Crosstalk elimination method and device and readable storage medium

Abstract

The invention relates to a crosstalk elimination method and device and a readable storage medium, and the method comprises the steps: obtaining a transfer function matrix from a loudspeaker array to each control point in each pair of control points, and each pair of control points comprises a left ear control point and a right ear control point; determining a first sound energy related parameter according to the corresponding transfer function matrix and the corresponding weight coefficient from the loudspeaker array to each left ear control point, and determining a second sound energy related parameter according to the corresponding transfer function matrix and the corresponding weight coefficient from the loudspeaker array to each right ear control point; determining a crosstalk elimination filter coefficient corresponding to the left ear and a crosstalk elimination filter coefficient corresponding to the right ear based on the first sound energy related parameter and the second sound energy related parameter by using a maximum cost function principle under the constraint condition that the effect value of the loudspeaker array is smaller than a preset threshold value; and filtering the audio signal according to the crosstalk elimination filter coefficient corresponding to the left ear and the crosstalk elimination filter coefficient corresponding to the right ear.

Description

Technical Field

[0001] The present disclosure relates to crosstalk cancellation technology, and more particularly, to a crosstalk cancellation method, apparatus, and readable storage medium. Background Art

[0002] Current spatial audio technology is widely used in scenarios such as home theaters, gaming audio, virtual reality, etc., providing users with an immersive listening experience. An important implementation path used in spatial audio technology is binaural rendering and speaker crosstalk cancellation. Binaural rendering is responsible for encoding audio objects at any position in three-dimensional space into binaural signals (i.e., left-ear signal and right-ear signal), and crosstalk cancellation enables the binaural signals played through the speaker system to be propagated to the binaural positions of the listener respectively, minimizing the crosstalk between the binaural signals as much as possible.

[0003] In the prior art, a technical bottleneck of crosstalk cancellation is that the size of its optimal listening area (also known as the sweet spot) is limited. Especially in the side direction, the listener's head moving a few centimeters left or right may completely destroy the crosstalk cancellation effect. By improving the speaker layout, such as using dipole designs, optimal source distribution, adding height speakers, etc., the size of the sweet spot of crosstalk cancellation can be appropriately enlarged. Additionally, without changing the speaker layout, improvements can be made through control algorithms. Existing control algorithm improvement schemes can be divided into two categories: one is the adaptive algorithm, which adaptively updates the crosstalk cancellation filter by adding a head movement tracking device, that is, dynamically adjusts the parameters of the crosstalk cancellation filter according to the listener's real-time position; the other is the region control algorithm, which realizes a larger sweet spot size by increasing the number of control points. The first type of algorithm requires additional hardware devices and the computational complexity increases, resulting in a higher cost. The second type of algorithm usually uses deconvolution technology, and deconvolution technology is sensitive to the condition number of the transfer function matrix. When the number of control points increases, the condition number of the transfer function matrix will become larger, leading to a decrease in the stability of this technology and a limited improvement in the sweet spot size. Summary of the Invention

[0004] An object of the present invention is to provide a new technical solution for a crosstalk cancellation method.

[0005] According to a first aspect of the present invention, there is provided a crosstalk cancellation method, including:

[0006] Obtaining the transfer function matrix from the speaker array to each control point in each pair of control points, where each pair of control points includes a left-ear control point and a right-ear control point;

[0007] Determine a first sound energy related parameter according to the transfer function matrix corresponding to each left ear control point of the speaker array and the corresponding weight coefficient, and determine a second sound energy related parameter according to the transfer function matrix corresponding to each right ear control point of the speaker array and the corresponding weight coefficient; with the condition that the efficacy value of the speaker array is less than a preset threshold, and using the principle of maximizing the cost function, determine the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear based on the first sound energy related parameter and the second sound energy related parameter;

[0008] Perform filtering processing on the audio signal according to the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear.

[0009] Optionally, the cost function J used to determine the crosstalk cancellation filter coefficients corresponding to the left ear L is calculated as follows:

[0010]

[0011] The cost function J used to determine the crosstalk cancellation filter corresponding to the right ear R is calculated as follows:

[0012]

[0013] where S L is the first sound energy related parameter, S R is the second sound energy related parameter, C L is the crosstalk cancellation filter coefficient corresponding to the left ear, C R is the crosstalk cancellation filter coefficient corresponding to the right ear, and * represents the conjugate transpose operation of the complex matrix.

[0014] Optionally, when a regularization factor is introduced into the cost function, the cost function J used to determine the crosstalk cancellation filter coefficients corresponding to the left ear L is:

[0015]

[0016] The cost function J used to determine the crosstalk cancellation filter coefficients corresponding to the right ear R is:

[0017]

[0018] where λ L is the first regularization factor, and λ R is the second regularization factor.

[0019] Optionally, using the principle of maximizing the cost function, based on the first acoustic energy related parameter and the second acoustic energy related parameter, determining the crosstalk cancellation filter coefficients corresponding to the left ear includes:

[0020] Obtaining an initial value of the second regularization factor;

[0021] According to the initial value of the second regularization factor, the first acoustic energy related parameter, and the second acoustic energy related parameter, determining the first crosstalk cancellation filter coefficients corresponding to the left ear;

[0022] According to the first crosstalk cancellation filter coefficients corresponding to the left ear, determining the first speaker array efficacy value;

[0023] When the first speaker array efficacy value is not less than the preset threshold, increasing the second regularization factor, and iteratively obtaining the second crosstalk cancellation filter coefficients corresponding to the left ear until the first speaker array efficacy value is less than the preset threshold, and stopping the iteration;

[0024] Using the principle of maximizing the cost function, based on the first acoustic energy related parameter and the second acoustic energy related parameter, determining the crosstalk cancellation filter coefficients corresponding to the right ear includes:

[0025] Obtaining an initial value of the first regularization factor;

[0026] According to the initial value of the first regularization factor, the first acoustic energy related parameter, and the second acoustic energy related parameter, determining the first crosstalk cancellation filter coefficients corresponding to the right ear;

[0027] According to the first crosstalk cancellation filter coefficients corresponding to the right ear, determining the second speaker array efficacy value;

[0028] When the second speaker array efficacy value is not less than the preset threshold, increasing the second regularization factor, and iteratively obtaining the second crosstalk cancellation filter coefficients corresponding to the right ear until the second speaker array efficacy value is less than the preset threshold, and stopping the iteration.

[0029] Optionally, the method further includes:

[0030] Based on the following calculation formula, respectively processing the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear,

[0031]

[0032] where C L is the crosstalk cancellation filter coefficients corresponding to the left ear, C R is the crosstalk cancellation filter coefficients corresponding to the right ear, H L,0is the transfer function matrix from the loudspeaker array to the target left-ear control point, H R,0 is the transfer function matrix from the loudspeaker array to the target right-ear control point.

[0033] Optionally, the calculation formula of the first sound energy related parameter S L is as follows

[0034]

[0035] The calculation formula of the second sound energy related parameter S R is as follows:

[0036]

[0037] where ω is the weight coefficient, H L,0 is the transfer function matrix from the loudspeaker array to the target left-ear control point, H L,q is the transfer function matrix from the loudspeaker array to any other left-ear control point, H R,0 is the transfer function matrix from the loudspeaker array to the target right-ear control point, H R,q is the transfer function matrix from the loudspeaker array to the other corresponding right-ear control point.

[0038] Optionally, the calculation formula of the loudspeaker array efficacy value is as follows:

[0039]

[0040] where AE is the loudspeaker array efficacy value, C opt is the crosstalk cancellation filter coefficient corresponding to the left ear or the crosstalk cancellation filter coefficient corresponding to the right ear, C ref is the crosstalk cancellation filter coefficient corresponding to making each loudspeaker in the loudspeaker array vibrate in phase and generate the same sound pressure.

[0041] According to the second aspect of the present invention, a crosstalk cancellation device is provided, including:

[0042] An acquisition module, configured to acquire the transfer function matrix from the loudspeaker array to each control point in each pair of control points, where each pair of control points includes a left-ear control point and a right-ear control point;

[0043] A sound energy related parameter determination module, configured to determine a first sound energy related parameter according to the transfer function matrix corresponding to each left-ear control point of the loudspeaker array and the corresponding weight coefficient, and determine a second sound energy related parameter according to the transfer function matrix corresponding to each right-ear control point of the loudspeaker array and the corresponding weight coefficient;

[0044] A crosstalk cancellation filter coefficient determination module is configured to determine the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear respectively based on the first sound energy related parameter and the second sound energy related parameter by using the principle of maximizing a cost function with the efficacy value of the speaker array being less than a preset threshold as a constraint condition.

[0045] A filtering processing module is configured to perform filtering processing on an audio signal according to the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear.

[0046] According to a third aspect of the present invention, there is provided a crosstalk cancellation device, including a memory and a processor, where the memory stores a computer program, and the computer program is used to control the processor to operate to execute the method according to any one of the first aspects.

[0047] According to a fourth aspect of the present invention, there is provided a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method according to any one of the first aspects is implemented.

[0048] The crosstalk cancellation method provided by the present invention can enlarge the absolute sweet spot size and the relative sweet spot size, and has higher binaural channel isolation and higher array output efficiency.

[0049] Through the following detailed description of the exemplary embodiments of the present specification with reference to the accompanying drawings, the features and advantages of the embodiments of the present specification will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings incorporated in the specification and constituting a part of the specification illustrate the embodiments of the present specification, and together with the description are used to explain the principles of the embodiments of the present specification.

[0051] Figure 1 is a schematic flowchart of a crosstalk cancellation method according to an embodiment of the present invention.

[0052] Figure 2 is a schematic diagram of the relative positions of control points and a speaker array according to an embodiment of the present invention.

[0053] Figure 3 are all contour maps of the channel isolation varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the prior art.

[0054] Figure 4 are all contour maps of the channel isolation varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the prior art.

[0055] Figure 5 It is a contour map of the channel isolation degree varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the present invention.

[0056] Figure 6 It is a contour map of the channel isolation degree varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the present invention.

[0057] Figure 7 They are all contour maps of the channel isolation degree varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the prior art.

[0058] Figure 8 They are all contour maps of the channel isolation degree varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the prior art.

[0059] Figure 9 It is a contour map of the channel isolation degree varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the present invention.

[0060] Figure 10 It is a contour map of the channel isolation degree varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided by the present invention.

[0061] Figure 11 It is based on Figure 3-10 A schematic diagram of the determined absolute sweet area size.

[0062] Figure 12 It is based on Figure 3-10 A schematic diagram of the determined relative sweet area size.

[0063] Figure 13 It is the CHSP curve corresponding to the left ear control point.

[0064] Figure 14 It is the CHSP curve corresponding to the right ear control point.

[0065] Figure 15 It is a schematic diagram of the AE curve obtained based on three pairs of control points.

[0066] Figure 16 It is a schematic diagram of the AE curve obtained based on five pairs of control points.

[0067] Figure 17 It is a schematic diagram of the principle block diagram of the crosstalk cancellation device according to an embodiment of the present invention.

[0068] Figure 18 It is the structural block diagram of the crosstalk cancellation device according to an embodiment of the present invention. Detailed implementation manners

[0069] Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings.

[0070] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the embodiments of the present specification, their applications, or uses.

[0071] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0072] In one embodiment of the present invention, a method for determining crosstalk cancellation filter coefficients is provided. According to Figure 1 As shown, the method for determining crosstalk cancellation filter coefficients in this embodiment includes the following steps S110 to S140.

[0073] Step S110: Obtain the transfer function matrix from the speaker array to each control point in each pair of control points, where each pair of control points includes a left-ear control point and a right-ear control point.

[0074] The positions of each pair of control points relative to the speaker array are preset. According to Figure 2 As shown, the speaker array includes N speakers. Based on this speaker array, three pairs of control points are set, and each pair of control points includes a left-ear control point and a right-ear control point. Figure 2 The multiple circles shown represent the listener's head. The left-ear control point is the position of the listener's left ear, and the right-ear control point is the position of the listener's right ear. Figure 2 The number of pairs of control points shown is merely an example and does not impose any limitation on the present invention. The number of pairs of control points can also be four pairs, five pairs, etc.

[0075] The transfer function matrix of each control point is obtained based on actual measurement and is a pre-stored value that can be directly obtained.

[0076] Step S120: Determine the first sound energy related parameter according to the transfer function matrix corresponding to each left-ear control point from the speaker array and the corresponding weight coefficient, and determine the second sound energy related parameter according to the transfer function matrix corresponding to each right-ear control point from the speaker array and the corresponding weight coefficient.

[0077] The calculation formula of the first sound energy related parameter S L is as follows,

[0078]

[0079] The calculation formula of the second sound energy related parameter S R is as follows:

[0080]

[0081] Among them, ω is the weight coefficient, and H L,0 is the transfer function matrix from the loudspeaker array to the target left-ear control point, and H L,q is the transfer function matrix from the loudspeaker array to any other left-ear control point, and H R,0 is the transfer function matrix from the loudspeaker array to the target right-ear control point, and H R,q is the transfer function matrix from the loudspeaker array to other corresponding right-ear control points.

[0082] The target left-ear control point and the target right-ear control point are any pair of control points in a set of multiple pairs of control points. According to Figure 2 as shown, the target left-ear control point and the target right-ear control point can be Figure 2 any pair of control points shown.

[0083] The weight coefficient ω can be set according to requirements. For example, ω can be set according to the need.

[0084] Step S130, with the efficacy value of the loudspeaker array being less than the preset threshold as the constraint condition, and using the principle of maximizing the cost function, based on the first sound energy-related parameter and the second sound energy-related parameter, respectively determine the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear.

[0085] The cost function is the sound contrast of all left-ear control points and all right-ear control points. The cost function J used to determine the crosstalk cancellation filter coefficients corresponding to the left ear L in which, the numerator represents the sum of the sound energies at all left-ear control points, and the denominator represents the sum of the sound energies at all right-ear control points. The cost function J used to determine the crosstalk cancellation filter coefficients corresponding to the right ear R in which, the numerator represents the sum of the sound energies at all right-ear control points, and the denominator represents the sum of the sound energies at all left-ear control points.

[0086] The cost function J used to determine the crosstalk cancellation filter coefficients corresponding to the left ear L has the following calculation formula:

[0087]

[0088] The cost function J used to determine the crosstalk cancellation filter corresponding to the right ear R has the following calculation formula:

[0089]

[0090] Among them, S L is the first sound energy-related parameter, S R is the second sound energy-related parameter, CL is the crosstalk cancellation filter coefficient corresponding to the left ear, C R is the crosstalk cancellation filter coefficient corresponding to the right ear, and * represents the conjugate transpose operation of the complex matrix.

[0091] In some embodiments, when determining the crosstalk cancellation filter coefficients for the left ear and the right ear based on the above cost function, considering the matrix inversion requirement, a regularization constraint is imposed, that is, a regularization factor is introduced. In this way, the cost function J used to determine the crosstalk cancellation filter coefficient corresponding to the left ear L is:

[0092]

[0093] The cost function J used to determine the crosstalk cancellation filter coefficient corresponding to the right ear R is:

[0094]

[0095] where λ L is the first regularization factor, and λ R is the second regularization factor.

[0096] The smaller the regularization factor, the smaller the amplitude constraint on the crosstalk cancellation filter, which is likely to produce unnecessary high-energy output and reduce the output efficiency of the speaker system. The larger the regularization factor, although the output efficiency of the speaker system can be improved, the residual of crosstalk cancellation will also increase. In this way, the Array Effort (AE) value can be used to measure the output efficiency of the speaker array. The smaller the AE value, the higher the output efficiency of the speaker array. At the same time, taking the AE value as a constraint condition, the value of the regularization factor is determined.

[0097] The calculation formula of the speaker array efficacy value is as follows:

[0098]

[0099] where AE is the speaker array efficacy value, C opt is the crosstalk cancellation filter coefficient corresponding to the left ear or the right ear, and C ref is the crosstalk cancellation filter coefficient corresponding to making each speaker in the speaker array vibrate in phase and generate the same sound pressure.

[0100] C ref is a pre-stored value and can be directly obtained.

[0101] Using the principle of maximizing the cost function, based on the first sound energy-related parameter and the second sound energy-related parameter, determining the crosstalk cancellation filter coefficients corresponding to the left ear specifically includes: obtaining the initial value of the second regularization factor; determining the first crosstalk cancellation filter coefficients corresponding to the left ear according to the initial value of the second regularization factor, the first sound energy-related parameter, and the second sound energy-related parameter; determining the efficacy value of the first speaker array according to the first crosstalk cancellation filter coefficients corresponding to the left ear; when the efficacy value of the first speaker array is not less than the preset threshold, increasing the second regularization factor, and iteratively obtaining the second crosstalk cancellation filter coefficients corresponding to the left ear until the efficacy value of the first speaker array is less than the preset threshold, and then stopping the iteration.

[0102] Specifically, after obtaining the first crosstalk cancellation filter coefficients corresponding to the left ear, substituting the first crosstalk cancellation filter coefficients corresponding to the left ear into the above calculation formula of the speaker array efficacy value to obtain the efficacy value of the first speaker array. When the efficacy value of the first speaker array is not less than the preset threshold, increasing the second regularization factor, iteratively obtaining the second crosstalk cancellation filter coefficients corresponding to the left ear, then substituting the second crosstalk cancellation filter coefficients corresponding to the left ear into the above calculation formula of the speaker array efficacy value to obtain a new efficacy value of the first speaker array, and then determining whether the efficacy value of the first speaker array is less than the preset threshold. When the efficacy value of the first speaker array is not less than the preset threshold, continue to iterate according to the above steps. When the efficacy value of the first speaker array is less than the preset threshold, stop the iteration, and take the crosstalk cancellation filter coefficients corresponding to the left ear obtained in the previous iteration as the optimal solution. It should be noted that based on the initial value of the second regularization factor, the determined efficacy value of the first speaker array is often very large, that is, not less than the preset threshold. Therefore, it is necessary to continuously adjust the second regularization factor until the efficacy value of the first speaker array is less than the preset threshold.

[0103] Using the principle of maximizing the cost function, based on the first sound energy-related parameter and the second sound energy-related parameter, determining the crosstalk cancellation filter coefficients corresponding to the right ear specifically includes: obtaining the initial value of the first regularization factor; determining the first crosstalk cancellation filter coefficients corresponding to the right ear according to the initial value of the first regularization factor, the first sound energy-related parameter, and the second sound energy-related parameter; determining the efficacy value of the second speaker array according to the first crosstalk cancellation filter coefficients corresponding to the right ear; when the efficacy value of the second speaker array is not less than the preset threshold, increasing the second regularization factor, and iteratively obtaining the second crosstalk cancellation filter coefficients corresponding to the right ear until the efficacy value of the second speaker array is less than the preset threshold, and then stopping the iteration.

[0104] Specifically, after obtaining the first crosstalk cancellation filter coefficients corresponding to the right ear, substitute the first crosstalk cancellation filter coefficients corresponding to the right ear into the above calculation formula of the loudspeaker array efficacy value to obtain the second loudspeaker array efficacy value. When the second loudspeaker array efficacy value is not less than the preset threshold, increase the second regularization factor, iteratively obtain the second crosstalk cancellation filter coefficients corresponding to the right ear, then substitute the second crosstalk cancellation filter coefficients corresponding to the right ear into the above calculation formula of the loudspeaker array efficacy value to obtain a new second loudspeaker array efficacy value, and then determine whether the second loudspeaker array efficacy value is less than the preset threshold. When the second loudspeaker array efficacy value is not less than the preset threshold, continue the iteration according to the above steps. When the second loudspeaker array efficacy value is less than the preset threshold, stop the iteration, and use the crosstalk cancellation filter coefficients corresponding to the right ear obtained in the previous iteration as the optimal solution. It should be noted that based on the initial value of the first regularization factor, the determined second loudspeaker array efficacy value is often very large, that is, not less than the preset threshold. Therefore, it is necessary to continuously adjust the first regularization factor until the second loudspeaker array efficacy value is less than the preset threshold.

[0105] In some embodiments, the method further includes: based on the following calculation formula, process the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear respectively to obtain the processed crosstalk cancellation filter coefficients C′ L corresponding to the left ear and the processed crosstalk cancellation filter coefficients C′ R ,

[0106]

[0107] where C L is the crosstalk cancellation filter coefficient corresponding to the left ear, C R is the crosstalk cancellation filter coefficient corresponding to the right ear, H L,0 is the transfer function matrix from the loudspeaker array to the target left ear control point, and H R,0 is the transfer function matrix from the loudspeaker array to the target right ear control point.

[0108] Based on the above calculation formula, processing the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear respectively can ensure that the audio signal received by the listener at the target control point is consistent with the desired audio signal in amplitude, and the two have the same delay in phase.

[0109] Step S140, filter the audio signal according to the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear.

[0110] Play the filtered audio signal through the loudspeaker array.

[0111] In a specific embodiment, the loudspeaker array is a line array, which is composed of 10 identical full-range loudspeakers with a total length of 1.7 m. Based on this loudspeaker array, three pairs of control points and five pairs of control points are respectively set, and each pair of control points includes a left-ear control point and a right-ear control point.

[0112] The transfer function matrix of each control point is obtained based on actual measurement, and the sampling rate is set to 44.1 kHz. The transfer function matrix of each control point is a pre-stored value and can be directly obtained.

[0113] Compared with the crosstalk cancellation filter coefficients determined by the method provided in the prior art, the technical advantages brought by the crosstalk cancellation filter coefficients determined by the method provided in the present invention are described from three aspects: sweet spot size, binaural channel isolation, and loudspeaker array efficacy value.

[0114] Figure 3 and Figure 4 are both contour maps of the channel separation (CHSP) varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided in the prior art. Figure 3 Corresponds to the contour map of the channel separation varying with the lateral displacement achieved by the method provided in the prior art at the target left-ear control point. Figure 4 Corresponds to the contour map of the channel separation varying with the lateral displacement achieved by the method provided in the prior art at the target right-ear control point.

[0115] Figure 5 、 Figure 6 are both contour maps of the channel separation (CHSP) varying with the lateral displacement corresponding to the crosstalk cancellation filter coefficient determination method provided in the present invention.

[0116] Figure 5 Corresponds to the contour map of the channel separation varying with the lateral displacement achieved by the method provided in the present invention at the target left-ear control point. Figure 4 Corresponds to the contour map of the channel separation varying with the lateral displacement achieved by the method provided in the present invention at the target right-ear control point.

[0117] Figure 3 and Figure 5 The target left-ear control point involved and Figure 4 and Figure 6 The target right-ear control point involved is a pair of control points selected from the three pairs of control points.

[0118] Figure 7 and Figure 8All of them are contour plots of the channel separation (CHSP) corresponding to the method for determining the crosstalk elimination filter coefficient provided by the prior art as a function of lateral displacement. Figure 7 Corresponding to this is a contour map of the channel isolation achieved by the method provided by the prior art at the target left ear control point as a function of lateral displacement. Figure 8 Corresponding to this is a contour map of the channel isolation achieved by the method provided by the prior art at the target right ear control point as a function of lateral displacement.

[0119] Figure 9 , Figure 10 All of them are contour plots of the channel separation (CHSP) corresponding to the method for determining the crosstalk elimination filter coefficient provided by the present invention varying with the lateral displacement.

[0120] Figure 9 Corresponding to this is a contour map of the channel isolation achieved by the method provided by the present invention at the target left ear control point as a function of lateral displacement. Figure 10 Corresponding to this is a contour map of the channel isolation achieved by the method provided by the present invention at the target right ear control point as a function of lateral displacement.

[0121] Figure 7 and Figure 8 The target left ear control point and Figure 9 and Figure 10 The target right ear control points involved are a pair of control points selected from the five pairs of control points.

[0122] Based on the above Figure 3-10 The contour plots shown allow determination of both absolute and relative sweet spot sizes. Figure 3-10 The higher the gray level, the lower the corresponding CHSP value, and the lower the gray level, the higher the corresponding CHSP value. That is, the closer to black, the lower the corresponding CHSP value, and the closer to white, the higher the corresponding CHSP value.

[0123] The absolute sweet spot size is the difference between the first rightmost lateral displacement and the first leftmost lateral displacement. The first rightmost lateral displacement is the rightmost lateral displacement corresponding to a CHSP value higher than 12dB for both the target left ear control point and the target right ear control point. The first leftmost lateral displacement is the leftmost lateral displacement corresponding to a CHSP value higher than 12dB for both the target left ear control point and the target right ear control point.

[0124] The relative sweet spot size is the difference between the second rightmost lateral displacement and the second leftmost lateral displacement. The second rightmost lateral displacement is the CHSP value corresponding to both the target left ear control point and the target right ear control point, which is lower than the CHSP value corresponding to a lateral displacement of zero and does not exceed the rightmost lateral displacement corresponding to 12 dB. The second leftmost lateral displacement is the CHSP value corresponding to both the target left ear control point and the target right ear control point, which is lower than the CHSP value corresponding to a lateral displacement of zero and does not exceed the leftmost lateral displacement corresponding to 12 dB.

[0125] Figure 11 is based on Figure 3-10 The schematic diagram of the determined absolute sweet spot size. Figure 12 is based on Figure 3-10 The schematic diagram of the determined relative sweet spot size.

[0126] According to Figure 11 and Figure 12 , it can be seen that for the same number of control points, based on the method provided by the present invention, compared with the prior art, both the absolute sweet spot size and the relative sweet spot size are enlarged. In addition, based on the method provided by the present invention, as the number of pairs of control points increases, the absolute sweet spot size and the relative sweet spot size will also be enlarged.

[0127] Figure 13 is the CHSP curve corresponding to the left ear control point. Figure 14 is the CHSP curve corresponding to the right ear control point.

[0128] Combined with Figure 13 and Figure 14 , for the same number of control point pairs, compared with the prior art, based on the method provided by the present invention, the average value of the CHSP curve corresponding to the left ear control point and the CHSP curve corresponding to the right ear control point is higher, which indicates that the channel isolation is higher than the prior art.

[0129] Figure 15 is the schematic diagram of the AE curve obtained based on three pairs of control points. Figure 16 is the schematic diagram of the AE curve obtained based on five pairs of control points.

[0130] According to Figure 15 and Figure 16 , it can be seen that compared with the prior art, based on the method provided by the present invention, the AE value becomes smaller, which indicates that based on the method provided by the invention, the speaker array has higher array efficiency.

[0131] An embodiment of the present invention also provides a crosstalk cancellation device. According to Figure 17 shown, the crosstalk cancellation device includes an acquisition module 1710, a sound energy related parameter determination module 1720, a crosstalk cancellation filter coefficient determination module 1730, and a filtering processing module 1740.

[0132] The acquisition module 1710 is configured to acquire the transfer function matrix from the speaker array to each control point in each pair of control points, where each pair of control points includes a left ear control point and a right ear control point.

[0133] The sound energy related parameter determination module 1720 is configured to determine a first sound energy related parameter according to the transfer function matrix from the speaker array to the corresponding left ear control point and the corresponding weight coefficient, and determine a second sound energy related parameter according to the transfer function matrix from the speaker array to the corresponding right ear control point and the corresponding weight coefficient.

[0134] The crosstalk cancellation filter coefficient determination module 1730 is configured to, with the constraint that the efficacy value of the speaker array is less than a preset threshold, and based on the principle of maximizing the cost function, determine the crosstalk cancellation filter coefficient corresponding to the left ear and the crosstalk cancellation filter coefficient corresponding to the right ear respectively based on the first sound energy related parameter and the second sound energy related parameter.

[0135] The filtering processing module 1740 is configured to perform filtering processing on the audio signal according to the crosstalk cancellation filter coefficient corresponding to the left ear and the crosstalk cancellation filter coefficient corresponding to the right ear.

[0136] The cost function J used to determine the crosstalk cancellation filter coefficient corresponding to the left ear L is calculated as follows:

[0137]

[0138] The cost function J used to determine the crosstalk cancellation filter corresponding to the right ear R is calculated as follows:

[0139]

[0140] where S L is the first sound energy related parameter, S R is the second sound energy related parameter, C L is the crosstalk cancellation filter coefficient corresponding to the left ear, C R is the crosstalk cancellation filter coefficient corresponding to the right ear, and * represents the conjugate transpose operation of the complex matrix.

[0141] In some embodiments, when a regularization factor is introduced into the cost function, the cost function J used to determine the crosstalk cancellation filter coefficient corresponding to the left ear L is:

[0142]

[0143] The cost function J used to determine the crosstalk cancellation filter coefficient corresponding to the right ear R is:

[0144]

[0145] Among them, λ L is the first regularization factor, and λ R is the second regularization factor.

[0146] In some embodiments, the acoustic energy related parameter determination module 1720 is specifically configured to obtain an initial value of the second regularization factor; determine the first crosstalk cancellation filter coefficients corresponding to the left ear according to the initial value of the second regularization factor, the first acoustic energy related parameter, and the second acoustic energy related parameter; determine the efficacy value of the first speaker array according to the first crosstalk cancellation filter coefficients corresponding to the left ear; when the efficacy value of the first speaker array is not less than a preset threshold, increase the second regularization factor, and iteratively obtain the second crosstalk cancellation filter coefficients corresponding to the left ear until the efficacy value of the first speaker array is less than the preset threshold, and then stop the iteration.

[0147] In some embodiments, the acoustic energy related parameter determination module 1720 specifically obtains an initial value of the first regularization factor; determines the first crosstalk cancellation filter coefficients corresponding to the right ear according to the initial value of the first regularization factor, the first acoustic energy related parameter, and the second acoustic energy related parameter; determines the efficacy value of the second speaker array according to the first crosstalk cancellation filter coefficients corresponding to the right ear; when the efficacy value of the second speaker array is not less than a preset threshold, increase the second regularization factor, and iteratively obtain the second crosstalk cancellation filter coefficients corresponding to the right ear until the efficacy value of the second speaker array is less than the preset threshold, and then stop the iteration.

[0148] In some embodiments, the device further includes a processing module, and the processing module is configured to respectively process the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear based on the following calculation formula to obtain the processed crosstalk cancellation filter coefficients C′ L corresponding to the left ear and the processed crosstalk cancellation filter coefficients C′ R ,

[0149]

[0150] where C L is the crosstalk cancellation filter coefficients corresponding to the left ear, C R is the crosstalk cancellation filter coefficients corresponding to the right ear, H L,0 is the transfer function matrix from the speaker array to the target left ear control point, and H R,0 is the transfer function matrix from the speaker array to the target right ear control point.

[0151] The calculation formula of the first acoustic energy related parameter S L is as follows,

[0152]

[0153] The second - order energy - related parameter S R is calculated as follows:

[0154]

[0155] where ω is the weight coefficient, H L,0 is the transfer function matrix from the loudspeaker array to the target left - ear control point, H L,q is the transfer function matrix from the loudspeaker array to any other left - ear control point, H R,0 is the transfer function matrix from the loudspeaker array to the target right - ear control point, H R,q is the transfer function matrix from the loudspeaker array to other corresponding right - ear control points.

[0156] The calculation formula of the loudspeaker array efficacy value is as follows:

[0157]

[0158] where AE is the loudspeaker array efficacy value, C opt is the crosstalk cancellation filter coefficient corresponding to the left ear or the crosstalk cancellation filter coefficient corresponding to the right ear, C ref is the crosstalk cancellation filter coefficient for making each loudspeaker in the loudspeaker array vibrate in - phase and generate the same sound pressure.

[0159] An embodiment of the present invention further provides a crosstalk cancellation device, as Figure 18 shown. The crosstalk cancellation device 1800 includes a memory 1820 and a processor 1810. The memory 1820 stores a computer program, and the computer program is used to control the processor 1810 to operate to execute the crosstalk cancellation method provided in any of the above embodiments.

[0160] An embodiment of the present invention further provides a non - volatile computer - readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described in any item of the first aspect is implemented.

[0161] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments.

[0162] The above description has been made of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0163] Embodiments of this specification may be systems, methods, and / or computer program products. A computer program product may include a computer-readable storage medium having thereon computer instructions for causing a processor to implement various aspects of the embodiments of this specification.

[0164] A computer-readable storage medium may be a tangible device that can retain and store computer instructions for use by a computer instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as a punch card or raised structures in grooves having computer instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium used herein is not construed as being a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0165] The computer instructions described herein may be downloaded from the computer-readable storage medium to respective computing / processing devices, or may be downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer instructions from the network and forwards the computer instructions for storage in the computer-readable storage medium in each computing / processing device.

[0166] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present specification. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of computer instructions, which contains one or more executable computer instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions. As is well known to those skilled in the art, implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

[0167] The embodiments of the present specification have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of the technology in the market, or to enable other ordinary skilled persons in the technical field to understand the embodiments disclosed herein.

Claims

1. A crosstalk elimination method, characterized in that: include: Obtaining a transfer function matrix from the loudspeaker array to each control point in each pair of control points, wherein each pair of control points includes a left ear control point and a right ear control point; Determine a first sound energy related parameter according to a transfer function matrix corresponding to the speaker array to each left ear control point and a corresponding weight coefficient, and determine a second sound energy related parameter according to a transfer function matrix corresponding to the speaker array to each right ear control point and a corresponding weight coefficient; Taking the speaker array efficacy value being less than a preset threshold as a constraint condition, using the principle of maximizing the cost function, and based on the first sound energy related parameter and the second sound energy related parameter, respectively determining the crosstalk cancellation filter coefficient corresponding to the left ear and the crosstalk cancellation filter coefficient corresponding to the right ear; The audio signal is filtered according to the crosstalk cancellation filter coefficient corresponding to the left ear and the crosstalk cancellation filter coefficient corresponding to the right ear.

2. The method according to claim 1, characterized in that Determine the cost function J used by the crosstalk cancellation filter coefficient corresponding to the left ear L The calculation formula is as follows: Determine the cost function J used by the crosstalk cancellation filter corresponding to the right ear R The calculation formula is as follows: Among them, S L is the first sound energy related parameter, S R is the second acoustic energy related parameter, C L is the crosstalk elimination filter coefficient corresponding to the left ear, C R is the crosstalk cancellation filter coefficient corresponding to the right ear, and * represents the conjugate transpose operation of the complex matrix.

3. The method according to claim 2, characterized in that In the case where the cost function introduces a regularization factor, the cost function J used to determine the crosstalk cancellation filter coefficients corresponding to the left ear is L for: Determine the cost function J used by the crosstalk cancellation filter coefficient corresponding to the right ear R for: Among them, λ L is the first regularization factor, λ R is the second regularization factor.

4. The method according to claim 3, characterized in that Determining the crosstalk cancellation filter coefficient corresponding to the left ear based on the first sound energy related parameter and the second sound energy related parameter by utilizing the principle of maximizing the cost function includes: Obtaining an initial value of the second regularization factor; Determining a first crosstalk cancellation filter coefficient corresponding to the left ear according to the initial value of the second regularization factor, the first sound energy related parameter and the second sound energy related parameter; determining a first speaker array efficacy value according to a first crosstalk cancellation filter coefficient corresponding to the left ear; When the first speaker array efficacy value is not less than the preset threshold, increasing the second regularization factor, iteratively obtaining a second crosstalk elimination filter coefficient corresponding to the left ear, until the first speaker array efficacy value is less than the preset threshold, and stopping the iteration; Using the principle of maximizing the cost function, based on the first sound energy related parameter and the second sound energy related parameter, determining the crosstalk cancellation filter coefficient corresponding to the right ear, including: Obtaining an initial value of the first regularization factor; Determining a first crosstalk cancellation filter coefficient corresponding to the right ear according to the initial value of the first regularization factor, the first sound energy related parameter, and the second sound energy related parameter; determining a second speaker array efficacy value according to a first crosstalk elimination filter coefficient corresponding to the right ear; When the second speaker array efficacy value is not less than the preset threshold, the second regularization factor is increased, and the second crosstalk elimination filter coefficient corresponding to the right ear is obtained by iteration until the second speaker array efficacy value is less than the preset threshold, and the iteration is stopped.

5. The method according to claim 1, characterized in that: The method further comprises: Based on the following calculation formula, the crosstalk cancellation filter coefficients corresponding to the left ear and the crosstalk cancellation filter coefficients corresponding to the right ear are processed respectively, Among them, C L is the crosstalk elimination filter coefficient corresponding to the left ear, C R is the crosstalk elimination filter coefficient corresponding to the right ear, H L,0 is the transfer function matrix from the loudspeaker array to the target left ear control point, H R,0 is the transfer function matrix from the loudspeaker array to the target right ear control point.

6. The method according to any one of claims 1 to 5, characterized in that: The first acoustic energy related parameter S L The calculation formula is as follows, The second acoustic energy related parameter S R The calculation formula is as follows: Among them, ω is the weight coefficient, H L,0 is the transfer function matrix from the loudspeaker array to the target left ear control point, H L,q is the transfer function matrix from the loudspeaker array to any other left ear control point, H R,0 is the transfer function matrix from the loudspeaker array to the target right ear control point, H R,q is the transfer function matrix from the loudspeaker array to other corresponding right ear control points.

7. The method according to any one of claims 1 to 5, characterized in that: The calculation formula of the speaker array efficacy value is as follows: Where AE is the speaker array efficiency value, C opt is the crosstalk cancellation filter coefficient corresponding to the left ear or the crosstalk cancellation filter coefficient corresponding to the right ear, C ref In order to make the speakers in the speaker array vibrate in phase and generate the same sound pressure, the corresponding crosstalk elimination filter coefficients are determined.

8. A crosstalk elimination device, characterized in that: include: An acquisition module, used to acquire a transfer function matrix from the loudspeaker array to each control point in each pair of control points, wherein each pair of control points includes a left ear control point and a right ear control point; an acoustic energy related parameter determination module, configured to determine a first acoustic energy related parameter according to a transfer function matrix corresponding to each left ear control point from the speaker array and a corresponding weight coefficient, and to determine a second acoustic energy related parameter according to a transfer function matrix corresponding to each right ear control point from the speaker array and a corresponding weight coefficient; a crosstalk cancellation filter coefficient determination module, configured to determine the crosstalk cancellation filter coefficient corresponding to the left ear and the crosstalk cancellation filter coefficient corresponding to the right ear respectively based on the first sound energy related parameter and the second sound energy related parameter, taking the speaker array efficacy value being less than a preset threshold as a constraint condition and utilizing the principle of maximizing the cost function; The filtering processing module is used to filter the audio signal according to the crosstalk cancellation filter coefficient corresponding to the left ear and the crosstalk cancellation filter coefficient corresponding to the right ear.

9. A crosstalk elimination device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is used to control the processor to operate so as to execute the method according to any one of claims 1 to 7.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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