Control method and control device

Abstract

The invention provides a control method and a control device. The control method comprises the following steps: in a calibration stage, determining path parameters according to signals collected by an error microphone; storing a corresponding relation between the path parameter and a riding mode when the path parameter is calibrated, wherein the riding mode comprises the identity of a seat, the identity of a user, the posture of the user and the ear position of the user; in the using stage, when the current riding mode is in the riding mode corresponding to the stored path parameters, the stored path parameters are adopted to control the loudspeaker to output audio signals. The embodiment of the invention can be applied to an intelligent automobile or a new energy vehicle, and the noise experience of a user in a cabin can be improved.

Description

Technical Field

[0001] The present application relates to the field of smart cars, and more specifically, to a control method and a control device. Background Art

[0002] When the vehicle is driving, there is inevitably noise in the cabin, resulting in a poor experience for people in the cabin. Although improving the noise, vibration and harshness (NVH) performance of the vehicle can reduce the noise in the cabin and improve the experience of people in the cabin to a certain extent. However, when the NVH performance of the vehicle reaches a certain level, further improving the NVH performance of the vehicle to improve the experience of people in the cabin will lead to a significant increase in costs. With the development of intelligent vehicles, how to improve the experience of people in the cabin has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a control method and a control device, which can improve the noise experience of users in the cabin.

[0004] In a first aspect, a control method is provided. The method may be executed by a computing platform, or may be executed by a processor or chip in the computing platform, or may be executed by a vehicle.

[0005] The method includes: at a first time, determining a first path parameter based on a first signal collected by an error microphone; saving a correspondence between the first path parameter and a first riding mode, the first riding mode including the riding mode at the first time, the riding mode including at least one of the following: a posture of a seat, an identity of a user, a posture of the user, and a position of a user's ear; at a second time, based on the riding mode at the second time, controlling a first speaker to output a first audio signal using the first path parameter for the first riding mode.

[0006] In a cockpit scenario, factors such as the posture of the seat, the body shape of the user, and the posture of the user may affect the transmission of sound between the first speaker and the user's ear. The first path parameter may characterize the transmission path corresponding to the transmission of sound to the target area when the first speaker outputs audio.

[0007] Exemplarily, taking the active noise reduction function as an example, the first speaker may include a secondary source speaker used by the active noise reduction function. The secondary source speaker may implement active noise reduction by outputting the first audio signal.

[0008] In one embodiment, in an active noise reduction scenario, taking a user sitting in the co-pilot area as an example, an active noise reduction effect can be achieved through at least one secondary source speaker in the cockpit. For example, a secondary source speaker is arranged on the backrest, headrest, etc. of the co-pilot seat. For another example, a secondary source speaker is arranged on the main driver's seat and the second row of seats. The path parameters used to characterize the transmission path of the sound from each secondary source speaker to the target area (such as the human ear part of the user sitting in the co-pilot, the setting position of the error microphone corresponding to the co-pilot area) can be understood as the first path parameters corresponding to each secondary source speaker. For another example, for a user sitting in the co-pilot area, the secondary source speaker corresponding to the co-pilot area (such as a secondary source speaker arranged on the backrest, headrest, etc. of the co-pilot seat) can have a greater impact on the effect of active noise reduction than the secondary source speakers corresponding to other areas.

[0009] In the present application, the path parameters can reflect the sound transmission path. By pre-calibrating and saving the correspondence between the path parameters and the riding mode, when using the active noise reduction function, the corresponding path parameters are selected based on the riding mode to control the first speaker to output the corresponding audio signal, which can enhance the user's experience of the noise in the cabin.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the method may also include: at a third time, determining a second path parameter based on a second signal collected by the error microphone; saving the correspondence between the second path parameter and the second riding mode, the second riding mode including the riding mode at the third time.

[0011] Exemplarily, the third time may be any time different from the first time; the second riding mode may be any riding mode different from the first riding mode; and the second route parameter may be different from the first route parameter.

[0012] In this application, the path parameters corresponding to various riding modes can be calibrated and saved. Taking the active noise reduction function as an example, this method can provide appropriate path parameters for noise reduction according to the noise reduction requirements in different riding modes during the use of active noise reduction.

[0013] In combination with the first aspect, in certain implementations of the first aspect, using the first path parameter to control the first speaker to output the first audio signal based on the riding mode being the first riding mode at the second time may include: determining that the riding mode changes from the second riding mode to the first riding mode; and using the first path parameter instead of the second path parameter to control the first speaker to output the first audio signal.

[0014] In actual scenarios, one or more changes in the user in the cabin, the user's posture, the user's ear position, and the posture of the seat the user is sitting in will cause a change in the riding mode. Taking the active noise reduction function as an example, in this application, when the active noise reduction function is used, when the riding mode changes, the corresponding path parameters can be used for active noise reduction, which can improve the flexibility of active noise reduction and improve the user's experience of noise in the cabin in dynamic scenarios.

[0015] In combination with the first aspect, in some implementations of the first aspect, the method may further include: determining that the riding mode at the second time is the first riding mode based on user input or data collected by the perception sensor.

[0016] In one embodiment, the user can indicate the user's desired seat posture, personalized mode of the cabin, etc. through voice, gesture commands, interaction with interactive devices such as the central control screen, etc.

[0017] In another embodiment, based on the data collected by perception sensors such as cameras in the cockpit, one or more of the information such as the posture of the seat, the identity of the user, the posture of the user, etc. can be determined, thereby determining the riding mode and changes in the riding mode.

[0018] In conjunction with the first aspect, in certain implementations of the first aspect, the user input indicates a first seating mode, and the first seating mode includes a first seat posture. The method may also include: adjusting the seat to the first seat posture according to the user input.

[0019] In this application, the seat can be adjusted to the corresponding posture according to the user's indication of the riding mode, and the path parameters corresponding to the riding mode can be used for active noise reduction. For scenarios such as the personalized mode of the cockpit, the user can avoid manually adjusting the seat, which can improve the user's experience of the cockpit.

[0020] In combination with the first aspect, in certain implementations of the first aspect, before the second time, the method may further include: controlling a prompting device to prompt a user to adjust the riding mode to the first riding mode.

[0021] Taking the active noise reduction function as an example, in this application, by prompting the user to adjust the current riding mode to the riding mode corresponding to the calibrated path parameters, the user can be placed in a riding mode with better active noise reduction effect, which can improve the user's experience of noise in the cabin.

[0022] In combination with the first aspect, in some implementations of the first aspect, before the first time, the method may further include: controlling a prompting device to prompt a user to enter a path parameter collection state.

[0023] Taking the active noise reduction function as an example, in this application, by prompting the user to enter the path parameter collection state, the calibration of the active noise reduction can be triggered. In this way, the calibration phase and the use phase of the active noise reduction can be distinguished, and the impact of the inappropriate distinction between the calibration phase and the use phase of the active noise reduction on the calibration accuracy can be reduced.

[0024] In some possible implementations, the doors and windows can be set to a closed state in the path parameter collection state to improve the calibration effect. In actual scenarios, before entering the path parameter collection state, the doors and / or windows may be in an open state. By prompting the user to enter the path parameter collection state, it is possible to avoid pinching the user in the process of controlling the doors and windows to close. It can also enable the user to adjust the seat to the corresponding posture in advance and the user to be in the corresponding posture, so as to shorten the preparation process of the calibration stage.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the method may also include: at a fourth time, when the stored riding mode does not include the riding mode at the fourth time, determining a third path parameter based on a third signal collected by the error microphone; and saving the correspondence between the third path parameter and the third riding mode, the third riding mode including the riding mode at the fourth time.

[0026] Exemplarily, for the calibration process, when the path parameter corresponding to the current riding mode and the corresponding relationship between the current riding mode and the path parameter have been stored, in order to avoid repeated calibration, the path parameter corresponding to the current riding mode may not be calibrated. When the path parameter corresponding to the current riding mode or the corresponding relationship between the two is not stored, the user may be prompted to calibrate in the current riding mode, and the path parameter corresponding to the riding mode may be determined.

[0027] In combination with the first aspect, in certain implementations of the first aspect, determining the first path parameter based on the first signal collected by the error microphone at a first time may include: determining the first path parameter based on the first signal collected by the first error microphone and the second signal collected by the second error microphone at a first time.

[0028] For example, taking the active noise reduction function as an example, the second error microphone disposed at the human ear may be used in the calibration phase, and the second error microphone may not be used in the use phase.

[0029] In the present application, the data collected by the first error microphone and the second error microphone are combined to calibrate the accuracy of the path parameters. As far as the active noise reduction function is concerned, a better active noise reduction effect can be provided to the user during the use phase.

[0030] In combination with the first aspect, in certain implementations of the first aspect, the use of the first path parameter to control the first speaker to output the first audio signal may include: in a scenario where the active noise reduction function, the private sound zone function, the private call function, and the private conversation function are enabled, the first path parameter is used to control the first speaker to output the first audio signal.

[0031] Exemplarily, in addition to the active noise reduction scenario, the method can also be applied to other scenarios, such as private sound zones, confidential calls, confidential conversations, and the like.

[0032] Exemplarily, in a private sound zone (also referred to as an independent sound zone) scenario, users at different locations can feel different sounds, and the sounds they feel can cause less interference to listeners at other locations. For example, a user in the main driving area can feel the sound of navigation, but is less disturbed by the sound of the video played in the co-pilot area. For another example, a user in the co-pilot area can feel the sound of the video played on the co-pilot screen, but is less disturbed by the navigation sound felt in the main driving area. In the scenario of a private sound zone, the first speaker may include a speaker involved in implementing the private sound zone function.

[0033] In the present application, by pre-calibrating and saving the correspondence between path parameters and riding modes, when using functions such as private sound zones, confidential calls, and confidential conversations, the first speaker is controlled to output the corresponding audio signal based on the path parameters corresponding to the riding mode, which can enhance the user experience of the function.

[0034] In a second aspect, a control device is provided, which may include a processing unit and a control unit. The processing unit is used to: determine a first path parameter according to a first signal collected by an error microphone at a first time; and save a corresponding relationship between the first path parameter and a first riding mode. The control unit is used to: control a first speaker to output a first audio signal using the first path parameter based on the riding mode at the second time as the first riding mode at a second time.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the processing unit can also be used to: determine the second path parameter at a third time based on the second signal collected by the error microphone; save the correspondence between the second path parameter and the second riding mode, the second riding mode including the riding mode at the third time.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the control unit can be used to: determine that the riding mode changes from the second riding mode to the first riding mode; and use the first path parameter instead of the second path parameter to control the first speaker to output the first audio signal.

[0037] In combination with the second aspect, in certain implementations of the second aspect, the processing unit may also be used to: determine that the riding mode at the second time is the first riding mode based on user input or data collected by the perception sensor.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the user input indicates a first sitting mode, and the first sitting mode includes a first seat posture. The processing unit may be configured to: adjust the seat to the first seat posture according to the user input.

[0039] In combination with the second aspect, in certain implementations of the second aspect, before the second time, the processing unit may also be used to: control a prompt device to prompt the user to adjust the riding mode to the first riding mode.

[0040] In combination with the second aspect, in certain implementations of the second aspect, before the first time, the processing unit may also be used to: control the prompting device to prompt the user to enter a path parameter collection state.

[0041] In combination with the second aspect, in certain implementations of the second aspect, the processing unit can also be used to: at a fourth time, when the stored riding mode does not include the riding mode at the fourth time, determine a third path parameter based on a third signal collected by the error microphone; and save the correspondence between the third path parameter and the third riding mode, the third riding mode including the riding mode at the fourth time.

[0042] In combination with the second aspect, in some implementations of the second aspect, the error microphone may include a first error microphone and a second error microphone, and the processing unit may be used to: at a first time, determine a first path parameter based on a first signal collected by the first error microphone and a second signal collected by the second error microphone.

[0043] In a third aspect, a control device is provided, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device executes the method in the above-mentioned first aspect and any possible implementation manner thereof.

[0044] In a fourth aspect, a control system is provided, which includes a device according to the second aspect or the third aspect and any possible implementation thereof.

[0045] In a fifth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in the first aspect and any possible implementation thereof.

[0046] In a sixth aspect, a computer-readable storage medium is provided, wherein the computer-readable medium stores a computer program, and when the computer program runs on a computer, the computer executes the method in the first aspect and any possible implementation thereof.

[0047] In a seventh aspect, a chip is provided, which includes a circuit for executing the method in the above-mentioned first aspect and any possible implementation manner thereof.

[0048] In an eighth aspect, a vehicle is provided, which includes the device of the second aspect or the third aspect and any possible implementation thereof, or includes the system of the fourth aspect and any possible implementation thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a functional block diagram of an intelligent driving device provided in an embodiment of the present application;

[0050] Figure 2 is a schematic diagram of a vehicle cockpit scene provided in an embodiment of the present application;

[0051] Figure 3 is a schematic diagram of a user's sitting posture provided in an embodiment of the present application;

[0052] Figure 4 is a schematic diagram of a seat posture provided in an embodiment of the present application;

[0053] Figure 5 It is a schematic diagram of a system architecture provided by an embodiment of the present application;

[0054] Figure 6 is a schematic diagram of another system architecture provided in an embodiment of the present application;

[0055] Figure 7 It is a flow chart of a control method provided in an embodiment of the present application;

[0056] Figure 8 It is a schematic diagram of the process of a calibration method for active noise reduction provided in an embodiment of the present application;

[0057] Fig. 9 is a schematic diagram of a calibration scenario of active noise reduction provided in an embodiment of the present application;

[0058] Fig.10 is a schematic diagram of an implementation method of active noise reduction provided in an embodiment of the present application;

[0059] Fig.11 is a schematic diagram of another implementation method of active noise reduction provided in an embodiment of the present application;

[0060] Fig.12is a schematic diagram of a usage scenario of active noise reduction provided in an embodiment of the present application;

[0061] Fig.13 is a schematic diagram of another use scenario of active noise reduction provided by an embodiment of the present application;

[0062] Fig.14 is a schematic block diagram of a control device provided in an embodiment of the present application;

[0063] Fig.15 It is a schematic block diagram of another control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0065] Figure 1 It is a functional block diagram of the intelligent driving device 100 provided in an embodiment of the present application. The intelligent driving device 100 may include a perception system 120 and a computing platform 150, wherein the perception system 120 may include one or more sensors for sensing information about the environment around the intelligent driving device 100. For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems. The perception system 120 may also include an inertial measurement unit (IMU), one or more of a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera device.

[0066] Some or all functions of the intelligent driving device 100 may be controlled by the computing platform 150. The computing platform 150 may include one or more processors, such as processors 151 to 15n (n is a positive integer). The processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 can also include a memory, the memory is used to store instructions, and some or all of the processors 151 to 15n can call the instructions in the memory to implement corresponding functions.

[0067] Exemplarily, the intelligent driving device 100 can be a vehicle. The vehicle involved in the embodiments of the present application is a vehicle in a broad sense, which can be a means of transportation (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle. For example, the vehicle in the present application may include a pure electric vehicle / battery electric vehicle (pure EV / battery EV), a hybrid electric vehicle (hybrid electric vehicle, HEV), a range extended electric vehicle (range extended electric vehicle, REEV), a plug-in hybrid electric vehicle (plug-in hybrid electric vehicle, PHEV) or a new energy vehicle (new energy vehicle, NEV), etc.

[0068] For example, Figure 2 is a schematic diagram of a vehicle cockpit scene provided by an embodiment of the present application. Figure 2 As shown, positions 1 to 4 are located in the cabin. Positions 1 and 4 are located in the main driving area of ​​the cabin, respectively, position 2 may be located in the co-pilot area of ​​the cabin, and position 3 may be located in the second row area of ​​the cabin. For example, the user's head and the noise collection device for collecting noise may be located at any position from position 1 to position 4.

[0069] In one embodiment, when the user's head is in different areas of the cabin, the noise felt by the user will be different. For example, when the vehicle and the cabin are exposed to the same noise environment, since position 1, position 2 and position 3 are respectively in different areas of the cabin, the propagation paths of the noise corresponding to each position are different. When the user's head and ear are respectively in position 1, position 2 or position 3, the noise felt by the user will be different.

[0070] Similarly, since the sound propagation paths corresponding to different positions are different, even if the vehicle and the cabin are exposed to the same noise environment, the audio signals collected by the noise collection devices arranged at different positions will be different.

[0071] Figure 2A five-seat vehicle is used as an example for illustration, but the embodiments of the present application are not limited thereto. In some possible implementations, the cabin may include more or fewer seats. For example, for a seven-seat sport / suburban utility vehicle (SUV), the cabin may include three rows of seats. For another example, for a passenger car, the cabin may include more seats.

[0072] In another embodiment, when the user is in a certain area in the cabin, but his head is in different positions in the area, the noise he feels will be different. For example, taking the user in the co-pilot area as an example, by adjusting his body posture (or sitting position), the user's head may be in position 1 or position 4. Since the sound propagation paths corresponding to position 1 and position 4 are different, when the user's head is in position 1 and position 2 respectively, the noise felt by the user will be different.

[0073] For example, in a cockpit scenario, for the same user, his sitting posture will affect the position of the user's head. For different users, due to their different body shapes, even if different users are in the same sitting posture, their head positions will be different. Figure 3 As shown, Figure 3 It is a schematic diagram of the sitting posture of a user provided in an embodiment of the present application.

[0074] exist Figure 3 In , each dotted line can represent the main dimensions of the user's torso, head, and limbs. Figure 3 In the example, any two dotted lines connected by multiple dotted lines can form an angle, and a combination of the multiple angles formed can represent a sitting posture. Accordingly, the change of the angle between the dotted lines can represent the change of the sitting posture. For example, Figure 3 The human posture 1, human posture 2 and human posture 3 involved may represent different sitting postures of the same user. In other words, Figure 3 In (a), (b) and (c), the sizes of the dashed lines used to represent the trunk, head and limbs are the same, but the angles between the dashed lines representing the trunk, limbs, etc. are different.

[0075] Assumptions Figure 3 The sound sources in (a), (b) and (c) are set at the same position. The sound source can represent the sound environment where the user is located.

[0076] In one embodiment, when the user sits in the same position in the cabin in posture 1, posture 2, and posture 3 respectively, the user's head and the sound source have different relative position relationships, resulting in different sound transmission paths. Even if the sound source emits the same sound, the sound perceived by the user will be different.

[0077] In another embodiment, different users may have different body types. For example, one or more of height, torso length, neck length, head size, etc. may be different. For example, assuming that user A and user B have different body types, when user A and user B are as follows: Figure 3 When the human body posture 1 shown in (a) is sitting in the co-pilot area of ​​the cockpit, the heads of the two can be respectively located at Figure 2 Position 1 and position 4 in the figure allow you to experience different sounds.

[0078] For example, when a user is in a certain area of ​​the cabin in a certain sitting posture, the user's head may be in different positions when the cabin is in different postures; accordingly, the transmission path of the noise may be different. Figure 4 As shown, Figure 4 Schematic diagram of the seat posture provided by the embodiment of the present application. Figure 4 The sound sources in (a), (b) and (c) are set at the same position. When the seat posture changes, the sound transmission path can change accordingly.

[0079] In one embodiment, if Figure 4 As shown in (a) in FIG. 1 , the posture of the seat can be adjusted along the posture adjustment direction 1. For example, the posture of the seat can be adjusted from the seat posture 1 to the seat posture 2. For another example, the posture of the seat can be in any posture between the seat posture 1 and the seat posture 2 along the posture adjustment direction 1.

[0080] In another embodiment, Figure 4 As shown in (b) in FIG. 1 , the posture of the seat can be adjusted along the posture adjustment direction 2. For example, the posture of the seat can be adjusted from the seat posture 1 to the seat posture 3.

[0081] In another embodiment, the change in the relative position of the components of the seat will result in a change in the seat posture. Figure 4 As shown in (c) in FIG. 1 , the backrest of the seat can rotate relative to the seat base along the posture adjustment direction 3. For another example, when the seat is in the seat posture 1, 4 or 5, when the back of the user is in contact with the seat backrest, the body posture of the user can be respectively human posture 1, 2 or 3. For another example, the posture of the seat can be adjusted by adjusting the relative position between the seat pillow and the backrest.

[0082] The above seat posture adjustment methods can be combined with each other. For example, when the seat is in seat posture 2, the relative position relationship between the seat back and the seat base can be adjusted, and the seat posture can also be adjusted along posture adjustment direction 2. Accordingly, the position of the head of the user sitting on the seat can change with the change of the seat posture.

[0083] The above-mentioned adjustment of the seat posture is only an example, and the embodiment of the present application does not limit the adjustment of the seat posture.

[0084] When the vehicle is driving, the tires come into contact with the road surface. The vibrations generated by factors such as the undulations of the road surface and the inherent characteristics of the tires will be transmitted to the cockpit through the vehicle's chassis, suspension and other components, generating noise in the cockpit in the form of sound radiation. As mentioned above, various factors such as the user's body shape, body posture, and seat posture may affect the position of the user's head or ears. Even if exposed to the same noise environment, the noise perceived by the user will be different when the noise propagation path is different. Since passive noise reduction methods such as NVH reduce noise during the propagation of noise, when the vehicle's NVH performance reaches a certain level, it is difficult to effectively improve the user experience through passive noise reduction. In this scenario, active noise reduction can be used to improve the user experience.

[0085] Active noise reduction can refer to the use of a noise reduction system to generate a sound for eliminating noise in order to achieve a noise reduction effect. For example, a noise reduction system generates a sound with the same frequency but opposite phase to the noise. When the sound is superimposed on the noise at the human ear, the sound generated by the noise reduction system can cancel out the noise due to the opposite phases of the two, thereby achieving a noise reduction effect. The sound generated by the noise reduction system for canceling out noise can be referred to as anti-noise, and the speaker used to generate anti-noise can be referred to as a secondary source speaker.

[0086] However, in the cockpit scene, the secondary source speaker is often fixed to the vehicle (for example, fixed to the inner wall of the cockpit, inside the seat, etc.). When the user's sitting posture, the posture of the seat, etc., change, the relative position relationship between the secondary source speaker and the human ear may change accordingly. In this case, it is often difficult to achieve the desired effect by only determining the sound that the secondary source speaker needs to emit based on the noise environment of the vehicle and cockpit.

[0087] In view of this, a control method and a control device provided in an embodiment of the present application can enhance the user's experience of noise in the cabin.

[0088] For example, Figure 5 Schematic diagram of a system architecture provided by an embodiment of the present application. Figure 5 As shown in , the system architecture may include a control unit 510 , a sensing unit 520 and a secondary source speaker 530 .

[0089] The control unit 510 can be used to control the secondary source speaker 530 to emit anti-noise and perform active noise reduction according to the information obtained by the sensing unit 520.

[0090] The sensing unit 520 may include a first sensing unit 521 and a second sensing unit 522. The first sensing unit 521 may be used to sense the noise environment of the vehicle or the cabin. The second sensing unit 522 may be used to sense the noise environment of the user.

[0091] Exemplarily, the vibrations generated by factors such as road undulations and the inherent characteristics of the tires will be transmitted to the cabin via the chassis, suspension and other components of the vehicle, generating noise in the cabin in the form of sound radiation. The noise at and near the components on the transmission path can be sensed to obtain the noise environment in which the vehicle and the cabin are located. For example, it can be considered that the noise at the chassis of the vehicle reflects the noise environment in which the vehicle and the cabin are located. Among them, the noise at the chassis of the vehicle may include one or more of the vibration signal, acceleration signal and audio signal collected at the chassis of the vehicle. Accordingly, the first perception unit 521 may include sensors such as accelerometers and microphones to obtain the noise at and near the chassis of the vehicle. In some possible implementations, the first perception unit 521 may also collect noise at other locations (such as the suspension of the vehicle, etc.) to obtain the noise environment in which the vehicle and the cabin are located.

[0092] Exemplarily, the second sensing unit 522 may include an error microphone to sense the noise environment the user is in. For example, the error microphone may be disposed at a location close to the user's ear, such as a seat headrest or an upper side of a seat back.

[0093] In one embodiment, in a cockpit scenario, the ambient noise in the noise environment of the vehicle and the cockpit can be transmitted to the setting position of the error microphone (for example, recorded as the first position) via the transmission path. When the active noise reduction function is not enabled, the audio signal collected by the error microphone may include the audio signal after the ambient noise is attenuated in its propagation path. When the active noise reduction function is enabled, the sound emitted by the secondary source speaker can also be transmitted to the first position, and the ambient noise is reduced at the first position. At this time, the audio signal collected by the error microphone includes the audio signal after the active noise reduction at the first position, that is, the residual noise signal after the secondary source speaker and the ambient noise are offset can be collected.

[0094] In another embodiment, active noise reduction may include a calibration phase and a use phase. According to the role of the error microphone in each phase of active noise reduction, the error microphone may be divided into a first error microphone and a second error microphone. In the calibration phase of active noise reduction, the audio signals collected by the first error microphone and the second error microphone may be used to calibrate the active noise reduction function, or in other words, to calibrate the path parameters. In the use phase of active noise reduction, the audio signal required to be output by the secondary source speaker may be determined according to the audio signal collected by the first error microphone. In the use phase of active noise reduction, the second error microphone may not be involved. For example, the first error microphone may include an error microphone arranged at the headrest of the seat, the upper side of the seat back, etc. For another example, the second error microphone may include a microphone arranged at the user's ear in the calibration phase of active noise reduction. Since the second error microphone may be used only in the calibration phase of active noise reduction and is not involved in the use phase of active noise reduction, the second error microphone may be called a virtual microphone (also called a virtual error microphone); accordingly, the first error microphone involved in both the calibration phase and the use phase of active noise reduction may be called a real microphone (also called a real error microphone).

[0095] In some possible implementations, the sensing unit 520 may further include a third sensing unit 523. The third sensing unit 523 may be used to sense the user's body posture and / or seat posture. For example, the third sensing unit 523 may include a sensing sensor such as a camera, and the image captured by the camera may be used to determine the user's body posture, seat posture, user's ear position, etc. For another example, the third sensing unit 523 may include one or more of a seat position sensor, a backrest angle sensor, and a headrest height sensor, and the seat posture may be determined based on the data collected by the seat position sensor, the backrest angle sensor, and / or the headrest height sensor. The following is an example of a sensing unit 523. Figure 2 The vehicle shown is taken as an example, combined with Figure 6 This article briefly introduces one implementation method of the above system architecture in the cockpit scenario.

[0096] For example, Figure 6 Schematic diagram of another system architecture provided by an embodiment of the present application. Figure 6 In the case of users taking Figure 2 The passenger area of ​​the vehicle is used as an example for explanation. When the user is sitting in other areas of the cabin, the secondary source speakers in the corresponding areas can work to perform active noise reduction.

[0097] For example, Figure 6As shown, the multiple accelerometers arranged on the vehicle chassis can correspond to the first sensing unit 521. As far as the cockpit is concerned, the vibration information collected by the accelerometer can reflect the noise environment of the cockpit. The microphone #1 arranged on the headrest of the passenger seat can correspond to the first error microphone; in the calibration stage of active noise reduction, the microphone #2 arranged on the human ear can correspond to the second error microphone. The camera arranged in the cockpit can correspond to the third sensing unit 523.

[0098] In the calibration stage of active noise reduction, the position of the human ear, the user's posture, the posture of the seat and other information can be obtained based on the image captured by the camera, and the calibration result of active noise reduction can be associated with the human body posture. In the use stage of active noise reduction, the secondary source speaker can be controlled to output the corresponding audio signal according to one or more of the user's posture, the seat posture, the user's ear position and the like to achieve active noise reduction.

[0099] In one embodiment, the microphone disposed at the human ear can meet the preset technical requirements. For example, the sensitivity of the microphone can be 1 decibel (dB). For another example, the minimum value of the frequency response range of the microphone can be less than or equal to 20 hertz (hz), and the maximum value of the frequency response range can be greater than or equal to 10000hz. In some possible implementations, the sensitivity and frequency response range of the microphone can be other values, which are not limited in the embodiments of the present application.

[0100] In another embodiment, the sensors involved in the system may be different depending on the calibration method. For example, in some calibration methods, the microphone disposed at the human ear (ie, microphone #2) may not be involved.

[0101] For example, Figure 7 700 is a flow chart of a control method provided by an embodiment of the present application. The method may be executed by a computing platform, or may be executed by a processor or chip in the computing platform, or may be executed by a vehicle. The method 700 may include:

[0102] S710, at a first time, determine a first path parameter according to a first signal collected by an error microphone.

[0103] For example, taking the active noise reduction function as an example, the first time may be any time in the calibration phase, and the first signal may include data collected by the error microphone at the first time. That is, in the calibration phase of the active noise reduction, the corresponding path parameter may be determined according to the signal collected by the error microphone; accordingly, in the use phase of the active noise reduction, the path parameter may be used to control the output of the secondary source speaker.

[0104] In one embodiment, during the calibration phase of active noise reduction, the secondary source speaker can be controlled to output a preset audio signal, and the error microphone can collect the audio signal of the preset audio signal after attenuation of the transmission path. According to the preset audio signal and the audio signal collected by the error microphone, the corresponding path parameter can be determined. In some possible implementations, the path parameter can be understood as an estimate of the transmission path between the secondary source speaker and the error microphone.

[0105] S720: Save the corresponding relationship between the first path parameter and the first riding mode.

[0106] Exemplarily, the riding mode may include at least one of the following: a posture of a seat, an identity of a user, a posture of a user, and a human ear position of a user. The first riding mode may include a riding mode at a first time.

[0107] In one embodiment, if Figures 2 to 4 In the scenario shown, one or more of the posture of the seat, the identity of the user, the posture of the user, and the position of the user's ear can affect the relative position relationship between the sound source and the user's ear position and the transmission path. For example, in the calibration stage of active noise reduction, in the scenario where user A is in the co-pilot area with body posture 2 and the co-pilot seat is in seat posture 3, the secondary source speaker is controlled to output a preset audio signal, the audio signal collected by the error microphone is obtained, and the corresponding path parameter is determined accordingly. In this scenario, the path parameter corresponds to user A, body posture 2, and seat posture 3. In other words, the riding mode corresponding to the path parameter can be reflected as user A being in the co-pilot area with body posture 2 and the co-pilot seat being in seat posture 3.

[0108] S730: At the second time, based on the riding mode at the second time being the first riding mode, use the first path parameter to control the first speaker to output the first audio signal.

[0109] Exemplarily, taking the active noise reduction function as an example, the second time may be any time in the use phase. The first speaker may include a secondary source speaker.

[0110] In one embodiment, during the use phase of active noise reduction, when the seating mode is the first seating mode, the first path parameter may be used to control the first speaker to output the first audio signal.

[0111] In some possible implementations, the method may further include: at a third time, determining a second path parameter based on a second signal collected by the error microphone; saving a correspondence between the second path parameter and a second riding mode, the second riding mode including the riding mode at the third time.

[0112] Exemplarily, the third time may be any time in the calibration phase of active noise reduction, and the third time is different from the first time. The second riding mode is the riding mode at the third time, and the second riding mode is different from the first riding mode. That is, in the calibration phase of active noise reduction, the audio signals collected by the error microphone may be obtained in various riding modes respectively to determine the corresponding various path parameters.

[0113] In some possible implementations, using the first path parameter to control the first speaker to output the first audio signal based on the riding mode being the first riding mode at the second time may include: determining that the riding mode changes from the second riding mode to the first riding mode; and using the first path parameter instead of the second path parameter to control the first speaker to output the first audio signal.

[0114] Exemplarily, during the calibration phase, corresponding multiple path parameters can be determined in multiple riding modes. Accordingly, during the use phase of active noise reduction, corresponding path parameters can be used for noise reduction based on the current riding mode. For example, assuming that during the calibration phase, the correspondence between path parameters #1 to #4 and corresponding riding modes #1 to #4 can be determined and saved. During the use phase, the deviation between the current riding mode and riding modes #1 to #4 can be detected periodically, non-periodically or in real time. When the current riding mode successfully matches riding mode #3, the corresponding path parameter #3 can be used to control the secondary source speaker for active noise reduction. For another example, when the current riding mode is adjusted from riding mode #3 to riding mode #4, the corresponding path parameter #4 is used to control the secondary source speaker for active noise reduction.

[0115] In some possible implementations, the method may further include: determining that the riding mode at the second time is the first riding mode according to user input or data collected by the perception sensor.

[0116] Exemplarily, the perception sensor may include one or more of a camera, a seat position sensor, a backrest angle sensor, and a headrest height sensor. For example, based on the data collected by the camera, one or more of the user's identity, the user's posture, the user's ear position, and the seat's posture may be determined. For another example, based on one or more of the seat position sensor, the backrest angle sensor, and the headrest height sensor, the seat's posture may be determined.

[0117] In one embodiment, the riding mode during the use phase of active noise reduction can be determined based on the data collected by the perception sensor. The riding mode during the use phase of active noise reduction can be matched with the riding mode involved in the calibration phase, and the path parameters corresponding to the successfully matched riding mode can be used for noise reduction. When the deviation between the riding mode during the use phase of active noise reduction and the riding mode involved in the calibration process is less than or equal to a preset deviation, the two can be considered to be successfully matched. For example, when the deviation between the postures of the seats involved in the two is less than a preset threshold, the postures of the seats of the two can be considered to be successfully matched. For another example, when the deviation between the sitting postures of the users involved in the two is less than or equal to a preset threshold, the sitting postures involved in the two can be considered to be successfully matched. For another example, when two riding modes are successfully matched, they can be considered to be the same riding mode.

[0118] In some possible implementations, the user input indicates a first seating mode, and the first seating mode includes a first seat posture. The method may also include: adjusting the seat to the first seat posture according to the user input.

[0119] In one embodiment, the user can indicate the desired seat posture through voice commands, gesture commands, interaction with an interactive device such as a central control screen, etc.

[0120] In another embodiment, a user-specific mode (also referred to as a personalized mode) may be set for the cockpit. For example, when configuring the exclusive mode, the user may be allowed to make personalized settings for one or more of the seat posture, sitting posture, noise reduction effect, etc. Accordingly, the path parameters corresponding to the riding mode in the exclusive mode may be determined. When the user instructs the cockpit to adopt its exclusive mode, the seat may be controlled to adjust to the seat posture corresponding to the exclusive mode; the path parameters corresponding to the riding mode in the exclusive mode may be used to control the secondary source speaker to output anti-noise. In some possible implementations, in the configuration of the personalized mode, the user may be allowed to configure the display interface of the cockpit display screen.

[0121] In some possible implementations, before the second time, the method may further include: controlling a prompting device to prompt the user to adjust the riding mode to the first riding mode.

[0122] In some possible implementations, before the first time, the method may further include: controlling the prompting device to prompt the user to enter the path parameter collection state. For example, the user may be prompted to enter the path parameter collection state by voice prompting or by displaying a prompting interface on a display screen. For another example, the path parameter collection state may correspond to the calibration phase of active noise reduction.

[0123] In some possible implementations, the method may further include: at a fourth time, when the stored riding mode does not include the riding mode at the fourth time, determining a third path parameter based on a third signal collected by the error microphone; and saving the correspondence between the third path parameter and the third riding mode, the third riding mode including the riding mode at the fourth time.

[0124] Exemplarily, the fourth time may be any time. For example, the fourth time may include the first time or the third time.

[0125] In one embodiment, during the calibration phase of active noise reduction, the current riding mode can be detected, and when the current riding mode does not match the stored riding mode, the user can be prompted to enter the path parameter collection state, thereby guiding the user to the current riding mode to determine the corresponding path parameters.

[0126] In some possible implementations, determining the first path parameter based on a first signal collected by an error microphone at a first time may include: determining the first path parameter based on a first signal collected by the first error microphone and a second signal collected by the second error microphone at a first time.

[0127] In some possible implementations, the speakers and microphones mentioned above may also be used to implement other functions, such as private sound zones, confidential calls, confidential conversations, etc. In this scenario, the path parameters determined in the calibration phase may also be used for other functions besides the active noise reduction function. For example, in a private sound zone (also referred to as an independent sound zone) scenario, users at different locations may feel different sounds, and the sounds they feel may cause less interference to listeners at other locations.

[0128] For example, it is assumed that a group of speakers and real error microphones are provided in the headrests of the seats of the main driver, the co-driver, the second row on the left, and the second row on the right. Through calibration, the path parameters of the sound transmission between each real error microphone and each speaker in the cockpit scene can be determined. For example, when active noise reduction is performed on the user in the main driver, each speaker is used to generate anti-noise that can offset the noise in the target area of ​​the main driver. In some scenarios, in order to reduce the complexity of implementation, the active noise reduction function can be implemented by the speaker and the real error microphone set in the main driver's seat. Correspondingly, the path parameters involved include the transmission path of the sound between the speaker and the real error microphone set in the main driver's seat. For another example, when the private function is enabled for the user in the main driver's area and the user in the co-driver's area, in order to avoid mutual interference between the sounds in the co-driver's area and the main driver's area, the path parameters involved can characterize the transmission path of the sound between the speaker set in the main driver's seat and the real error microphone set in the co-driver's seat, and the transmission path of the sound between the real error microphone set in the main driver's seat and the speaker set in the co-driver's seat. The path parameters involved above can be obtained during the calibration phase.

[0129] The following combination Figures 8 to 13 The method 700 is briefly described. Figures 8 to 13 The method involved in can be understood as a variation or expansion of method 700.

[0130] For example, at different stages of active noise reduction, the sensors involved in the system may be different.

[0131] In some possible implementations, Figure 6 Taking the scenario shown as an example, during the calibration phase of active noise reduction, the system may include microphone #1 and microphone #2, and the audio signals collected by the two microphones may be used to calibrate the active noise reduction. However, during the use phase of active noise reduction, it may not involve setting a microphone (i.e., microphone #2) at the user's ear.

[0132] For example, during the calibration phase, the sensors involved in the system may differ depending on the calibration method.

[0133] In some possible implementations, during the calibration phase, the sensor involved in the system includes a first error microphone, without including a second error microphone disposed at the human ear. In this scenario, the calibration of active noise reduction can be understood as an estimation of a secondary path. The secondary path can be understood as the transmission path of the sound from the secondary source speaker to the real microphone. When multiple secondary speakers and / or multiple real microphones are involved, multiple propagation paths involved can be estimated.

[0134] In some possible implementations, during the calibration phase, the sensors involved in the system include a first error microphone and may also include a second microphone disposed at the human ear. In this scenario, the calibration of active noise reduction may also include an estimation of an observation path. The observation path may be understood as the transmission path of the sound from the real microphone to the virtual microphone.

[0135] Since the user's body shape, body posture, and seat posture may affect the propagation path of sound from the secondary source speaker to the real microphone and human ear, in order to achieve better noise reduction effect during the use phase, the corresponding transmission path under different sitting postures can be calibrated during the calibration phase. Figure 8 and Fig. 9 The calibration method is described exemplarily.

[0136] For example, Figure 8 800 is a schematic diagram of a calibration method provided in an embodiment of the present application. The method 800 may include:

[0137] S810, guiding the user to adjust the riding mode to a state to be calibrated.

[0138] In some possible implementations, the user can be guided to adjust the riding mode through voice and display devices. The display device may include a physical display screen arranged on the vehicle, such as a central control screen, a co-pilot screen, and a second-row display screen, and may also include a projection display device such as a head-up display (HUD).

[0139] Exemplarily, the riding mode may include one or more of the posture of the seat, the posture of the user, and the human ear of the user. Guiding the user to adjust the riding mode to a state to be calibrated may include guiding the user to adjust the seat to a posture to be calibrated, guiding the user to adjust his or her sitting posture to a posture to be calibrated, and guiding the user to adjust his or her head to a posture to be calibrated where the human ear is. When the seat, the user, and the human ear are in corresponding postures to be calibrated, the riding mode may be considered to be in a state to be calibrated, and the path parameters corresponding to the riding mode may be calibrated.

[0140] For example, taking the posture of the seat to be calibrated as an example, the posture of the seat to be calibrated can be the posture of the seat in the sitting mode corresponding to the path parameter that the user expects to calibrate. The posture of the seat to be calibrated can correspond to the posture of the seat in the first sitting mode in method 700.

[0141] S820, in the current riding mode, control the secondary source speaker to play a preset audio signal, and determine the path parameter corresponding to the riding mode according to the audio signal collected by the error microphone.

[0142] Exemplarily, the preset audio signal may be white noise or other audio, which is not limited in the present embodiment. Fig. 9 The scenario shown briefly explains the calibration process of active noise reduction.

[0143] For example, Fig. 9 It is a schematic diagram of a calibration scenario provided in an embodiment of the present application.

[0144] In one embodiment, assuming that user A is in the passenger seat area of ​​the vehicle cabin, the passenger seat screen can be used to guide the user to adjust the seat posture. For example, the passenger seat screen can display the following Fig. 9 The guidance interface shown in (a) in FIG. 1 is used to guide the user to adjust the seat posture. For example, Fig. 9 As shown in (b) of FIG. 1 , based on the guidance of the co-pilot screen, the user can adjust the seat from seat posture 1 to seat posture 6 according to his or her own habits. For another example, when the current seat posture has met the user's needs, the user does not need to adjust the seat posture. When the seat posture meets the user's needs, the user can perform the indicated interactive action. For example, when it is detected that the user is in the following Fig. 9 When "Confirm" is clicked in the interface shown in (a), it can indicate to the user that the seat posture adjustment process has been completed and the path parameters can be calibrated under the seat posture.

[0145] In another embodiment, when the riding mode includes the user's posture, the co-pilot screen can be controlled to display the following Fig. 9 The guiding interface shown in (c) is used to guide the user to a corresponding sitting posture so that the path parameters determined in the calibration phase can be associated with the sitting posture.

[0146] In another embodiment, when the seat is in a posture to be calibrated and the user is in a posture to be calibrated, that is, when the current sitting mode is in a state to be calibrated, the secondary source speaker can be controlled to play white noise, and the data collected by the error microphone can be obtained. According to the data collected by the error microphone and the white noise played by the secondary source speaker, the path parameter corresponding to the current sitting mode can be determined.

[0147] In another embodiment, in the process of determining the calibration parameters corresponding to the calibration posture of the seat, Fig. 9 As shown in (d) in the figure, in order to relieve the user's anxiety, the progress of the calibration process can be controlled to display the progress of the calibration process on the co-pilot screen to enhance the user's experience of the calibration process.

[0148] In another embodiment, during the calibration phase, it may involve determining corresponding path parameters in scenarios of multiple seat postures and / or multiple sitting postures of the user. For example, it involves determining the path parameters corresponding to the riding mode when the seat is in seat posture 6 or seat posture 7. In order to facilitate the distinction between each seat posture (or corresponding riding mode), the user may be guided to set the name (or logo) of the current seat posture to distinguish each seat posture. For example, when the seat is adjusted to seat posture 6, the co-pilot screen may be controlled to display the following: Fig. 9 The interface shown in (e).

[0149] Since different users have different body shapes, the path parameters determined in the calibration phase can be associated with the user. During the calibration process, a microphone can be set at the user's ear to estimate the observation path.

[0150] In one embodiment, during the calibration phase, the path parameter A related to the observation path calibrated by user A and the path parameter B related to the observation path calibrated by user B are used. During the use phase, by confirming the identity information of the user, when it is detected that user A uses the active noise reduction function, the path parameter A can be used; when it is detected that user B uses the active noise reduction function, the path parameter B can be used.

[0151] Exemplarily, by calibrating the path parameters corresponding to each riding mode in the calibration phase, the corresponding relationship between each path parameter and the riding mode can be determined. In the active noise reduction scenario, the determined path parameters can also be called noise reduction parameters.

[0152] In one embodiment, assuming that the riding mode includes the posture of the seat, the noise reduction parameters corresponding to the multiple seats in multiple postures can be determined through calibration. For example, as shown in Table 1, when the main driver's seat is in seat posture 1, the riding mode can be recorded as main driver-seat posture 1, and the noise reduction parameter corresponding to the riding mode can be determined through calibration (which can be recorded as main driver-noise reduction parameter 1).

[0153] In another embodiment, it is assumed that the riding mode may also include the identity of the user. For example, as shown in Table 2, when user A is in the main driver's seat and the main driver's seat is in posture 1, the riding mode can be recorded as main driver-user A-seat posture 1, and the noise reduction parameters corresponding to the riding mode can be determined through calibration (which can be recorded as main driver-user A-noise reduction parameter 1). For another example, in the use stage of active noise reduction, when user A is in the main driver's seat and the main driver's seat is in the scene of seat posture 2, based on the corresponding relationship in Table 2, the secondary source speaker can be controlled to output anti-noise according to the main driver-user A-noise reduction parameter 2 to achieve the effect of active noise reduction.

[0154] Table 1

[0155] Seats Riding Mode Noise Reduction Parameters Driver's seat Driver-seat posture 1 Main driver-noise reduction parameter 1 Driver seat posture 2 Main driver-noise reduction parameter 2 Driver-seat posture 3 Main driver - noise reduction parameters 3 Passenger seat Passenger seat - seat posture 1 Co-pilot-noise reduction parameter 1 Passenger seat - seat posture 2 Co-pilot - noise reduction parameters 2 Passenger seat - seat posture 3 Co-pilot - noise reduction parameters 3

[0156] Table 2

[0157]

[0158]

[0159] The above briefly introduces the corresponding relationship between riding mode and path parameters. The following briefly introduces the calibration of path parameters under different calibration methods.

[0160] In some possible implementations, the active noise reduction may be calibrated according to a least mean square (LMS) method.

[0161] In one embodiment, assume that there are I error microphones involved in the calibration scenario. The audio signal played by a secondary source speaker at time t is denoted as x(t), and the signal collected by the i-th error microphone is denoted as y i (t), the secondary path coefficient to be estimated is denoted as h i (n) h i (n) can satisfy the following formula:

[0162]

[0163] h i (n) = h i (n)+μ 1 x(t-n+1)e i (t), n=1, ..., N

[0164] Where N is the length of the secondary path coefficient, e i (t) is the signal y collected by the error microphone i (t) The calculated residual signal, μ 1 is the update step size.

[0165] In another embodiment, it is assumed that the calibration scene may also include K virtual microphones. The signal collected by the kth virtual microphone at time t is a k (t), the path coefficient of the propagation path from the secondary source speaker to the virtual microphone is denoted by b k (g). and h k (n) Similar, b k (g) can satisfy the following formula:

[0166]

[0167] b k (g) = b k (g)+μ 2x(t-g+1)d k (t), g = 1, ..., G

[0168] Among them, G is the length of the path coefficient, d k (t) is the signal a collected by the virtual microphone k (t) The calculated residual signal, μ 2 is the update step size.

[0169] In yet another embodiment, when multiple secondary source loudspeakers are involved, the sound transfer path between each secondary source loudspeaker and the corresponding error microphone may be calibrated separately according to the above method.

[0170] In another embodiment, it is assumed that in the calibration phase, there are I real microphones and K virtual microphones in the cockpit scene. It is assumed that Y represents the signal collected by all error microphones in the calibration scene (i.e., the signal collected by I real microphones), D represents the signal collected by all real microphones in the calibration scene (i.e., the signal collected by K virtual microphones), and O represents the estimated result of the observation path. Then O can satisfy the following formula:

[0171] O=R YD (R YY +βI) -1

[0172] Among them, O can be reflected as an observation filter matrix, which can satisfy the following formula: For the observation filter coefficient between the i-th real microphone and the k-th virtual microphone, it can be expressed as o′ ik (N o ). o′ ik (N o ) can satisfy the following formula: o′ ik (N o )=[o ik (1) … o ik (n) …o ik (N o )]. o can be a preset value and can represent the length of the observation filter coefficient. ik (N o ) can be expressed as 1×N o Order vector, O can be expressed as I×N o ×K-order matrix.

[0173] R YD represents the cross-correlation matrix of Y and D, R YY represents the autocorrelation matrix of Y. YD and R YY The following formula can be satisfied:

[0174]

[0175] For the signal collected by the i-th real microphone and the signal collected by the k-th virtual microphone, the mutual correlation coefficient between the two can be recorded as r YD (k,i,N o ). YD (k,i,N o ) can satisfy the following formula: YD (k,i,N o )=[F′ YD (k,i,1) … r′ YD (k,i,n) … F′ YD (k,i,N o )], Accordingly, R YD I×N o ×K-order matrix.

[0176] For the i 1 The signal collected by the real microphone is 2 The signal collected by a real microphone, the mutual correlation coefficient between the two can be recorded as r YY (i 1 ,i 2 , N o ). YY (i 1 ,i 2 , N o ) can satisfy the following formula: Accordingly, R YY is (I×N o )×(I×N o ) order square array.

[0177] In some possible implementations, the path parameters used to represent the sound transmission path may include a path coefficient h i (n), b k (g) and at least one of O.

[0178] The above briefly introduces the calibration method for path parameters. The following takes the active noise reduction function as an example. Fig.10 and Fig.11 The active noise reduction based on the determined path parameters is briefly introduced.

[0179] In the scenario where I real microphones and J secondary source speakers are set in the cockpit scene, the path parameters corresponding to each riding mode can be determined in the calibration stage. In the use stage of active noise reduction, the corresponding path parameters can be used to control the speakers to output corresponding anti-noise according to the riding mode based on the corresponding relationship between the riding mode and the path parameters.

[0180] For example, taking the active noise reduction function as an example, during the use phase, active noise reduction can be performed using corresponding path parameters according to the seat posture.

[0181] In one embodiment, the implementation process of active noise reduction is briefly described by taking the use phase of active noise reduction without involving the observation path as an example. Assume that there are L accelerometers for sensing the noise environment, I real microphones, and J secondary source speakers in the cockpit scene. Accordingly, at time t, the reference signal collected by the lth accelerometer can be recorded as r l (t), the signal collected by the i-th real microphone is recorded as e i (t), the signal that the jth secondary source speaker needs to output is denoted as s j (t).s j (t) can satisfy the following formula:

[0182]

[0183]

[0184]

[0185] Where M can represent the control filter coefficient w calculated for the part to be updated lj (m) length, f lij (t) can represent the filtered reference signal, λ 1 Indicates the update step size. h ij (n) can represent the secondary path between the jth secondary source speaker and the ith real microphone, which can be obtained through calibration in the calibration stage. Accordingly, the relationship between the signals can be expressed as Fig.10 shown.

[0186] In another embodiment, the implementation process of active noise reduction is briefly described by taking the observation path involved in the use phase of active noise reduction as an example. Assume that L accelerometers for sensing the noise environment, I real microphones, and J secondary source speakers are set in the cockpit scene. Accordingly, at time t, the reference signal collected by the lth accelerometer can be recorded as r l (t), the signal collected by the i-th real microphone is recorded as e i (t), the signal that the jth secondary source speaker needs to output is denoted as s j(t). During the calibration phase, K virtual microphones are also set up in the cockpit scene. j (t) can satisfy the following formula:

[0187]

[0188]

[0189]

[0190]

[0191]

[0192] Where M can represent the control filter coefficient w calculated for the part to be updated lj (m) length, f ljk (t) can represent the filtered reference signal, It can represent the virtual error signal corresponding to the kth virtual microphone, λ 2 represents the update step size. b jk (n) may represent the secondary path between the jth secondary source loudspeaker and the kth virtual microphone, which may be obtained by calibration during the calibration phase. ik (n) can represent the observation path between the i-th real microphone and the k-th virtual microphone, which can be obtained according to the observation filter coefficient O, d i (n) can represent the signal before noise reduction at the position of the i-th real microphone. Accordingly, the relationship between the signals can be expressed as Fig.11 shown.

[0193] For example, Fig.12 It is a schematic diagram of the use scenario of active noise reduction provided by the embodiment of the present application. It is assumed that the corresponding relationship between the riding mode and the path parameter determined in the calibration phase is as shown in Table 2.

[0194] In one embodiment, if Fig.12 As shown in (a) in FIG. 1 , when user A sits in the passenger seat area and the passenger seat is in seat posture 1, active noise reduction is performed using passenger seat-user A-noise reduction parameter 1.

[0195] In another embodiment, after user A adjusts the seat posture of the passenger seat, Fig.12 As shown in (b) in the figure, the co-pilot-user A-noise reduction parameter 2 can be determined according to the current co-pilot's seat posture and the corresponding relationship between the seat posture and the noise reduction parameter, and the co-pilot-user A-noise reduction parameter 2 can be used for active noise reduction.

[0196] In another embodiment, when it is detected that user A moves to the main driving area, Fig.12 As shown in (c) in the figure, the main driver-user A-noise reduction parameter 1 can be determined according to the current main driver's seat posture and the corresponding relationship between the seat posture and the noise reduction parameter, and the main driver-user A-noise reduction parameter 1 can be used for active noise reduction.

[0197] In another embodiment, when it is detected that user B is in the passenger seat area, Fig.12 As shown in (d) in the figure, according to the current seat posture of the co-pilot and the corresponding relationship between the seat posture and the noise reduction parameter, active noise reduction can be performed using the co-pilot-user B-noise reduction parameter 1.

[0198] For example, Fig.13 A schematic diagram of another usage scenario of active noise reduction according to an embodiment of the present application.

[0199] In some possible implementations, the cockpit may support a user-specific mode. For example, through the dedicated mode, the user can personalize the seat posture, display style, and interior lighting settings that the user often uses.

[0200] In one embodiment, the cockpit is provided with an exclusive mode for user A. When it is detected that user A is in the cockpit, the seat posture of the seat in the user's area can be controlled to be in the exclusive mode, and the noise reduction parameters corresponding to the seat posture can be used for active noise reduction.

[0201] In another embodiment, for example, when it is detected that user A is in the co-pilot area, the co-pilot screen may be controlled to display the following Fig.13 The interface shown in (a) in the figure is used to determine whether the user wants to enter the exclusive mode. When it is detected that the user clicks "Confirm" on the interface, the cockpit can be controlled to be in the exclusive mode. That is, the seat posture of the seat in the area where the user is located is controlled to be in the exclusive mode, and the corresponding parameters are used for active noise reduction.

[0202] It should be understood that the above description on the calibration and use of path parameters is only an example for the convenience of explanation, and the present application does not limit the calibration method of the path parameters.

[0203] Combined with the above Figures 5 to 13 The method provided in the embodiment of the present application is described in detail. Figure 14 to Figure 15 The device provided in the embodiment of the present application is described in detail. The description of the device embodiment corresponds to the description of the method embodiment, so the contents not described in detail can be referred to the method embodiment above.

[0204] For example, Fig.14 A schematic block diagram of a control device 1400 (hereinafter referred to as device 1400 ) provided in an embodiment of the present application is shown. The device may include a processing unit 1410 and a control unit 1420 .

[0205] The device 1400 is used to perform Figure 7 When the method 700 is performed, the processing unit 1410 can be used to execute steps S710 and S720 in the method 700, and the control unit 1420 can be used to execute step S720 in the method 700.

[0206] Specifically, the processing unit 1410 can be used to: determine the first path parameter according to the first signal collected by the error microphone at a first time; and save the corresponding relationship between the first path parameter and the first riding mode. The control unit 1420 can be used to: control the first speaker to output the first audio signal using the first path parameter based on the riding mode being the first riding mode at a second time.

[0207] In one embodiment, when the device 1400 includes a storage unit, the processor 1410 may be used to save the correspondence between the first path parameter and the first riding mode to the storage unit. In another embodiment, when the device 1400 does not include a storage unit, the processor 1410 may be used to save the correspondence between the first path parameter and the first riding mode to a storage device associated with the device 1400.

[0208] In some possible implementations, the processing unit 1410 may also be used to: determine a second path parameter at a third time based on a second signal collected by the error microphone; and save a correspondence between the second path parameter and a second riding mode, the second riding mode including the riding mode at the third time.

[0209] In some possible implementations, the control unit 1420 may be used to: determine that the riding mode changes from the second riding mode to the first riding mode; and use the first path parameter instead of the second path parameter to control the first speaker to output the first audio signal.

[0210] In some possible implementations, the processing unit 1410 may also be used to: determine that the riding mode at the second time is the first riding mode according to user input or data collected by the sensor.

[0211] In some possible implementations, the user input indicates a first seating mode, and the first seating mode includes a first seat posture. The processing unit 1410 may be configured to: adjust the seat to the first seat posture according to the user input.

[0212] In some possible implementations, before the second time, the processing unit 1410 may also be used to: control a prompting device to prompt the user to adjust the riding mode to the first riding mode.

[0213] In some possible implementations, before the first time, the processing unit 1410 may also be used to: control a prompting device to prompt a user to enter a path parameter collection state.

[0214] In some possible implementations, the processing unit 1410 may also be used to: at a fourth time, when the stored riding mode does not include the riding mode at the fourth time, determine a third path parameter based on a third signal collected by the error microphone; and save the correspondence between the third path parameter and the third riding mode, wherein the third riding mode includes the riding mode at the fourth time.

[0215] In some possible implementations, the error microphone may include a first error microphone and a second error microphone, and the processing unit 1410 may be used to: determine a first path parameter at a first time based on a first signal collected by the first error microphone and a second signal collected by the second error microphone.

[0216] The division of the units in the above devices is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or physically separated. All units of the above devices can be implemented in the form of a processor calling software, or in the form of hardware circuits, or in part in the form of a processor calling software, and the rest in the form of hardware circuits.

[0217] For example, in a specific implementation process, the processing unit 1410 may be implemented by at least one processor or a processor-related circuit; the control unit 1420 may be implemented by at least one processor or a processor-related circuit. In one example, one or more processors, at a first time, determine a first path parameter based on a first signal collected by an error microphone. In one example, one or more processors, at a second time, control the first speaker to output a first audio signal using the first path parameter based on the riding mode being a first riding mode. Exemplarily, in a specific implementation process, the above-mentioned device 1400 may include a computing platform 150, or one or more processors in the computing platform 150, or one or more chips in the computing platform 150, or a control device provided with the computing platform, or a cabin or vehicle provided with the control device.

[0218] For example, Fig.151 is a schematic block diagram of another control device 2000 (hereinafter referred to as device 2000) provided in an embodiment of the present application. The device 2000 may include: a processor 2010, an interface circuit 2020 and a memory 2030. The processor 2010, the interface circuit 2020 and the memory 2030 are connected through an internal connection path, the memory 2030 is used to store instructions, the processor 2010 is used to execute the instructions stored in the memory 2030, and the interface circuit 2020 receives / sends some parameters. Optionally, the memory 2030 can be coupled to the processor 2010 through an interface, or integrated with the processor 2010.

[0219] It should be noted that the interface circuit 2020 may include but is not limited to a transceiver device such as an input / output interface to achieve communication between the device 2000 and other devices or communication networks. For example, communication between the interface circuit 2020 and an error microphone or a secondary source speaker may be achieved.

[0220] The present application also provides a computer program product, which includes: a computer program code, when the computer program code is run on a computer, the computer executes the above Figures 5 to 13 Any method embodiment and any possible implementation thereof.

[0221] The present application also provides a computer-readable storage medium, which stores program codes or instructions. When the computer program codes or instructions are executed by a processor of a computer, the processor implements the above-mentioned Figures 5 to 13 Any method embodiment and any possible implementation thereof.

[0222] The present application also provides a chip, including a circuit, for executing the above Figures 5 to 13 Any method embodiment and any possible implementation thereof.

[0223] An embodiment of the present application also provides a vehicle, which includes the above-mentioned device 1400 or device 2000.

[0224] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations on the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one, two or more. The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0225] The terms "component", "module", "system", etc. used in this specification are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program and / or a computer. By way of illustration, both applications running on a computing device and a computing device can be components. One or more components may reside in a process and / or an execution thread, and a component may be located on a computer and / or distributed between two or more computers. In addition, these components may be executed from various computer-readable media having various data structures stored thereon. Components may, for example, communicate through local and / or remote processes according to signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system and / or a network, such as the Internet interacting with other systems through signals).

[0226] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0227] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0228] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, 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.

[0229] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0230] 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.

[0231] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0232] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which 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 control method, It is characterized in that include: At a first time, determining a first path parameter according to a first signal collected by the error microphone; saving a correspondence between the first path parameter and a first riding mode, wherein the first riding mode includes a riding mode at the first time, and the riding mode includes at least one of the following: a seat posture, an identity of a user, a posture of the user, and a human ear position of the user; At a second time, based on the riding mode at the second time being the first riding mode, the first path parameter is used to control the first speaker to output the first audio signal.

2. The control method according to claim 1, It is characterized in that The method further comprises: At a third time, determining a second path parameter according to a second signal collected by the error microphone; The correspondence between the second path parameter and the second riding mode is saved, where the second riding mode is the riding mode at the third time, the second riding mode is different from the first riding mode, and the second path parameter is different from the first path parameter.

3. The control method according to claim 2, It is characterized in that At the second time, based on the riding mode at the second time being the first riding mode, using the first path parameter to control the first speaker to output the first audio signal includes: determining that the riding mode at the second time is changed from the second riding mode to the first riding mode; The first path parameter is used to replace the second path parameter to control the first speaker to output the first audio signal.

4. The control method according to any one of claims 1 to 3, It is characterized in that The method further comprises: The riding mode at the second time is determined to be the first riding mode according to user input or data collected by the perception sensor.

5. The control method according to claim 4, It is characterized in that The user output indicates the first seating mode, the first seating mode including a first seat posture, the method further comprising: According to the user input, the seat is controlled to adjust to the first seat posture.

6. The control method according to any one of claims 1 to 5, It is characterized in that Before the second time, the method further includes: The control prompting device prompts the user to adjust the riding mode to the first riding mode.

7. The control method according to any one of claims 1 to 6, It is characterized in that Before the first time, the method further includes: The control prompt device prompts the user to enter the path parameter collection state.

8. The control method according to any one of claims 1 to 7, It is characterized in that The method further comprises: at a fourth time, based on the stored riding modes not including the third riding mode, determining a third path parameter according to a third signal collected by the error microphone, wherein the third path parameter is used to control the output of the first speaker, and the third riding mode includes the riding mode at the fourth time; The correspondence between the third path parameter and the third riding mode is saved.

9. The control method according to any one of claims 1 to 8, It is characterized in that The error microphone includes a first error microphone and a second error microphone, the first signal is collected by the first error microphone, and the second error microphone is arranged at the ear of the user, and the first path parameter is determined according to the first signal collected by the error microphone at the first time, including: At the first time, the first path parameter is determined according to the first signal collected by the first error microphone and the fourth signal collected by the second error microphone.

10. The control method according to any one of claims 1 to 9, It is characterized in that The using the first path parameter to control the first speaker to output the first audio signal includes: In a scenario where the active noise reduction function, the private sound zone function, the private call function, and the private conversation function are enabled, the first path parameter is used to control the first speaker to output the first audio signal.

11. A control device, It is characterized in that include: A processing unit, configured to: determine a first path parameter according to a first signal collected by an error microphone at a first time; saving a correspondence between the first path parameter and a first riding mode, wherein the first riding mode includes a riding mode at the first time, and the riding mode includes at least one of the following: a seat posture, an identity of a user, a posture of the user, and a human ear position of the user; The control unit is used to: at a second time, based on the riding mode at the second time being the first riding mode, use the first path parameter to control the first speaker to output a first audio signal.

12. The control device according to claim 11, It is characterized in that The processing unit is also used for: At a third time, determining a second path parameter according to a second signal collected by the error microphone; The correspondence between the second path parameter and the second riding mode is saved, where the second riding mode is the riding mode at the third time, the second riding mode is different from the first riding mode, and the second path parameter is different from the first path parameter.

13. The control device according to claim 12, It is characterized in that The control unit is used for: determining that the riding mode at the second time is changed from the second riding mode to the first riding mode; The first path parameter is used to replace the second path parameter to control the first speaker to output the first audio signal.

14. A control device according to any one of claims 11 to 13, It is characterized in that The processing unit is also used for: The riding mode at the second time is determined to be the first riding mode according to user input or data collected by the perception sensor.

15. The control device according to claim 14, It is characterized in that The user output indicates the first seating mode, the first seating mode including a first seat posture, the control unit further configured to: According to the user input, the seat is controlled to adjust to the first seat posture.

16. A control device according to any one of claims 11 to 15, It is characterized in that Before the second time, the processing unit is further used for: The user is prompted to adjust the riding mode to the first riding mode.

17. A control device according to any one of claims 11 to 16, It is characterized in that Before the first time, the processing unit is further used for: Prompt the user to enter the path parameter collection state.

18. A control device according to any one of claims 11 to 17, It is characterized in that The processing unit is also used for: at a fourth time, based on the stored riding modes not including the third riding mode, determining a third path parameter according to a third signal collected by the error microphone, wherein the third path parameter is used to control the output of the first speaker, and the third riding mode includes the riding mode at the fourth time; The correspondence between the third path parameter and the third riding mode is saved.

19. A control device according to any one of claims 11 to 18, It is characterized in that The error microphone includes a first error microphone and a second error microphone, the first signal is collected by the first error microphone, and the second error microphone is arranged at the ear of the user, and the processing unit is used for: At the first time, the first path parameter is determined according to the first signal collected by the first error microphone and the fourth signal collected by the second error microphone.

20. A control device according to any one of claims 11 to 19, It is characterized in that The processing unit is used for: In a scenario where the active noise reduction function, the private sound zone function, the private call function, and the private conversation function are enabled, the first path parameter is used to control the first speaker to output the first audio signal.

21. A control device, It is characterized in that include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 10.

22. A control system, It is characterized in that The invention comprises an error microphone, a first speaker and a control device as claimed in any one of claims 11 to 21.

23. A vehicle, It is characterized in that Comprising the control device according to any one of claims 11 to 20, or the control system according to claim 22.

24. A computer-readable storage medium, It is characterized in that Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 10.

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