the historical noise error signal comprises: generating a current warning sound reference signal based on the historical noise error signal and the historical warning sound elimination signal, wherein the current warning sound reference signal is an estimated signal of the vehicle warning sound; The current warning sound reference signal is processed to obtain a current warning sound elimination signal.

3. The method according to claim 2, characterized in that The generating a current warning sound reference signal based on the historical noise error signal and the historical warning sound elimination signal comprises: Using the estimated electroacoustic transfer function, the historical warning sound elimination signal is processed to obtain an estimated propagated warning sound elimination signal, wherein the historical warning sound elimination signal is played by a speaker, the estimated propagated warning sound elimination signal is a signal of the historical warning sound signal propagated from the speaker to the microphone, and the estimated electroacoustic transfer function characterizes a propagation path of the sound signal from the speaker to the microphone; Based on the estimated propagated warning sound cancellation signal and the historical noise error signal, a current warning sound reference signal is obtained.

4. The method according to claim 2, characterized in that: The processing of the current warning sound reference signal to obtain the current warning sound elimination signal includes: The current warning sound reference signal is filtered using the current adaptive filtering parameters to obtain a current warning sound elimination signal.

5. The method according to claim 4, characterized in that The current adaptive filtering parameters are obtained in the following manner: With the goal of minimizing the noise error signal, the historical adaptive filtering parameters are updated to obtain the current adaptive filtering parameters.

6. The method according to claim 5, characterized in that The current adaptive filtering parameter is associated with the historical adaptive filtering parameter, the convergence coefficient, the historical noise error signal, and the filtered historical warning sound reference signal, The filtered historical warning sound reference signal is obtained by filtering the historical warning sound reference signal using the estimated electroacoustic transfer function.

7. The method according to claim 3 or 6, characterized in that: The estimated electroacoustic transfer function is obtained by: In an environment without vehicle warning sounds, white noise was played through the speakers; Acquire a first sound signal of the white noise transmitted from a real environment to a microphone; Acquire a second sound signal obtained by processing the white noise through the constructed electroacoustic transfer function, wherein the white noise is processed through the constructed electroacoustic transfer function to simulate the white noise propagating from the speaker to the microphone; With the goal of minimizing the error between the first sound signal and the second sound signal, the parameters of the constructed electroacoustic transfer function are adjusted to obtain an estimated electroacoustic transfer function.

8. The method according to claim 1, characterized in that At least one of a speaker and a microphone in the vehicle is located at a distance less than a preset distance from a vehicle seat.

9. A vehicle, characterized in that: The vehicle is used to implement the steps of the method according to any one of claims 1-8.

10. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the method described in any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 8 are implemented.

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