Vehicle whistling control method and system

Abstract

The invention provides a vehicle whistling control method and system, and the method comprises the steps: obtaining the environment noise data of a vehicle, and determining a reference whistling parameter according to the environment noise data; in response to a whistling instruction sent by a driver, acquiring the duration of the whistling instruction, and marking the whistling type of the whistling instruction according to the duration; under the condition that the whistling instruction is short whistling, the whistling loudness and the whistling tone are set according to a first rule, and the first rule comprises at least one of reference whistling parameters, the vehicle speed, the vehicle position and a vehicle front pedestrian sign; under the condition that the whistling instruction is long whistling, the whistling loudness is set to be first loudness, the whistling tone is set to be first tone, the first loudness is larger than the reference loudness, and the first tone is higher than the reference tone. According to the method, the whistling loudness and tone can be adjusted according to the vehicle whistling duration, the vehicle speed, whether the vehicle is in the no-whistling area or not and whether pedestrians exist in front of the vehicle or not, and then noise pollution is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and in particular, to a method and system for controlling vehicle horn honking. Background Art

[0002] The driving horn is a component used to control vehicle horn honking. When the driver needs to remind pedestrians or other vehicles to give way in time during vehicle driving, the driver presses the driving horn to control the vehicle to honk, and then emits a sound reminder to pedestrians or other vehicles to avoid traffic collision accidents and ensure the safety of drivers and pedestrians.

[0003] After the vehicle honks the horn, the sound intensity of the external reminder cannot be adjusted, which will cause noise pollution. For example, in quiet areas such as urban residential areas, schools, and hospitals, frequent vehicle honking will generate high-decibel noise, interfering with the normal life and rest of residents. Another example is that when the distance between the vehicle and the pedestrian is too close, the loud horn sound of the vehicle is likely to scare passers-by.

[0004] Therefore, the prior art cannot adaptively adjust the loudness of vehicle horn honking according to the vehicle's environment, and thus cannot avoid noise pollution while warning pedestrians and vehicles. Summary of the Invention

[0005] To solve the above problems, the present application provides a method and system for controlling vehicle horn honking, which can reduce noise pollution while warning pedestrians in front of the vehicle.

[0006] In a first aspect, the present application provides a method for controlling vehicle horn honking, including: obtaining environmental noise data of the vehicle, and determining reference honking parameters according to the environmental noise data, where the reference honking parameters include: reference loudness and reference pitch;

[0007] In response to a honking instruction sent by the driver, obtaining the duration of the honking instruction, and marking the honking category of the honking instruction according to the duration, where the honking category includes short honking and long honking;

[0008] In the case where the honking instruction is short honking, setting the honking loudness and honking pitch according to a first rule, where the first rule includes at least one of reference honking parameters, vehicle speed, vehicle position, and pedestrian sign in front of the vehicle, and the pedestrian sign in front of the vehicle is used to represent whether there is a pedestrian within a preset distance in front of the vehicle;

[0009] In the case where the honking instruction is long honking, setting the honking loudness to a first loudness and setting the honking pitch to a first pitch, where the first loudness is greater than the reference loudness and the first pitch is higher than the reference pitch.

[0010] In an optional implementation manner, setting the honking loudness and honking pitch according to the first rule and the reference honking parameters includes: obtaining the vehicle speed;

[0011] When the vehicle speed is greater than the preset vehicle speed, set the honking loudness to the first loudness and set the honking pitch to the first pitch;

[0012] When the vehicle speed is less than or equal to the preset vehicle speed, set the honking loudness and honking pitch according to the second rule, and the second rule includes at least one of reference honking parameters, vehicle position, and pedestrian signs in front of the vehicle.

[0013] In an optional implementation manner, setting the honking loudness and honking pitch according to the second rule includes: obtaining the vehicle position, and the vehicle position is used to represent the geographical location information of the vehicle;

[0014] Determine whether the vehicle position is in a no-honking area;

[0015] When the vehicle position is in a no-honking area, set the honking loudness to the reference loudness and set the honking pitch to the reference pitch;

[0016] When the vehicle position is not in a no-honking area, set the honking loudness and honking pitch according to the third rule, and the third rule includes reference honking parameters and pedestrian signs in front of the vehicle.

[0017] In an optional implementation manner, setting the honking loudness and honking pitch according to the third rule includes: obtaining the captured image in front of the vehicle;

[0018] Identify the captured image and determine the pedestrian signs in front of the vehicle;

[0019] When the pedestrian signs in front of the vehicle indicate that there are no pedestrians within the preset distance, set the honking loudness to the first loudness and set the honking pitch to the first pitch;

[0020] When the pedestrian signs in front of the vehicle indicate that there are pedestrians within the preset distance, set the honking loudness to the reference loudness and set the honking pitch to the reference pitch.

[0021] In an optional implementation manner, obtain the environmental noise data of the vehicle, and determine the reference honking parameters according to the environmental noise data, including: collecting the environmental noise data by using a sound collection device, and the sound collection device is arranged on both sides of the bumper in front of the vehicle;

[0022] Obtain the noise loudness of the environmental noise data;

[0023] Match the noise interval corresponding to the noise loudness for the noise loudness according to the preset interval range, and the noise interval has an associated relationship with the reference honking parameters;

[0024] Determine the reference honking parameters of the environmental noise data according to the noise interval corresponding to the noise loudness.

[0025] In an alternative embodiment, obtaining the noise loudness of environmental noise data includes: calculating the wind noise data in the environmental noise data by using a wind noise recognition algorithm;

[0026] Separating the wind noise data from the environmental noise data to obtain real noise data;

[0027] Calculating the sound pressure level of the real noise data to obtain the noise loudness.

[0028] In an alternative embodiment, classifying the honking instruction according to the duration includes: when the duration is greater than a preset honking time, marking the honking instruction as a long honk;

[0029] When the duration is less than or equal to the preset honking time, marking the honking instruction as a short honk.

[0030] In an alternative embodiment, performing image recognition on the captured image to determine the pedestrian sign in front of the vehicle includes: performing preprocessing on the captured image, where the preprocessing includes at least one of adjusting the image size, image denoising, and geometric transformation;

[0031] Inputting the preprocessed captured image into a target detection model, so that the target detection model extracts image features and outputs a pedestrian recognition result according to the image features, and the target detection model is used to mark the target pedestrians in the captured image;

[0032] Determining the pedestrian sign in front of the vehicle according to the pedestrian recognition result.

[0033] In an alternative embodiment, the captured image includes a first image and a second image. The first image is captured based on a first device, and the second image is captured based on a second device. The first device and the second device are arranged in front of the vehicle, and the first device is arranged on the opposite side of the second device;

[0034] Determining the pedestrian sign in front of the vehicle according to the pedestrian recognition result includes: using a feature matching algorithm to perform feature point matching between the first image and the second image to obtain the first position information and the second position information of the target pedestrian. The first position information is used to represent the coordinate values of the target pedestrian in the first image, and the second position information is used to represent the coordinate values of the target pedestrian in the second image;

[0035] Calculating the parallax according to the first position information and the second position information, and calculating the distance of the pedestrian in front of the vehicle corresponding to the parallax based on the principle of triangulation;

[0036] When the distance of the pedestrian in front of the vehicle is greater than or equal to a preset distance, determining that the pedestrian sign in front of the vehicle represents that there are no pedestrians within the preset distance;

[0037] When the distance of the pedestrian in front of the vehicle is less than the preset distance, determining that the pedestrian sign in front of the vehicle represents that there are pedestrians within the preset distance.

[0038] In a second aspect, the present application provides a control system for vehicle horn sounding, including: a noise acquisition module configured to: obtain environmental noise data of the vehicle and determine reference horn parameters according to the environmental noise data, the reference horn parameters including: reference loudness and reference pitch;

[0039] A horn setting module configured to: in response to a horn command sent by a driver, obtain the duration of the horn command and mark the horn category of the horn command according to the duration, the horn category including short horn and long horn; in the case where the horn command is a short horn, set the horn loudness and horn pitch according to a first rule, the first rule including at least one of reference horn parameters, vehicle speed, vehicle position, and a pedestrian sign in front of the vehicle, the pedestrian sign in front of the vehicle being used to represent whether there is a pedestrian within a preset distance in front of the vehicle; in the case where the horn command is a long horn, set the horn loudness to a first loudness and set the horn pitch to a first pitch, the first loudness being greater than the reference loudness and the first pitch being higher than the reference pitch.

[0040] As can be seen from the above technical solutions, the present application provides a control method and system for vehicle horn sounding. The control method includes: obtaining environmental noise data of the vehicle and determining reference horn parameters according to the environmental noise data, the reference horn parameters including: reference loudness and reference pitch; in response to a horn command sent by a driver, obtaining the duration of the horn command and marking the horn category of the horn command according to the duration, the horn category including short horn and long horn; in the case where the horn command is a short horn, setting the horn loudness and horn pitch according to a first rule, the first rule including at least one of reference horn parameters, vehicle speed, vehicle position, and a pedestrian sign in front of the vehicle, the pedestrian sign in front of the vehicle being used to represent whether there is a pedestrian within a preset distance in front of the vehicle; in the case where the horn command is a long horn, setting the horn loudness to a first loudness and setting the horn pitch to a first pitch, the first loudness being greater than the reference loudness and the first pitch being higher than the reference pitch.

[0041] The above method can determine reference horn parameters according to the environmental noise data of the vehicle, and adjust the loudness and pitch of the vehicle horn in combination with the reference horn parameters according to the duration of the vehicle horn sounding, vehicle speed, whether the vehicle is in a no-horn zone, and whether there is a pedestrian in front of the vehicle, so as to reduce the noise pollution of the horn while warning pedestrians. Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0043] Figure 1Schematic diagram of the steps of a vehicle horn control method provided in this embodiment;

[0044] Figure 2 Front view schematic diagram of a vehicle provided in this embodiment;

[0045] Figure 3 Schematic diagram of the steps of obtaining the noise loudness of environmental noise data provided in this embodiment;

[0046] Figure 4 Schematic diagram of a method for setting the horn loudness and horn pitch provided in this embodiment;

[0047] Figure 5 Schematic diagram of a method for determining a pedestrian sign in front of the vehicle provided in this embodiment;

[0048] Figure 6 Schematic diagram of the structure of a vehicle horn control system provided in this embodiment.

[0049] Illustration: 1 - First microphone, 2 - Second microphone, 3 - First device, 4 - Second device, 601 - Noise acquisition module, 602 - Horn setting module. Detailed implementation manners

[0050] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0051] It should be understood that the "multiple" mentioned herein refers to two or more. In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B; the "and / or" herein is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to clearly describe the technical solutions of the embodiments of this application, in the embodiments of this application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

[0052] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0053] With the continuous development of cities, a large number of vehicles such as buses, private cars, and taxis have flooded into the urban roads, making the roads increasingly congested. When a driver needs to remind pedestrians or other vehicles to give way in a timely manner during vehicle driving, the vehicle horn is controlled by pressing the driving horn, and then a sound reminder is sent to pedestrians or other vehicles to avoid traffic collision accidents and ensure the safety of drivers and pedestrians.

[0054] In order to make the vehicle horn have a strong warning effect, the volume of the horn is usually large. When a pedestrian is close to the vehicle, the driver presses the horn to give a warning, but the excessive horn sound may cause the pedestrians in front to be frightened and even cause harm to the ears of pedestrians. Moreover, when pedestrians are frightened, they are prone to make flustered behaviors, increasing the possibility of traffic accidents. In addition, in areas that require quietness such as urban residential areas, schools, and hospitals, frequent vehicle honking will generate high-decibel noise, interfering with the normal life and rest of residents.

[0055] By setting a no-honking area within a specific area range to prohibit motor vehicles from honking, noise pollution can be reduced. However, many drivers still honk in the no-honking area due to subconscious operations, thereby violating the regulations and causing unnecessary economic losses and point deductions. Therefore, the prior art cannot adaptively adjust the loudness of vehicle honking according to the environment where the vehicle is located, and cannot avoid noise pollution while warning pedestrians and vehicles.

[0056] In order to reduce the noise pollution of vehicle honking while warning pedestrians, in a first aspect of the present application, a control method for vehicle honking is provided. Figure 1 This is a schematic diagram of the steps of a control method for vehicle honking provided in this embodiment. The following is based on Figure 1 A detailed description of the control method for vehicle honking in the embodiments of the present application is given. The execution subject of the control method for vehicle honking is the control system of vehicle honking.

[0057] Step S100: Obtain the environmental noise data of the vehicle and determine the reference honking parameters according to the environmental noise data.

[0058] In some embodiments, sound collection devices are provided on both sides of the bumper in front of the vehicle, and the environmental noise data can be collected by using the sound collection devices. The sound collection devices can be microphones, sound level meters, acoustic sensors, etc. The present application does not make specific limitations on the types of sound collection devices.

[0059] Exemplarily, as Figure 2 shown, the sound receiving device includes a first microphone 1 and a second microphone 2. The first microphone 1 is disposed on one side of the front bumper of the vehicle, and the second microphone 2 is disposed on the other side of the front bumper of the vehicle. The first microphone 1 and the second microphone 2 can be capacitive microphones. The capacitive microphone is provided with a diaphragm and a fixed electrode. The diaphragm vibrates with the change of the air pressure generated by the external sound, thereby changing the capacitance between the diaphragm and the fixed electrode. By converting the capacitance into an electrical signal, the acquisition and conversion of the external noise of the vehicle are realized, and then the environmental noise data is obtained.

[0060] The control system of the vehicle horn uses the sound receiving device to collect the environmental noise data, and obtains the noise loudness of the environmental noise data to determine the noise of the external environment under the current environment of the vehicle, and then adjusts the horn loudness and horn pitch of the vehicle according to the noise.

[0061] As Figure 3 shown, obtaining the noise loudness of the environmental noise data includes steps S11 to S13.

[0062] Step S11: Calculate the wind noise data in the environmental noise data by using a wind noise recognition algorithm.

[0063] Step S12: Separate the wind noise data from the environmental noise data to obtain the real noise data.

[0064] Step S13: Calculate the sound pressure level of the real noise data to obtain the noise loudness.

[0065] It should be noted that wind noise is the noise generated by the interaction between air and the vehicle surface during the driving of the vehicle. In order to improve the accuracy of the obtained external noise of the vehicle, it is necessary to remove the wind noise data from the environmental noise data to obtain the real noise of the external environment.

[0066] In some embodiments, the sound receiving device collects the environmental noise data and sends the environmental noise data to the audio digital signal processor, and uses the wind noise recognition algorithm in the audio digital signal processor to calculate the wind noise data in the environmental noise data.

[0067] The wind noise recognition algorithm can analyze the spectrum of the environmental noise data, identify the spectrum components of the wind noise, and then remove the spectrum components of the wind noise from the environmental noise data, thereby realizing wind noise cancellation.

[0068] In the process of wind noise recognition and wind noise removal, first, the environmental noise data is divided into a preset number of processing frames, and each processing frame contains multiple sampling points. Windowing processing is performed on each processing frame, and the fast Fourier transform is performed on the windowed data to convert the time-domain signal into a frequency-domain signal, so as to obtain the spectrum of the environmental noise data. Then, according to the spectral characteristics of the wind noise and based on prior knowledge, the wind noise spectrum of each processing frame is marked, and the wind noise spectrum is subtracted from the spectrum of the environmental noise data by using spectral subtraction to achieve the separation of the wind noise data. Finally, the inverse fast Fourier transform is performed on the spectrum after removing the wind noise to obtain the true noise data.

[0069] In some embodiments, after obtaining the true noise data, the following sound pressure calculation formula can be used to calculate the sound pressure level of the true noise data to obtain the noise loudness. The sound pressure calculation formula is as follows:

[0070]

[0071] Wherein, L p represents the sound pressure level, and the unit is decibel; P rms represents the root mean square of the sound sampling point amplitude; P ref represents the effective value of the reference sound pressure. The root mean square of the sound sampling point amplitude and the effective value of the reference sound pressure are both generated by the audio digital signal processor.

[0072] In some embodiments, the control system of the vehicle horn matches the noise interval corresponding to the noise loudness according to the preset interval range, and determines the reference horn parameters of the environmental noise data according to the noise interval corresponding to the noise loudness. Among them, the noise interval and the reference horn parameters are in an associated relationship, and the reference horn parameters include the reference loudness and the reference pitch.

[0073] The preset interval range is used to divide the noise interval corresponding to the noise loudness. Exemplarily, the noise interval can be the first noise interval, the second noise interval, and the third noise interval. The first noise interval is from 0 decibels to 40 decibels (including 40 decibels), the second noise interval is from 40 decibels to 70 decibels (excluding 40 decibels), and the third noise interval is greater than 70 decibels.

[0074] The noise interval and the reference horn parameters are in an associated relationship. For example, the first noise interval corresponds to the first reference horn parameters, the first reference horn parameters include the first reference loudness and the first reference pitch, the second noise interval corresponds to the second reference horn parameters, the second reference horn parameters include the second reference loudness and the second reference pitch, and the third noise interval corresponds to the third reference horn parameters, the third reference horn parameters include the third reference loudness and the third reference pitch. Among them, the first reference loudness is less than the second reference loudness, the second reference loudness is less than the third reference loudness; the first reference pitch is less than the second reference pitch, and the second reference pitch is less than the third reference pitch.

[0075] It should be understood that different sound sources have different pitches and timbres. The vehicle horn control system can select different sound sources to distinguish different reference horn parameters. The greater the ambient noise, the greater the reference loudness and the higher the reference pitch corresponding to the reference horn parameters. In addition, the loudness of the horn needs to be greater than the ambient noise so that the horn can serve as a warning.

[0076] By obtaining ambient noise data and determining reference horn parameters based on the ambient noise data, the present application can set reasonable horn loudness and horn volume according to the environment where the vehicle is located. For example, in a quiet external environment, the reference horn loudness of the vehicle is relatively low, and in a noisy external environment, the reference horn loudness of the vehicle is relatively high. In this way, vehicle horn can reduce noise pollution while warning pedestrians.

[0077] Step S200: In response to the driver sending a horn command, obtain the duration of the horn command, and mark the command category of the horn command according to the duration.

[0078] In some embodiments, the horn categories include short horn and long horn. Among them, a short horn means that the driver quickly presses the horn button, and a long horn means that the driver continuously presses the horn button. The driver pressing the horn indicates sending a horn command. Mark the horn category of the horn command according to the duration of the horn command sent by the driver. When the duration is greater than the preset horn time, mark the horn command as a long horn, and when the duration is less than or equal to the preset horn time, mark the horn command as a short horn. Exemplarily, the preset horn time can be 1 second.

[0079] Step S3011: When the horn command is a long horn, set the horn loudness to the first loudness and set the horn pitch to the first pitch.

[0080] When the vehicle encounters a sudden emergency, the driver presses and holds the horn to sound a long horn. For example, when the vehicle encounters a sudden emergency and needs to immediately attract the high attention of surrounding vehicles and pedestrians, a long horn will be used to send a strong warning signal. Another example is that in some special road conditions with poor visibility, a long horn can remind oncoming vehicles or pedestrians to pay attention to the approaching vehicle and avoid the occurrence of danger.

[0081] When the horn command is a long horn, set the horn loudness to the first loudness and set the horn pitch to the first pitch. The first loudness is greater than the reference loudness, and the first pitch is higher than the reference pitch. In this way, when an emergency occurs, the loudness and pitch of the long horn can be increased to send a warning signal.

[0082] Step S3021: When the horn command is a short horn, set the horn loudness and horn pitch according to the first rule.

[0083] In some embodiments, the first rule includes at least one of a reference honking parameter, a vehicle speed, a vehicle position, and a pedestrian sign in front of the vehicle. Among them, the vehicle speed is used to characterize the driving speed of the vehicle during a short honk, the vehicle position is used to characterize the geographical location where the vehicle is located during a short honk, and the pedestrian sign in front of the vehicle is used to characterize whether there is a pedestrian within a preset distance in front of the vehicle during a short honk. The control system of the vehicle horn will set the honk loudness and pitch according to the environment where the vehicle is currently located.

[0084] As Figure 4 shown, when the honk command is a short honk, the vehicle speed is obtained. When the vehicle speed is greater than the preset vehicle speed, the honk loudness is set to the first loudness, and the honk pitch is set to the first pitch. When the vehicle speed is less than or equal to the preset vehicle speed, the honk loudness and honk pitch are set according to the second rule. Among them, the second rule includes at least one of a reference honking parameter, a vehicle position, and a pedestrian sign in front of the vehicle.

[0085] In some embodiments, a vehicle speed sensor can be used to measure the vehicle speed, such as an electromagnetic vehicle speed sensor and a Hall vehicle speed sensor. Exemplarily, the electromagnetic vehicle speed sensor is installed near the output shaft of the transmission. When the output shaft or the wheel rotates, the coil inside the sensor will cut the magnetic force lines, generating an alternating induced voltage signal. Then, the electronic control unit measures the number of pulses within a unit time and calculates the driving speed of the vehicle.

[0086] When the vehicle speed is greater than the preset vehicle speed, setting the honk loudness to the first loudness and the honk pitch to the first pitch can improve the warning effect of the honk.

[0087] It should be understood that when the vehicle speed is greater than the preset vehicle speed, the braking distance of the vehicle will increase significantly, and the reaction time left for the driver and pedestrians in case of an emergency will decrease. A louder honk can attract the attention of pedestrians more quickly and effectively, and give pedestrians or surrounding vehicles more time to react, thus reducing the risk of traffic accidents.

[0088] When the vehicle speed is less than or equal to the preset vehicle speed, the honk loudness and honk parameters are set according to at least one of the reference honking parameter, the vehicle position, and the pedestrian sign in front of the vehicle. Referring again to Figure 4 , this step specifically includes: first obtaining the vehicle position and determining whether the vehicle position is in a no-honk zone.

[0089] When the vehicle position is in the no-honk zone, the honk loudness is set to the reference loudness, and the honk pitch is set to the reference pitch; when the vehicle position is not in the no-honk zone, the honk loudness and honk pitch are set according to the third rule, and the third rule includes a reference honking parameter and a pedestrian sign in front of the vehicle.

[0090] It should be understood that the vehicle can obtain its position based on global positioning technology (GPS positioning). The in-vehicle navigation system determines whether the vehicle is within a no-honking zone according to the vehicle's position and the pre-marked no-honking zones. The no-honking zones can be set in public areas such as residential areas, schools, and hospitals. When the vehicle's position is within the no-honking zone, the honking loudness is set to the reference loudness and the honking pitch is set to the reference pitch. In this way, by controlling the vehicle honking within the no-honking zone to a lower loudness and pitch, a quiet environment can be created for residents, students, and patients.

[0091] In the case where the vehicle's position is not within the no-honking zone, the honking loudness and honking pitch are set according to the third rule. Referring again to Figure 4 , this step specifically includes: first, obtaining the captured image in front of the vehicle, and then performing image recognition on the captured image to determine the pedestrian sign in front of the vehicle. In the case where the pedestrian sign in front of the vehicle indicates that there are no pedestrians within the preset distance, the honking loudness is set to the first loudness and the honking pitch is set to the first pitch, so that the vehicle honks with a louder sound to warn pedestrians in the distance. In the case where the pedestrian sign in front of the vehicle indicates that there are pedestrians within the preset distance, the honking loudness is set to the reference loudness and the honking pitch is set to the reference pitch, so that while the vehicle honks to warn pedestrians, it can avoid scaring pedestrians due to the loud honking sound and reduce noise pollution.

[0092] In some embodiments, when the vehicle's position is not within the no-honking zone, the honking loudness and honking pitch are set according to whether there are pedestrians within the preset distance in front of the vehicle. In the embodiments of the present application, the image in front of the vehicle is captured and recognized to determine whether there are pedestrians within the preset distance in front of the vehicle. The control system of the vehicle honking first obtains the captured image in front of the vehicle, performs preprocessing on the captured image, and inputs the preprocessed captured image into the target detection model, so that the target detection model extracts image features and outputs a pedestrian recognition result according to the image features. Finally, the pedestrian sign in front of the vehicle is determined according to the pedestrian recognition result.

[0093] The preprocessing of the captured image includes at least one of adjusting the image size, image denoising, and geometric transformation. By performing preprocessing on the image, the image quality can be improved. Since the target detection model requires the input image to have a fixed size, adjusting the image size can ensure that the image can be smoothly input into the target detection model for processing. Image denoising can eliminate noise interference in the image and improve the accuracy and reliability of feature extraction. During the image acquisition process, due to reasons such as the shooting angle and lens distortion, the image may appear geometric deformation. By performing geometric transformation to correct these deformations, better feature data can be provided for subsequent image recognition.

[0094] It should be noted that the embodiments of the present application do not specifically limit the preprocessing method of the captured image, and any preprocessing method that can improve the image quality can be applied to this solution.

[0095] In some embodiments, the object detection model is a trained convolutional neural network that extracts pedestrian features in an image through components such as convolutional layers, pooling layers, and fully connected layers, marks the target pedestrian in the captured image based on the image features, and then outputs the pedestrian recognition result. The vehicle horn control system calculates the distance between the target pedestrian and the vehicle based on the pedestrian recognition result, and then determines whether there is a pedestrian within a preset distance in front of the vehicle.

[0096] Exemplarily, the binocular vision principle is used to calculate the distance between the pedestrian and the vehicle, and based on this, it is determined whether there is a pedestrian within the preset distance in front of the vehicle, and then the pedestrian sign in front of the vehicle is determined. Among them, the binocular vision principle simulates the visual mode of human eyes, and two cameras capture the same scene from different angles to obtain images with parallax. Due to the certain distance between the positions of the two cameras, for the same object in the scene, there will be a difference in the imaging positions in the images of the two cameras, that is, parallax. According to the triangulation principle and geometric relationship, the distance between the vehicle and the pedestrian can be calculated.

[0097] In some embodiments, the captured image includes a first image and a second image. The first image is captured based on the first device 3, and the second image is captured based on the second device 4. As Figure 2 shown, the first device 3 and the second device 4 are arranged in front of the vehicle, and the first device 3 is arranged on the opposite side of the second device 4.

[0098] As Figure 5 shown, in the process of determining the pedestrian sign in front of the vehicle according to the pedestrian recognition result, first, the feature matching algorithm is used to match the feature points of the first image and the second image to obtain the first position information and the second position information of the target pedestrian. Then, the parallax is calculated based on the first position information and the second position information, and the distance of the pedestrian in front of the vehicle corresponding to the parallax is calculated based on the triangulation principle. When the distance of the pedestrian in front of the vehicle is greater than or equal to the preset distance, it is determined that the pedestrian sign in front of the vehicle indicates that there is no pedestrian within the preset distance; when the distance of the pedestrian in front of the vehicle is less than the preset distance, it is determined that the pedestrian sign in front of the vehicle indicates that there is a pedestrian within the preset distance.

[0099] Among them, the first position information is used to represent the coordinate value of the target pedestrian in the first image, and the second position information is used to represent the coordinate value of the target pedestrian in the second image. In this way, according to the coordinate values of the target pedestrian in the first image and the second image, the distance of the pedestrian in front of the vehicle can be calculated, and then the pedestrian sign in front of the vehicle can be determined. Then, the horn loudness and horn pitch are set using the third rule, so that while the vehicle horn warns the pedestrian, it reduces noise pollution.

[0100] As can be seen from the above technical solutions, the present application provides a method for controlling vehicle horn, including: obtaining environmental noise data of the vehicle, and determining reference horn parameters according to the environmental noise data, where the reference horn parameters include: reference loudness and reference pitch; in response to a horn command sent by the driver, obtaining the duration of the horn command, and marking the horn category of the horn command according to the duration, where the horn category includes short horn and long horn; in the case where the horn command is a short horn, setting the horn loudness and horn pitch according to a first rule, the first rule including at least one of the reference horn parameters, vehicle speed, vehicle position, and pedestrian sign in front of the vehicle, and the pedestrian sign in front of the vehicle is used to represent whether there is a pedestrian within a preset distance in front of the vehicle; in the case where the horn command is a long horn, setting the horn loudness to a first loudness and setting the horn pitch to a first pitch, the first loudness being greater than the reference loudness, and the first pitch being higher than the reference pitch.

[0101] The above method can determine the reference horn parameters according to the environmental noise data of the vehicle, and adjust the loudness and pitch of the vehicle horn in combination with the reference horn parameters according to the duration of the vehicle horn, vehicle speed, whether the vehicle is in a no-horn zone, and whether there is a pedestrian in front of the vehicle, so as to reduce the noise pollution of the horn while warning pedestrians.

[0102] Based on the method for controlling vehicle horn provided in the above embodiments, the second aspect of the present application further provides a control system for vehicle horn, see Figure 6 , the control system for vehicle horn includes: a noise acquisition module 601 and a horn setting module 602.

[0103] The noise acquisition module 601 is configured to: obtain environmental noise data of the vehicle, and determine reference horn parameters according to the environmental noise data, where the reference horn parameters include: reference loudness and reference pitch.

[0104] The horn setting module 602 is configured to: in response to a horn command sent by the driver, obtain the duration of the horn command, and mark the horn category of the horn command according to the duration, where the horn category includes short horn and long horn; in the case where the horn command is a short horn, set the horn loudness and horn pitch according to a first rule, the first rule including at least one of the reference horn parameters, vehicle speed, vehicle position, and pedestrian sign in front of the vehicle, and the pedestrian sign in front of the vehicle is used to represent whether there is a pedestrian within a preset distance in front of the vehicle; in the case where the horn command is a long horn, set the horn loudness to a first loudness and set the horn pitch to a first pitch, the first loudness being greater than the reference loudness, and the first pitch being higher than the reference pitch.

[0105] For the similar parts between the embodiments provided in this application, reference can be made to each other. The specific embodiments provided above are only several examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other embodiments extended based on the solution of this application without creative efforts fall within the protection scope of this application.

Claims

1. A method for controlling a vehicle horn, characterized in that: include: Acquire environmental noise data of the vehicle, and determine reference whistle parameters according to the environmental noise data, wherein the reference whistle parameters include: reference loudness and reference pitch; In response to the driver sending a whistle instruction, obtaining the duration of the whistle instruction, and marking the whistle category of the whistle instruction according to the duration, wherein the whistle category includes a short whistle and a long whistle; In the case where the honking instruction is the short honking instruction, setting the honking volume and honking tone according to a first rule, wherein the first rule includes at least one of the reference honking parameter, the vehicle speed, the vehicle position, and a pedestrian sign in front of the vehicle, wherein the pedestrian sign in front of the vehicle is used to indicate whether there is a pedestrian within a preset distance in front of the vehicle; When the whistle instruction is the long whistle, the whistle loudness is set to a first loudness, and the whistle tone is set to a first tone, the first loudness is greater than the reference loudness, and the first tone is higher than the reference tone.

2. The vehicle horn control method according to claim 1, characterized in that: The step of setting the whistle loudness and whistle tone according to the first rule and the reference whistle parameter comprises: obtaining the vehicle speed; When the vehicle speed is greater than a preset speed, setting the whistle loudness to the first loudness and setting the whistle tone to the first tone; When the vehicle speed is less than or equal to a preset speed, the whistle loudness and the whistle tone are set according to a second rule, wherein the second rule includes at least one of the reference whistle parameters, the vehicle position, and the pedestrian sign in front of the vehicle.

3. The vehicle horn control method according to claim 2, characterized in that: The step of setting the whistle loudness and the whistle tone according to the second rule includes: Acquire the vehicle position, where the vehicle position is used to represent the geographic location information of the vehicle; Determining whether the vehicle is located in a no-honking zone; When the vehicle is located in the no-honking zone, setting the horn loudness to the reference loudness and setting the horn tone to the reference tone; When the vehicle is not located in the no-honking zone, the horn loudness and the horn tone are set according to a third rule, wherein the third rule includes the reference horn parameter and the pedestrian sign in front of the vehicle.

4. The vehicle horn control method according to claim 3, characterized in that: The step of setting the whistle loudness and the whistle tone according to the third rule includes: Acquire a captured image in front of the vehicle; Performing image recognition on the captured image to determine the pedestrian sign in front of the vehicle; When the pedestrian sign in front of the vehicle indicates that there are no pedestrians within the preset distance, setting the horn loudness to the first loudness and setting the horn tone to the first tone; When the pedestrian sign in front of the vehicle indicates that there is a pedestrian within a preset distance, the whistle loudness is set to the reference loudness, and the whistle tone is set to the reference tone.

5. The vehicle horn control method according to claim 1, characterized in that: The step of obtaining environmental noise data of the vehicle and determining reference horn parameters according to the environmental noise data includes: The environmental noise data is collected by using a sound receiving device, wherein the sound receiving device is arranged on both sides of the bumper in front of the vehicle; Acquire the noise loudness of the environmental noise data; Matching the noise loudness to a noise interval corresponding to the noise loudness according to a preset interval range, wherein the noise interval is associated with the reference whistle parameter; The reference whistle parameter of the environmental noise data is determined according to the noise interval corresponding to the noise loudness.

6. The vehicle horn control method according to claim 5, characterized in that: The step of obtaining the noise loudness of the environmental noise data includes: Calculating wind noise data in the environmental noise data using a wind noise recognition algorithm; Separating the wind noise data from the environmental noise data to obtain real noise data; The sound pressure level of the real noise data is calculated to obtain the noise loudness.

7. The vehicle horn control method according to claim 1, characterized in that: The marking of the whistle category of the whistle instruction according to the duration includes: When the duration is greater than a preset whistle time, marking the whistle instruction as the long whistle; When the duration is less than or equal to the preset honking time, the honking instruction is marked as the short honking instruction.

8. The vehicle horn control method according to claim 4, characterized in that: The performing image recognition on the captured image to determine the pedestrian sign in front of the vehicle includes: Performing preprocessing on the captured image, the preprocessing comprising at least one of adjusting image size, image denoising and geometric transformation; Inputting the preprocessed captured image into a target detection model so that the target detection model extracts image features and outputs a pedestrian recognition result according to the image features, wherein the target detection model is used to mark a target pedestrian in the captured image; The pedestrian sign in front of the vehicle is determined according to the pedestrian recognition result.

9. The vehicle horn control method according to claim 8, characterized in that: The captured image includes a first image and a second image, the first image is captured based on a first device, the second image is captured based on a second device, the first device and the second device are arranged in front of the vehicle, and the first device is arranged on the opposite side of the second device; The determining the pedestrian sign in front of the vehicle according to the pedestrian recognition result includes: Using a feature matching algorithm, matching feature points of the first image and the second image to obtain first position information and second position information of the target pedestrian, wherein the first position information is used to represent the coordinate value of the target pedestrian in the first image, and the second position information is used to represent the coordinate value of the target pedestrian in the second image; Calculating a parallax according to the first position information and the second position information, and calculating a distance of the pedestrian in front of the vehicle corresponding to the parallax based on a triangulation principle; When the distance between the pedestrian and the vehicle is greater than or equal to the preset distance, determining that the pedestrian sign in front of the vehicle indicates that there is no pedestrian within the preset distance; When the distance between the pedestrian and the vehicle is smaller than the preset distance, it is determined that the pedestrian sign in front of the vehicle indicates that there is a pedestrian within the preset distance.

10. A vehicle horn control system, characterized in that: include: The noise collection module is configured to: obtain environmental noise data of the vehicle, and determine reference whistle parameters according to the environmental noise data, wherein the reference whistle parameters include: reference loudness and reference pitch; The horn setting module is configured to: in response to a driver sending a horn instruction, obtain the duration of the horn instruction, and mark the horn category of the horn instruction according to the duration, wherein the horn category includes short horn and long horn; when the horn instruction is a short horn, set the horn loudness and horn tone according to a first rule, wherein the first rule includes at least one of the reference horn parameter, the vehicle speed, the vehicle position and a pedestrian sign in front of the vehicle, wherein the pedestrian sign in front of the vehicle is used to indicate whether there is a pedestrian within a preset distance in front of the vehicle; when the horn instruction is a long horn, set the horn loudness to a first loudness, and set the horn tone to a first tone, wherein the first loudness is greater than the reference loudness, and the first tone is higher than the reference tone.

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