Vehicle noise reduction method, device and equipment and storage medium

Abstract

The invention relates to a vehicle noise reduction method, device and equipment and a storage medium, and relates to the technical field of vehicle noise reduction. The method comprises the steps that error noise signals of a target area in a vehicle and rotating speed information of a heat dissipation device of the vehicle are collected; performing filtering processing on a reference signal generated by the rotating speed information to determine a first noise signal; the first noise signal and the error noise signal are different in phase; according to the first noise signal, controlling a loudspeaker corresponding to the target area to output an anti-noise signal; the anti-noise signal is used for counteracting the noise signal in the target area. Therefore, the reference signal can be filtered, the phase of the noise signal can be adjusted, and the transmission time delay between the anti-noise signal output by the loudspeaker and the target position (such as the human ear position) can be eliminated, so that the noise signal can be counteracted under the condition that the anti-noise signal reaches the target position, and the noise in the vehicle can be eliminated more effectively.

Description

Technical Field

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

[0002] With the rapid development of new energy vehicles, consumers are pursuing high performance and intelligence while also placing higher demands on the comfort of the car cabin. In-car noise is one of the important factors affecting driving comfort. For example, when the vehicle is running at high speed or the cooling device in the vehicle is running, the noise generated by the tires and the noise generated by the compressor, water pump, fan and other components of the thermal management system seriously affect the passengers in the vehicle.

[0003] Traditional methods of controlling in-car noise mostly eliminate noise through passive methods such as sound absorption, sound insulation, and vibration isolation. These methods are effective for mid- and high-frequency noise in the car, but have limited effect on eliminating low-frequency noise. With the improvement of the level of automobile intelligence, active noise control (ANC) technology has made great progress in the field of in-car noise elimination, but it is not currently used in the noise control of vehicle thermal management systems. At the same time, current noise reduction technology mainly obtains the frequency and peak value of the noise, and then sends out a reverse sound wave (also called an anti-noise signal) to offset the noise. It does not consider the transmission delay of the anti-noise signal from the speaker to the target location, resulting in poor noise reduction effect. Summary of the invention

[0004] One of the purposes of the present invention is to provide a vehicle noise reduction method, device, equipment and storage medium to solve the technical problem in the prior art of how to eliminate the transmission delay of the anti-noise signal from the speaker to the target position and improve the noise reduction effect.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] According to a first aspect of the present application, a vehicle noise reduction method is provided, the method comprising: collecting an error noise signal of a target area inside the vehicle and rotational speed information of a heat dissipation device of the vehicle; filtering a reference signal generated by the rotational speed information to determine a first noise signal; the first noise signal and the error noise signal have different phases; according to the first noise signal, controlling a speaker corresponding to the target area to output an anti-noise signal; the anti-noise signal is used to offset the noise signal in the target area.

[0007] According to the above technical means, the present application can collect the error noise signal of the target area inside the vehicle and the speed information of the vehicle's heat dissipation device, and filter the reference signal generated by the speed information to determine the filtered noise signal, the filtered noise signal is different from the error noise signal in phase, and according to the filtered noise signal, the speaker corresponding to the target area is controlled to output an anti-noise signal. Thus, by adjusting the phase of the filtered noise signal, the transmission delay between the speaker outputting the anti-noise signal to the target position can be eliminated, so that the anti-noise signal can cancel the noise signal when it reaches the target position, and the noise inside the vehicle can be eliminated more effectively.

[0008] In a possible implementation, the above-mentioned "filtering the reference signal generated by the speed information to determine the first noise signal" method includes: determining the filter coefficient based on the speed information and the error noise signal; based on the filter coefficient, filtering the reference signal generated by the speed information to determine the first noise signal.

[0009] According to the above technical means, the present application can accurately determine the filter coefficient according to the rotation speed information and the error noise signal, and based on the filter coefficient, filter the reference signal generated by the rotation speed information to determine the first noise signal. Thus, the noise signal can be filtered to eliminate the transmission delay problem of the anti-noise signal.

[0010] In a possible implementation, the above-mentioned method of "determining the filter coefficient based on the speed information and the error noise signal" includes: determining the first adjustment coefficient based on the amplitude of the error noise signal, and determining the second adjustment coefficient based on the speed information; determining the filter coefficient based on the error noise signal, the first adjustment coefficient, the speed information and the second adjustment coefficient.

[0011] According to the above technical means, the present application can determine the first adjustment coefficient according to the amplitude of the error noise signal, determine the second adjustment coefficient according to the rotation speed information, and accurately determine the filter coefficient according to the error noise signal, the first adjustment coefficient, the rotation speed information and the second adjustment coefficient.

[0012] In a possible implementation manner, the above filter coefficient satisfies a first preset formula, which is:

[0013] w(n+1)=w(n)+μqe(n)x'(n)

[0014] Among them, w(n+1) represents the filter coefficient, w(n) represents the initial filter coefficient, μ represents the second adjustment coefficient, q represents the first adjustment coefficient, e(n) represents the noise signal; x'(n) represents the signal after the initial filtering of the reference signal generated according to the speed information, and n represents the nth moment.

[0015] According to the above technical means, the present application can determine the filter coefficient more conveniently and accurately according to the preset relationship between the filter coefficient and the rotation speed information, the second adjustment coefficient, the first adjustment coefficient, the initial filter coefficient and the amplitude of the noise signal.

[0016] In one possible implementation, when the amplitude of the error noise signal is less than a preset threshold, the first adjustment coefficient is greater than a preset value; the preset value is greater than or equal to 1; when the amplitude of the error noise signal is greater than or equal to the preset threshold, the first adjustment coefficient is greater than or equal to 0 and less than the preset value.

[0017] According to the above technical means, the present application can determine the first adjustment coefficient more conveniently and accurately according to the preset relationship between the amplitude of the error noise signal and the preset threshold.

[0018] In a possible implementation, the above-mentioned "speed information includes the speed of the heat dissipation device on the vehicle and the speed change rate, and determining the second adjustment coefficient based on the speed information" method includes: determining a coefficient range that matches the speed change rate, and determining a second adjustment coefficient that matches the speed from the coefficient range.

[0019] According to the above technical means, the present application can accurately determine the coefficient range of the second adjustment coefficient according to the preset relationship between the speed change rate and the second adjustment coefficient, and accurately determine the second adjustment coefficient from the coefficient range according to the speed.

[0020] In a possible implementation, the above-mentioned "controlling the speaker corresponding to the target area to output an anti-noise signal based on the first noise signal" method includes: determining a third adjustment coefficient based on the amplitude of the first noise signal; controlling the speaker corresponding to the target area to output an anti-noise signal; the amplitude of the anti-noise signal is equal to the product of the amplitude of the first noise signal and the third adjustment coefficient, the frequency of the anti-noise signal is the same as the frequency of the first noise signal; the phase of the anti-noise signal is the same as the phase of the first noise signal.

[0021] According to the above technical means, the present application can determine the third adjustment coefficient according to the amplitude of the first noise signal, and control the speaker corresponding to the target area to output the anti-noise signal. The anti-noise signal of the target area is superimposed on the noise signal of the target area to more effectively reduce the noise in the vehicle.

[0022] According to a second aspect provided by the present application, a vehicle noise reduction device is provided, comprising a collection unit, for collecting an error noise signal of a target area inside the vehicle and rotational speed information of a heat dissipation device of the vehicle; a determination unit, for filtering a reference signal generated by the rotational speed information to determine a first noise signal; the first noise signal is different from the error noise signal in phase; a control unit, for controlling a speaker corresponding to the target area to output an anti-noise signal according to the first noise signal; the anti-noise signal is used to offset the noise signal in the target area.

[0023] In a possible implementation manner, the determination unit is specifically configured to determine a filter coefficient according to the rotation speed information and the error noise signal; and based on the filter coefficient, filter the reference signal generated by the rotation speed information to determine the first noise signal.

[0024] In a possible implementation, the determination unit is specifically used to determine the first adjustment coefficient according to the amplitude of the error noise signal, and to determine the second adjustment coefficient according to the rotational speed information; and to determine the filter coefficient based on the error noise signal, the first adjustment coefficient, the rotational speed information and the second adjustment coefficient.

[0025] In a possible implementation manner, the determination unit is specifically used to determine a filter coefficient, and the filter coefficient satisfies a first preset formula, which is:

[0026] w(n+1)=w(n)+μqe(n)x'(n)

[0027] Among them, w(n+1) represents the filter coefficient, w(n) represents the initial filter coefficient, μ represents the second adjustment coefficient, q represents the first adjustment coefficient, e(n) represents the noise signal; x'(n) represents the signal after the initial filtering of the reference signal generated according to the speed information.

[0028] In a possible implementation, the above-mentioned determination unit is specifically used to determine a first adjustment coefficient. When the amplitude of the error noise signal is less than a preset threshold, the first adjustment coefficient is greater than a preset value; the preset value is greater than or equal to 1; when the amplitude of the error noise signal is greater than or equal to the preset threshold, the first adjustment coefficient is greater than or equal to 0 and less than the preset value.

[0029] In a possible implementation manner, the determination unit is specifically configured to determine a coefficient range that matches the rotational speed change rate, and determine a second adjustment coefficient that matches the rotational speed from within the coefficient range.

[0030] In a possible implementation, the control unit is specifically used to determine a third adjustment coefficient based on the amplitude of the first noise signal; control the speaker corresponding to the target area to output an anti-noise signal; the amplitude of the anti-noise signal is equal to the product of the amplitude of the first noise signal and the third adjustment coefficient, the frequency of the anti-noise signal is the same as the frequency of the first noise signal; the phase of the anti-noise signal is the same as the phase of the first noise signal.

[0031] According to the third aspect provided by the present application, an electronic device is provided, 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.

[0032] According to a fourth aspect provided by the present application, a vehicle is provided, comprising the electronic device provided by the third aspect above.

[0033] According to the fifth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0034] According to the sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0035] Beneficial effects of the present invention:

[0036] (1) The error noise signal of the target area inside the vehicle and the speed information of the vehicle's heat dissipation device can be collected, and the reference signal generated by the speed information is filtered according to the speed information to determine the filtered noise signal, the filtered noise signal is different in phase from the error noise signal, and the speaker corresponding to the target area is controlled to output an anti-noise signal according to the filtered noise signal. Thus, by adjusting the phase of the filtered noise signal, the transmission delay between the speaker outputting the anti-noise signal to the target position can be eliminated, so that the anti-noise signal can offset the noise signal when it reaches the target position, and the noise inside the vehicle can be eliminated more effectively.

[0037] (2) The filter coefficient can be accurately determined according to the rotation speed information and the error noise signal, and based on the filter coefficient, the reference signal generated by the rotation speed information is filtered to determine the first noise signal. Thus, the reference signal generated by the rotation speed information can be filtered to accurately determine the first noise signal.

[0038] (3) The first adjustment coefficient can be determined according to the amplitude of the error noise signal, and the second adjustment coefficient can be determined according to the rotation speed information. The filter coefficient can be accurately determined according to the error noise signal, the first adjustment coefficient, the rotation speed information and the second adjustment coefficient.

[0039] (4) The filter coefficient can be determined more conveniently and accurately according to the preset relationship between the filter coefficient and the rotation speed information, the second adjustment coefficient, the first adjustment coefficient, the initial filter coefficient, and the amplitude of the error noise signal.

[0040] (5) The first adjustment coefficient can be determined more conveniently and accurately according to a preset relationship between the amplitude of the error noise signal and the preset threshold.

[0041] (6) Accurately determine the coefficient range of the second adjustment coefficient according to a preset relationship between the speed change rate and the second adjustment coefficient, and accurately determine the second adjustment coefficient from the coefficient range according to the speed.

[0042] (7) The third adjustment coefficient can be determined according to the amplitude of the first noise signal, and the speaker corresponding to the target area can be controlled to output an anti-noise signal. The anti-noise signal of the target area is superimposed on the noise signal of the target area, so as to more effectively reduce the noise in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic diagram of a framework of a noise reduction system for a vehicle according to an exemplary embodiment;

[0044] Figure 2 is a schematic diagram of a noise reduction system for a vehicle according to an exemplary embodiment;

[0045] Figure 3 is a flow chart of a vehicle noise reduction method according to an exemplary embodiment;

[0046] Figure 4 is a principle diagram of an adaptive filter algorithm according to an exemplary embodiment;

[0047] Figure 5 is a secondary channel transfer function diagram of an offline test from a speaker of a driver's seat to a microphone of a driver's seat according to an exemplary embodiment;

[0048] Figure 6 is a secondary channel transfer function diagram of an offline test from a driver's speaker to a passenger's microphone according to an exemplary embodiment;

[0049] Figure 7 is a secondary channel transfer function diagram of an offline test from a driver's speaker to a right rear row microphone according to an exemplary embodiment;

[0050] Figure 8 is a secondary channel transfer function diagram of an offline test from a driver's speaker to a left rear row microphone according to an exemplary embodiment;

[0051] Fig. 9 is an example diagram showing an output noise signal of a vehicle with a compressor speed of 5500 r / min according to an exemplary embodiment;

[0052] Fig.10 is an example diagram showing an output noise signal of a vehicle with a compressor speed of 6500 r / min according to an exemplary embodiment;

[0053] Fig.11 is an example diagram showing an output noise signal of a vehicle with a compressor speed of 7000 r / min according to an exemplary embodiment;

[0054] Fig.12 is an example diagram showing an output noise signal of a vehicle with a compressor speed of 7500 r / min according to an exemplary embodiment;

[0055] Fig.13 is a block diagram of a noise reduction device for a vehicle according to an exemplary embodiment;

[0056] Fig.14 The figure is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0057] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0058] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0059] Traditional methods of controlling in-car noise mostly eliminate noise through passive methods such as sound absorption, sound insulation, and vibration isolation. These methods are effective for high-frequency noise in vehicles, but have limited effect on eliminating low-frequency noise. With the improvement of the level of automobile intelligence, active noise control (ANC) technology has made great progress in the field of in-car noise elimination, and many car brands have begun to use this technology to eliminate low-frequency noise in the car.

[0060] The solutions to eliminate low-frequency noise in the car mainly include:

[0061] Solution 1: A vehicle electric compressor and its active noise reduction control method, system, memory, and control device, which analyzes the noise parameters of the vehicle's electric compressor, determines the active noise reduction signal corresponding to the electric compressor, transmits the active noise reduction signal to the target end in a set manner, and actively reduces the noise of the electric compressor of the new energy vehicle.

[0062] Solution 2: A method, system, automobile and storable medium for active noise reduction of automobile engines. The leakage factor at the noise frequency point is calculated based on the performance, and the leakage factor is applied to update the weight coefficient of the adaptive filter of the engine active noise reduction system, thereby limiting the output power of the speaker.

[0063] Solution 3: Automobile intelligent zoning active noise reduction control system and method, which uses an adaptive intelligent zoning noise reduction algorithm to match the appropriate active noise reduction convergence coefficient and the weight coefficient of each position to generate a noise reduction wave signal with the same frequency, amplitude and opposite phase as the noise inside the car, and provides it to the output part to emit sound, thereby realizing intelligent zoning active noise reduction control based on the position information of the driver and passengers.

[0064] However, the above noise reduction technology does not take into account active noise control for multiple noise sources such as a vehicle thermal management system, and the transmission delay of the anti-noise signal from the speaker to the target location.

[0065] In order to achieve system noise control of multiple noise sources and eliminate the transmission delay of the anti-noise signal from the speaker to the target position, the present application provides a vehicle noise reduction method. The method includes: collecting the error noise signal of the target area inside the vehicle and the speed information of the vehicle's heat dissipation device; filtering the reference signal generated by the speed information to determine the first noise signal; the first noise signal and the error noise signal have different phases; according to the first noise signal, controlling the speaker corresponding to the target area to output the anti-noise signal; the anti-noise signal is used to offset the noise signal in the target area.

[0066] For ease of understanding, a vehicle noise reduction method provided by the present application is specifically introduced below with reference to the accompanying drawings.

[0067] Figure 1 is a schematic diagram of a framework of a noise reduction system for a vehicle according to an exemplary embodiment. Figure 1 As shown, the framework diagram includes a signal input module 101 , a controller processing module 102 and an output module 103 .

[0068] The signal input module 101 may include multiple microphones, and the signal input module 101 is used to collect noise signals in the vehicle through multiple microphones on the vehicle. In the embodiment of the present application, the multiple microphones may be located on the main driver's seat, the co-driver's seat, the left side of the rear seat, and the right side of the rear seat of the vehicle, which is not limited in the embodiment of the present application.

[0069] The controller processing module 102 includes a digital signal processing chip (Digital Signal Process, DSP), a digital-to-analog converter and an analog-to-digital converter. The controller processing module 102 is used to convert the collected noise signal (which may be an analog signal) into a digital signal through the analog-to-digital converter, and then send the converted digital signal to the digital signal processing chip for processing. The digital signal processing chip processes the noise signal through a noise reduction algorithm and determines the anti-noise signal corresponding to the noise signal. The digital signal processing chip sends the anti-noise signal to the digital-to-analog converter, and the digital-to-analog converter converts the anti-noise signal into an analog signal and outputs it through the output module 103.

[0070] In the embodiment of the present application, the noise reduction algorithm may include any one of an adaptive filter algorithm, a time domain noise reduction algorithm, and a frequency domain noise reduction algorithm. The embodiment of the present application does not limit the noise reduction algorithm.

[0071] The output module 103 includes a speaker and a power amplifier. The output module 103 is used to receive the anti-noise signal, amplify it through the power amplifier, and output the anti-noise signal through the speaker. The speaker can be located on the main driver's seat, the co-driver's seat, the left side of the rear seat, and the right side of the rear seat.

[0072] For example, Figure 2 by Figure 1 Taking the devices in each module of the noise reduction system of a vehicle as an example, the operation process of the devices between the modules is described in detail.

[0073] Figure 2 is a schematic diagram of a noise reduction system for a vehicle according to an exemplary embodiment. Figure 2 As shown, the schematic diagram of the device includes a signal acquisition device, a digital-to-analog converter, an algorithm controller, an analog-to-digital converter, a power amplifier, and a speaker.

[0074] In a possible implementation, the signal acquisition device can be used to collect noise signals in multiple areas of the vehicle. For example, the signal acquisition device can be a microphone, and microphones are arranged in the main driver's seat, the co-driver's seat, the left rear row, and the right rear row of the vehicle. When the noise signal is an analog signal, the analog-to-digital converter converts the analog signal into a noise signal of a digital signal. The analog-to-digital converter sends the converted digital signal of the noise signal to the algorithm controller.

[0075] The signal acquisition device can also obtain the speed information on the vehicle through the controller area network bus (CAN) and send the speed information to the algorithm controller. The speed information may include the speed and speed change rate of the heat dissipation device on the vehicle. The heat dissipation device may be a compressor, a fan, a water pump, etc., which is not limited in the embodiment of the present application.

[0076] After receiving the speed information and the noise signal, the algorithm controller performs filtering processing through the noise reduction algorithm. For example, a filter may be provided in the vehicle, and the algorithm controller inputs the speed information and the noise signal into the filter, and the filter outputs an anti-noise signal after processing. The anti-noise signal is converted into an analog signal by a digital-to-analog converter, amplified by a power amplifier, and output through a speaker.

[0077] The execution subject in the embodiment of the present application may be a component in the vehicle, for example, a processing chip, a vehicle terminal, a vehicle controller, etc. of the vehicle, which is not limited in the embodiment of the present application, and the following detailed description is given by taking the vehicle controller as an example.

[0078] like Figure 3 As shown, a flowchart of a vehicle noise reduction method provided in an embodiment of the present application includes the following S301-S303.

[0079] S301 : Collect error noise signals of a target area inside a vehicle and rotation speed information of a heat dissipation device of the vehicle.

[0080] The error noise signal represents the noise signal collected by the microphone in the target area. The target area inside the vehicle may include multiple areas. The embodiment of the present application uses four areas of the main driver's seat, the co-driver's seat, the left rear row, and the right rear row on the vehicle as target areas for illustration. The speed information of the vehicle's heat sink may include the speed and the speed change rate. The speed may include one or more of the compressor speed, the fan speed, and the water pump speed.

[0081] In a possible implementation, the vehicle controller can collect error noise signals of a target area inside the vehicle through multiple microphones on the vehicle. The vehicle controller can also collect speed information of a heat sink of the vehicle through a CAN bus.

[0082] In the embodiment of the present application, the vehicle controller obtains the window opening and closing status and the door opening and closing status of the vehicle through the CAN bus. When the windows and doors of the vehicle are in a closed state, the microphone 1 located at the main driver's seat of the vehicle collects the error noise signal of the main driver's target area, the microphone 2 located at the co-driver's seat of the vehicle collects the error noise signal of the co-driver's target area, the microphone 3 located at the left rear row of the vehicle collects the error noise signal of the left rear row target area, and the microphone 4 located at the right rear row of the vehicle collects the error noise signal of the right rear row target area.

[0083] Exemplarily, the error noise signal collected by microphone 1 can be expressed as e1(n), the error noise signal collected by microphone 2 can be expressed as e2(n), the error noise signal collected by microphone 3 can be expressed as e3(n), the error noise signal collected by microphone 4 can be expressed as e4(n), and the error noise signal of the target area can be expressed as E(n) = [e1(n), e2(n), e3(n), e4(n)].

[0084] For example, the vehicle controller collects the compressor speed in the vehicle's cooling device as 4500 revolutions per minute (r / min), and the compressor speed collected 2 seconds later is 5000 r / min. The compressor speed change rate is: (5000-4500) r / min ÷ 2 seconds = 250 r / min·second (r / min*sec), 250 r / min*sec means that the compressor speed increases by 250 r / min per second.

[0085] S302: Filter the reference signal generated by the rotation speed information to determine a first noise signal.

[0086] The first noise signal and the error noise signal have different phases. For example, the phase of the error noise signal is 45 degrees, and the phase of the first noise signal is reduced by 3 degrees compared with the error noise signal, so the phase of the first noise signal is 42 degrees.

[0087] In a possible implementation, the vehicle controller can determine the filter coefficient of the error noise signal according to the speed information and the error noise signal. The vehicle controller performs filtering processing on the reference signal generated by the speed information based on the filter coefficient of the error noise signal to determine the first noise signal.

[0088] In an embodiment of the present application, the vehicle controller can determine the first adjustment coefficient according to the amplitude of the error noise signal, and determine the second adjustment coefficient according to the speed information. The vehicle controller determines the filter coefficient of the error noise signal based on the error noise signal, the first adjustment coefficient, the speed information and the second adjustment coefficient. The filter coefficient of the error noise signal must satisfy Formula 1:

[0089] w(n+1)=w(n)+μqe(n)x'(n) Formula 1

[0090] Among them, w(n+1) represents the filter coefficient, w(n) represents the initial filter coefficient, μ represents the second adjustment coefficient, q represents the first adjustment coefficient, e(n) represents the noise signal; x'(n) represents the signal after the initial filtering of the reference signal generated according to the speed information, and n represents the nth moment.

[0091] For example, the vehicle controller passes the reference signal generated by the speed information through a filter to determine a filtered reference signal, which is the product of the initial filter coefficient of the filter and the reference signal.

[0092] In the embodiment of the present application, the first adjustment coefficient may also be referred to as the microphone weight coefficient. For the convenience of description, the embodiment of the present application takes the first adjustment coefficient as an example for description. The second adjustment coefficient may also be referred to as the step size of the preset noise reduction algorithm. For the convenience of description, the embodiment of the present application takes the second adjustment coefficient as an example for description.

[0093] In the embodiment of the present application, the first adjustment coefficient can be determined according to the amplitude of the error noise signal. When the amplitude of the error noise signal is less than a preset threshold, the first adjustment coefficient is greater than a preset value, and the preset value is greater than or equal to 1. When the amplitude of the error noise signal is greater than or equal to the preset threshold, the first adjustment coefficient is greater than or equal to 0 and less than the preset value.

[0094] Exemplarily, when the amplitude of the error noise signal is less than the preset threshold value of 60 db, the first adjustment coefficient is 1. When the amplitude of the error noise signal is greater than or equal to the preset threshold value of 60 db, the first adjustment coefficient is 0.7.

[0095] In the embodiment of the present application, the second adjustment coefficient can be determined according to the rotation speed and the rotation speed change rate of the heat sink on the vehicle. The vehicle controller determines a coefficient range that matches the rotation speed change rate of the heat sink, and determines the second adjustment coefficient from the coefficient range according to the rotation speed of the heat sink.

[0096] Exemplarily, a mapping relationship between the rotational speed of the compressor, the rotational speed change rate, and the second adjustment coefficient is stored in the vehicle controller.

[0097] The embodiment of the present application does not limit the storage form of the preset corresponding relationship between the speed of the compressor, the speed change rate and the second adjustment coefficient, and can be stored in the form of text or in the form of a table. For example, Table 1 is a storage method in the form of a table.

[0098] Table 1 is a preset correspondence table between the speed of the compressor, the speed change rate and the second adjustment coefficient.

[0099] Table 1

[0100]

[0101] For example, when the speed change rate of the compressor is 100 r / min*sec, the speed of the compressor is 5000 r / min, and the second adjustment coefficient is 1.00E-03. When the speed change rate of the compressor is 150 r / min*sec, the speed of the compressor is 5800 r / min, and the second adjustment coefficient is 2.00E-03.

[0102] The greater the speed change rate of the compressor, the greater the second adjustment coefficient. The smaller the speed change rate of the compressor, the smaller the second adjustment coefficient. Thus, a larger second adjustment coefficient can be matched when the speed of the compressor changes faster, and a smaller second adjustment coefficient can be matched when the speed of the compressor changes slower, thereby ensuring the noise reduction effect and stability of the noise reduction system.

[0103] After determining the filter coefficient of the error noise signal, the vehicle controller performs filtering processing on the reference signal generated by the rotation speed information based on the filter coefficient to determine the first noise signal.

[0104] The vehicle controller can generate a reference signal based on the speed information. The speed in the speed information is the frequency of the reference signal. The reference signal can be a sine signal, a cosine signal, or an irregular sound wave signal, etc., which is not limited in the embodiment of the present application. The first noise signal is the product of the reference signal and the filter coefficient of the error noise signal.

[0105] S303: According to the first noise signal, control the speaker corresponding to the target area to output an anti-noise signal.

[0106] Among them, the anti-noise signal is used to offset the original noise signal in the target area. After the anti-noise signal in the target area is superimposed with the original noise signal in the target area, the amplitude of the noise signal can be reduced to achieve the effect of noise reduction. The original noise signal is the unprocessed noise signal generated by the components on the vehicle.

[0107] In one possible implementation, the vehicle controller may determine the third adjustment coefficient according to the amplitude of the first noise signal. The third adjustment coefficient may also be referred to as a weight coefficient for speaker matching. For the convenience of description, the embodiment of the present application takes the third adjustment coefficient as an example for explanation. The vehicle controller controls the speaker corresponding to the target area to output an anti-noise signal according to the third adjustment coefficient and the amplitude of the first noise signal.

[0108] The amplitude of the anti-noise signal is the product of the amplitude of the first noise signal and the third adjustment coefficient, the frequency of the anti-noise signal is the frequency of the first noise signal, and the phase of the anti-noise signal is the phase of the first noise signal.

[0109] In an embodiment of the present application, when the amplitude of the first noise signal is less than a preset threshold, the third adjustment coefficient is a preset value, and when the amplitude of the first noise signal is greater than or equal to the preset threshold, the third adjustment coefficient is greater than or equal to 0 and less than the preset value.

[0110] Exemplarily, when the amplitude of the first noise signal is less than the preset value 40 db, the third adjustment coefficient is 1. When the amplitude of the first noise signal is greater than or equal to the preset value 40 db, the third adjustment coefficient is greater than 0 and less than 1.

[0111] The vehicle controller controls the speakers corresponding to the target area to output anti-noise signals, which offset the original noise signals in the target area to achieve noise reduction effects.

[0112] According to the above technical means, the present application can collect the error noise signal of the target area inside the vehicle and the speed information of the vehicle's heat dissipation device, filter the reference signal generated by the speed information, determine the filtered noise signal, the filtered noise signal is different in phase from the error noise signal, and according to the filtered noise signal, control the speaker corresponding to the target area to output an anti-noise signal. Thus, by adjusting the phase of the filtered noise signal, the transmission delay between the speaker outputting the anti-noise signal to the target position can be eliminated, so that the anti-noise signal can cancel the noise signal when it reaches the target position, and the noise inside the vehicle can be eliminated more effectively.

[0113] In some embodiments, for example Figure 3 The detailed process of generating the reference signal in step S302 and the anti-noise signal in step S303 is described as follows: The vehicle controller can generate a reference signal according to the speed information, input the reference signal and the error noise signal into a preset noise reduction algorithm, and determine the anti-noise signal.

[0114] In a possible implementation, the vehicle controller can input the vehicle speed information into the algorithm controller, and the algorithm controller obtains the vehicle speed, and the vehicle speed is the frequency of the reference signal. The reference signal can be a sine signal, a cosine signal, or an irregular sound wave signal, etc., which is not limited in the embodiment of the present application.

[0115] For example, the reference signal for the main driving area can be expressed as x 11 (n), the reference signal of the passenger area can be expressed as x 21 (n), the reference signal of the left rear area can be expressed as x 31(n), the reference signal of the right rear area can be expressed as x 41 (n).

[0116] The vehicle controller determines the updated filter coefficient of the error noise signal according to the error noise signal and the reference signal. The updated filter coefficient of the noise signal can refer to the filter coefficient of the error noise signal in the above step S302, which will not be described here.

[0117] The vehicle controller determines the weight coefficient of the error noise signal matching according to the amplitude of the error noise signal. The vehicle controller updates the filter coefficient of the error noise signal through a preset noise reduction algorithm based on the weight coefficient of the error noise signal matching, the error noise signal, and the reference signal. Furthermore, the vehicle controller determines the anti-noise signal based on the updated filter coefficient of the error noise signal and the reference signal.

[0118] In the embodiment of the present application, when the amplitude of the error noise signal is less than the preset threshold, the weight coefficient of the error noise signal matching is greater than or equal to the preset value. When the amplitude of the error noise signal is greater than or equal to the preset threshold, the weight coefficient of the error noise signal matching is greater than 0 and less than the preset value.

[0119] In the embodiment of the present application, the preset noise reduction algorithm may include any one of an adaptive filter algorithm, a time domain noise reduction algorithm, and a frequency domain noise reduction algorithm, which is not limited in the embodiment of the present application. The embodiment of the present application takes the adaptive filter algorithm as an example for description.

[0120] Figure 4 A schematic diagram of an adaptive filter algorithm provided in an embodiment of the present application.

[0121] The algorithm controller generates sine and cosine reference signals according to the vehicle's speed information. Figure 4 As shown, x 11 (n) represents the sinusoidal reference signal generated according to the speed information of the first noise source, x 12 (n) represents the cosine reference signal generated according to the rotation speed information of the first noise source. 21 (n) represents the sinusoidal reference signal generated according to the speed information of the second noise source, x 22 (n) represents the cosine reference signal generated based on the speed information of the second noise source. k1 (n) represents the sinusoidal reference signal generated according to the speed information of the kth noise source, x k2 (n) represents the cosine reference signal generated according to the rotation speed information of the kth noise source.

[0122] Below is x 11 (n) and x 12(n) is used as an example to explain the working process of the adaptive filter algorithm in detail.

[0123] The algorithm controller can 11 (n) and x 12 (n) conduct Initial filtering is performed to determine the reference signal after initial filtering. That is, x 11 (n) The reference signal after initial filtering is x 11 (n) The product value, x 12 (n) The reference signal after initial filtering is x 12 (n) The algorithm controller is based on x 11 (n) The reference signal after initial filtering and the error noise signal e(n) determine the filter w 11 (n) filter coefficients, and according to x 12 The reference signal after filtering (n) and the error noise signal e(n) determine the filter w 12 (n) filter coefficient. 11 The filter coefficients of (n) and w 12 The filter coefficient of (n) is also the filter coefficient of the error noise signal. The algorithm controller determines the anti-noise signal y1(n) according to the filter coefficient of the error noise signal.

[0124] In the embodiment of the present application, the secondary channel transfer function is tested offline. The phase of the anti-noise signal determined by the reference signal has changed, so that the anti-noise signal and the original noise signal can reach the target position at the same time, achieving a better noise reduction effect.

[0125] The offline test secondary channel transfer function includes the whole process of filter output control signal - conversion into analog electroacoustic signal - driving the secondary sound source (speaker) to emit secondary sound - sound transmission to the error microphone. The offline test secondary channel transfer function satisfies Formula 2:

[0126]

[0127] in, represents the off-line test secondary channel transfer function, which can be determined based on experimental tests, G xx represents the power spectrum of the preset input noise signal in the experimental test, G yx Represents the cross power spectrum of the preset input noise signal and the output noise signal in the experimental test.

[0128] The offline test secondary channel transfer function can be determined based on experimental tests. For example, the offline test secondary channel transfer function from the driver's speaker to the driver's microphone can be as follows: Figure 5 For offline testing of the secondary channel transfer function from the driver's speaker to the passenger's microphone, the transfer function can be as follows: Figure 6 For the offline test of the secondary channel transfer function from the driver's speaker to the right rear microphone, the transfer function can be as follows: Figure 7 For the offline test of the secondary channel transfer function from the driver's speaker to the left rear microphone, the transfer function can be as follows: Figure 8 shown.

[0129] The algorithm controller generates an anti-noise signal y(n) based on the product of the updated filter coefficient of the error noise signal and the reference signal. The anti-noise signal y(n) offsets the original noise signal of the target area to achieve a noise reduction effect.

[0130] In some embodiments, the vehicle controller can also determine the noise reduction effect of the vehicle when the noise reduction function is turned on based on the output noise signal. Among them, the output noise signal with the noise reduction function turned on can be represented as a first output noise signal. The first output noise signal is the superposition information of the anti-noise signal and the noise signal. The output noise signal with the noise reduction function turned off can be represented as a second output noise signal. The second output noise signal is the collected noise signal.

[0131] In the embodiment of the present application, the vehicle controller can determine the noise reduction effect of the vehicle according to the amplitude of the first output noise signal and the amplitude of the second output noise signal.

[0132] When the amplitude of the first output noise signal is less than or equal to the amplitude of the second output noise signal, and the difference between the amplitude of the first output noise signal and the amplitude of the second output noise signal is greater than a preset value, it is determined that the noise reduction effect of the vehicle is good.

[0133] When the amplitude of the first output noise signal is greater than the amplitude of the second output noise signal, and the difference between the amplitude of the first output noise signal and the amplitude of the second output noise signal is less than or equal to a preset value, it is determined that the noise reduction effect of the vehicle is poor.

[0134] For example, when the speed of the compressor of the vehicle controller is 5500r / min, the output noise signal of the vehicle is as follows: Fig. 9 The output noise signal of the vehicle controller is shown in the figure below when the compressor speed is 6500r / min. Fig.10 The output noise signal of the vehicle controller is shown in the figure below when the compressor speed is 7000r / min. Fig.11 The output noise signal of the vehicle controller is shown in the figure below when the compressor speed is 7500r / min. Fig.12 shown.

[0135] When the noise reduction function of the vehicle controller is turned on, the noise in the target area inside the vehicle above 5000r / min can be reduced by 5-15dB, which is a significant improvement.

[0136] According to the above technical means, the present application can accurately determine the noise reduction effect of the vehicle based on the first output noise signal with the noise reduction function turned on and the second output noise signal with the noise reduction function turned off.

[0137] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the noise reduction device or electronic device of the vehicle includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize 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 exceed the scope of this application.

[0138] The embodiments of the present application can divide the noise reduction device or electronic device of the vehicle into functional modules according to the above method. For example, the noise reduction device or electronic device of the vehicle 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.

[0139] Fig.13 is a block diagram of a noise reduction device for a vehicle according to an exemplary embodiment. Fig.13 The vehicle noise reduction device 1300 includes: a collecting unit 1301, a determining unit 1302 and a control unit 1303.

[0140] The collecting unit 1301 is used to collect the error noise signal of the target area inside the vehicle and the rotation speed information of the heat dissipation device of the vehicle.

[0141] The determination unit 1302 is used to filter the reference signal generated by the rotation speed information to determine a first noise signal; the first noise signal has a different phase from the error noise signal.

[0142] The control unit 1303 is used to control the speaker corresponding to the target area to output an anti-noise signal according to the first noise signal; the anti-noise signal is used to cancel the noise signal in the target area.

[0143] In a possible implementation, the determination unit 1302 is specifically configured to determine a filter coefficient according to the rotation speed information and the error noise signal; and based on the filter coefficient, filter the reference signal generated by the rotation speed information to determine the first noise signal.

[0144] In a possible implementation, the determination unit 1302 is specifically used to determine the first adjustment coefficient according to the amplitude of the error noise signal, and to determine the second adjustment coefficient according to the rotational speed information; and to determine the filter coefficient based on the error noise signal, the first adjustment coefficient, the rotational speed information and the second adjustment coefficient.

[0145] In a possible implementation, the determination unit 1302 is specifically used to determine a filter coefficient, and the filter coefficient satisfies a first preset formula, which is:

[0146] w(n+1)=w(n)+μqe(n)x'(n)

[0147] Among them, w(n+1) represents the filter coefficient, w(n) represents the initial filter coefficient, μ represents the second adjustment coefficient, q represents the first adjustment coefficient, e(n) represents the noise signal; x'(n) represents the signal after the initial filtering of the reference signal generated according to the speed information, and n represents the nth moment.

[0148] In a possible implementation, the above-mentioned determination unit 1302 is specifically used to determine a first adjustment coefficient. When the amplitude of the error noise signal is less than a preset threshold, the first adjustment coefficient is greater than a preset value; the preset value is greater than or equal to 1; when the amplitude of the error noise signal is greater than or equal to the preset threshold, the first adjustment coefficient is greater than or equal to 0 and less than the preset value.

[0149] In a possible implementation manner, the determination unit 1302 is specifically configured to determine a coefficient range that matches the rotational speed change rate, and determine a second adjustment coefficient that matches the rotational speed within the coefficient range.

[0150] In a possible implementation, the control unit 1303 is specifically used to determine a third adjustment coefficient based on the amplitude of the first noise signal; control the speaker corresponding to the target area to output an anti-noise signal; the amplitude of the anti-noise signal is equal to the product of the amplitude of the first noise signal and the third adjustment coefficient, the frequency of the anti-noise signal is the same as the frequency of the first noise signal; the phase of the anti-noise signal is the same as the phase of the first noise signal.

[0151] 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.

[0152] Fig.14 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.14 As shown, the electronic device 1400 includes but is not limited to: a processor 1401 and a memory 1402 .

[0153] The memory 1402 is used to store executable instructions of the processor 1401. It can be understood that the processor 1401 is configured to execute instructions to implement a vehicle noise reduction method in the above embodiment.

[0154] It should be noted that those skilled in the art can understand that Fig.14 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.14 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0155] The processor 1401 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 1402, and calling data stored in the memory 1402, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1401 may include one or more processing units. Optionally, the processor 1401 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 1401.

[0156] The memory 1402 may be used to store software programs and various data. The memory 1402 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 1402 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.

[0157] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1402 including instructions, and the above instructions can be executed by the processor 1401 of the electronic device 1400 to implement the method in the above embodiment.

[0158] In actual implementation, Fig.13 The functions of the collection unit 1301, the determination unit 1302 and the control unit 1303 in the embodiment can be realized by Fig.14The processor 1401 in the embodiment calls the computer program stored in the memory 1402 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.

[0159] 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.

[0160] 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 1401 of the electronic device to complete the method in the above embodiment.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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 the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, disks, or optical disks.

[0167] 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 noise reduction method, characterized in that: The method comprises: Collecting an error noise signal of a target area inside a vehicle and rotation speed information of a heat sink of the vehicle; the error noise signal represents a noise signal collected by a microphone; Filtering the reference signal generated by the rotation speed information to determine a first noise signal; the first noise signal is different in phase from the error noise signal; According to the first noise signal, a speaker corresponding to the target area is controlled to output an anti-noise signal; the anti-noise signal is used to cancel the noise signal in the target area.

2. The method according to claim 1, characterized in that The filtering process of the reference signal generated by the rotation speed information to determine the first noise signal includes: Determining a filter coefficient according to the rotation speed information and the error noise signal; Based on the filter coefficient, a reference signal generated by the rotation speed information is filtered to determine the first noise signal.

3. The method according to claim 2, characterized in that The step of determining a filter coefficient according to the rotation speed information and the error noise signal includes: Determining a first adjustment coefficient according to the amplitude of the error noise signal, and determining a second adjustment coefficient according to the rotation speed information; The filter coefficient is determined based on the error noise signal, the first adjustment coefficient, the rotation speed information, and the second adjustment coefficient.

4. The method according to claim 3, characterized in that The filter coefficient satisfies a first preset formula, which is: w(n+1)=w(n)+μqe(n)x'(n) Among them, w(n+1) represents the filtering coefficient, w(n) represents the initial filtering coefficient, μ represents the second adjustment coefficient, q represents the first adjustment coefficient, e(n) represents the noise signal; x'(n) represents the signal after the initial filtering of the reference signal generated according to the rotational speed information, and n represents the nth moment.

5. The method according to claim 3, characterized in that: When the amplitude of the error noise signal is less than a preset threshold, the first adjustment coefficient is greater than a preset value; the preset value is greater than or equal to 1; When the amplitude of the error noise signal is greater than or equal to the preset threshold, the first adjustment coefficient is greater than or equal to 0 and less than the preset value.

6. The method according to claim 3 or 4, characterized in that: The speed information includes the speed and speed change rate of the heat dissipation device on the vehicle; and determining the second adjustment coefficient according to the speed information includes: A coefficient range matching the rotational speed change rate is determined, and the second adjustment coefficient matching the rotational speed is determined from within the coefficient range.

7. The method according to any one of claims 1 to 4, characterized in that The step of controlling the speaker corresponding to the target area to output an anti-noise signal according to the first noise signal includes: determining a third adjustment coefficient according to the amplitude of the first noise signal; Control the speaker corresponding to the target area to output an anti-noise signal; the amplitude of the anti-noise signal is equal to the product of the amplitude of the first noise signal and the third adjustment coefficient, the frequency of the anti-noise signal is the same as the frequency of the first noise signal; the phase of the anti-noise signal is the same as the phase of the first noise signal.

8. A noise reduction device for a vehicle, characterized in that: The device comprises: A collection unit, used to collect error noise signals of a target area inside a vehicle and rotation speed information of a heat dissipation device of the vehicle; A determination unit, configured to filter a reference signal generated by the rotation speed information to determine a first noise signal; the first noise signal is different in phase from the error noise signal; A control unit is used to control the speaker corresponding to the target area to output an anti-noise signal according to the first noise signal; the anti-noise signal is used to cancel the noise signal in the target area.

9. An electronic device, characterized in that: Including memory and processor: The memory is coupled to the processor; The memory is used to store computer program code, wherein the computer program code includes computer instructions; When the processor executes the computer instructions, the electronic device performs the method as claimed in any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

11. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method as claimed in any one of claims 1 to 7.

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