Sound field control method and device for in-vehicle space, computer equipment and storage medium

Abstract

The embodiment of the invention provides a sound field control method and device for an in-vehicle space, computer equipment and a storage medium, and the method comprises the steps: constructing a space rectangular coordinate system with the center of a target vehicle as an original point, and obtaining a target sound listening position and the position of each sound channel loudspeaker in the space rectangular coordinate system; according to the distance between each sound channel loudspeaker and the target sound listening position, determining the loudness difference of each sound channel sound reaching the target sound listening position, and according to the loudness difference corresponding to each sound channel sound, controlling the amplitude of the sound signal; according to the time required for each sound channel sound to reach the target sound listening position from each sound channel loudspeaker, the delay difference of each sound channel sound to reach the target sound listening position is determined, the phase of the sound signal is controlled according to the delay difference corresponding to each sound channel sound, and a user is supported to autonomously select any point in the vehicle as the target sound listening position. And moreover, the complexity is low and the expenditure is low during equipment allocation, and the effect which is difficult to achieve by double-channel stereo can be presented with extremely low investment.

Description

Technical Field

[0001] This application relates to the technical field of home theaters. Specifically, it relates to a method, device, computer device, and storage medium for sound field control in a vehicle interior space. Background Art

[0002] Currently, personalized sound field settings have become an important means to enhance the user experience. As people's second living space, with the development of excellent sound technology, the demand for users to customize the in-vehicle audio environment according to their preferences has been realized.

[0003] However, in the related art, first, in the traditional optimal listening position in the vehicle interior, it is generally considered to be at the center of the space. This allows sounds coming from all directions to reach the listener's ears at relatively symmetrical and appropriate angles and distances, maximizing the balanced propagation of sound and thus constructing the most ideal sound field effect. However, for the actual seat layout in a car, due to the limitations of the overall vehicle structure, generally the position where the user is located is not the center position, but in the driver's seat, passenger seat, or rear seat, etc. Therefore, the traditional sound field layout cannot meet the user's personalized high-quality auditory enjoyment. Second, traditional two-channel sound is relatively limited in expressing the azimuth and sense of distance of sound, unable to provide richer audio details and clearer sound layering, and difficult to create a strong immersive audio experience like excellent sound, and unable to accurately restore the position and movement trajectory of sound in three-dimensional space. Third, since the existing technologies all use two-channel stereo, the adjustment of the in-vehicle sound field often requires customized design for different vehicle models. There are significant differences in the interior space layout, size, and acoustic characteristics of different vehicle models, which means that technicians need to carry out complex debugging work for each vehicle model, greatly increasing the complexity and workload of the adjustment. The sound field control solutions for two-channel stereo are difficult to unify and cannot be reused in the case of more than 10 channels of excellent sound. Summary of the Invention

[0004] This application provides a method, device, computer device, and storage medium for sound field control in a vehicle interior space.

[0005] In the first aspect of the embodiments of this application, a method for sound field control in a vehicle interior space is provided, including:

[0006] Construct a three-dimensional rectangular coordinate system with the center of the target vehicle as the origin, and obtain the position of the target listening position and each channel speaker in the three-dimensional rectangular coordinate system;

[0007] According to the position of the target listening position and each channel speaker in the three-dimensional rectangular coordinate system, determine the distance between each channel speaker and the target listening position, and the time required for the sound of each channel to reach the target listening position from each channel speaker;

[0008] Determine the loudness difference of each channel sound reaching the target listening position according to the distance between each channel speaker and the target listening position, and control the amplitude of the sound signal according to the loudness difference corresponding to each channel sound;

[0009] Determine the delay difference of each channel sound reaching the target listening position according to the time required for each channel sound to reach the target listening position from each channel speaker, and control the phase of the sound signal according to the delay difference corresponding to each channel sound.

[0010] In an alternative embodiment of the present application, the loudness difference of each channel sound reaching the target listening position is determined according to the following expression based on the distance between each channel speaker and the target listening position:

[0011]

[0012] where ΔL n is the loudness difference of the nth channel sound reaching the target listening position, r0 is the sound source reference value, and d n is the distance between the nth channel speaker and the target listening position, where d n > r0.

[0013] In an alternative embodiment of the present application, controlling the amplitude of the sound signal according to the loudness difference corresponding to each channel sound includes:

[0014] For the loudness difference of each channel sound reaching the target listening position, when the current loudness difference is greater than the preset loudness threshold, adjust the amplitude of the sound signal corresponding to the current loudness difference until the current loudness difference is less than or equal to the preset loudness threshold.

[0015] In an alternative embodiment of the present application, determining the delay difference of each channel sound reaching the target listening position according to the time required for each channel sound to reach the target listening position from each channel speaker includes:

[0016] Determine the median of the time required for each channel sound to reach the target listening position from each channel speaker;

[0017] Take the difference between the time required for each channel sound to reach the target listening position from each channel speaker and the median as the delay difference of each channel sound reaching the target listening position.

[0018] In an alternative embodiment of the present application, controlling the phase of the sound signal according to the delay difference corresponding to each channel sound includes:

[0019] For the delay difference of the sound of each channel reaching the target listening position, when the current delay difference is greater than the preset delay threshold, adjust the phase of the sound signal corresponding to the current delay difference until the current delay difference is less than or equal to the preset delay threshold.

[0020] In an alternative embodiment of the present application, constructing a spatial rectangular coordinate system with the center of the target vehicle as the origin and obtaining the positions of the target listening position and each channel speaker in the spatial rectangular coordinate system includes:

[0021] In the spatial rectangular coordinate system constructed with the center of the target vehicle as the origin, preset the positions of multiple listening positions and each channel speaker in the spatial rectangular coordinate system;

[0022] Receive a user request, parse the target listening position from the user request, and determine the position of the target listening position according to the preset positions of multiple listening positions in the spatial rectangular coordinate system.

[0023] In an alternative embodiment of the present application, through the following expression, according to the position of the target listening position and each channel speaker in the spatial rectangular coordinate system, determine the distance between each channel speaker and the target listening position and the time required for the sound of each channel to reach the target listening position from each channel speaker:

[0024]

[0025] where d n is the distance between the nth channel speaker and the target listening position, t n is the time required for the sound of the nth channel to reach the target listening position from each speaker, v is the propagation speed of sound in the vehicle interior environment, (α,β,γ) is the position of the target listening position in the spatial rectangular coordinate system, and (a n , b n , c n ) is the position of the nth channel speaker in the spatial rectangular coordinate system.

[0026] The second aspect of the embodiments of the present application provides an acoustic field control device for the vehicle interior space, including:

[0027] An acquisition module, configured to construct a spatial rectangular coordinate system with the center of the target vehicle as the origin and obtain the positions of the target listening position and each channel speaker in the spatial rectangular coordinate system;

[0028] A first determination module, configured to determine the distance between each channel speaker and the target listening position and the time required for the sound of each channel to reach the target listening position from each channel speaker according to the position of the target listening position and each channel speaker in the spatial rectangular coordinate system;

[0029] A second determination module, configured to determine the loudness difference of each channel sound reaching the target listening position according to the distance between each channel speaker and the target listening position, and control the amplitude of the sound signal according to the loudness difference corresponding to each channel sound;

[0030] A third determination module, configured to determine the delay difference of each channel sound reaching the target listening position according to the time required for each channel sound to reach the target listening position from each channel speaker, and control the phase of the sound signal according to the delay difference corresponding to each channel sound.

[0031] In the third aspect of the embodiments of the present application, a computer device is provided, including: a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the in-vehicle space sound field control method as described in any one of the above are implemented.

[0032] In the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the in-vehicle space sound field control method as described in any one of the above are implemented.

[0033] The above technical solutions provided by the embodiments of the present application compared with the prior art have at least some or all of the following advantages:

[0034] For the in-vehicle space sound field control method described in the embodiments of the present application, a space rectangular coordinate system is constructed with the center of the target vehicle as the origin, and the positions of the target listening position and each channel speaker in the space rectangular coordinate system are obtained; according to the positions of the target listening position and each channel speaker in the space rectangular coordinate system, the distance between each channel speaker and the target listening position and the time required for each channel sound to reach the target listening position from each channel speaker are determined; the loudness difference of each channel sound reaching the target listening position is determined according to the distance between each channel speaker and the target listening position, and the amplitude of the sound signal is controlled according to the loudness difference corresponding to each channel sound; the delay difference of each channel sound reaching the target listening position is determined according to the time required for each channel sound to reach the target listening position from each channel speaker, and the phase of the sound signal is controlled according to the delay difference corresponding to each channel sound, supporting the user to independently select any point in the vehicle as the target listening position, and having a low complexity and small cost during device deployment, and being able to present an effect that is difficult to achieve by the existing two-channel stereo with minimal investment. Description of the Drawings

[0035] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0036] Figure 1Flowchart of the sound field control method for the in-vehicle space provided by an embodiment of the present application;

[0037] Figure 2 Schematic diagram of the 10-channel rendering audio waveform of the Jingcai Sound standard 5.1.4 layout provided by an embodiment of the present application;

[0038] Figure 3 For Figure 2 Schematic diagram of the audio waveform after the example in

[0039] Figure 4 Schematic diagram of the structure of the sound field control device for the in-vehicle space provided by an embodiment of the present application;

[0040] Figure 5 Schematic diagram of the structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0041] In order to make the technical solutions and advantages in the embodiments of the present application clearer and more understandable, the following further describes the exemplary embodiments of the present application in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than an exhaustive list of all embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0042] Please refer to Figure 1 , the sound field control method for the in-vehicle space provided by the embodiment of the present application includes the following steps S100 to S400:

[0043] S100, construct a spatial rectangular coordinate system with the center of the target vehicle as the origin, and obtain the position of the target listening position and each channel speaker in the spatial rectangular coordinate system;

[0044] S200, according to the position of the target listening position and each channel speaker in the spatial rectangular coordinate system, determine the distance between each channel speaker and the target listening position and the time required for the sound of each channel to reach the target listening position from each channel speaker;

[0045] S300, determine the loudness difference of the sound of each channel reaching the target listening position according to the distance between each channel speaker and the target listening position, and control the amplitude of the sound signal according to the loudness difference corresponding to the sound of each channel;

[0046] S400, determine the delay difference of the sound of each channel reaching the target listening position according to the time required for the sound of each channel to reach the target listening position from each channel speaker, and control the phase of the sound signal according to the delay difference corresponding to the sound of each channel.

[0047] The sound field control method for the in-vehicle space of the present application realizes the high-quality sound field control of the in-vehicle space through multiple-channel speakers, allowing users to independently select or adjust the target listening position as the high-quality sound golden listening position. Whether the user is in the driver's seat, the co-driver's seat or other in-vehicle spaces such as specific seats in the rear row, they can enjoy the high-quality sound quality effect comparable to that of a professional cinema hall through independent settings.

[0048] The sound field control method for the in-vehicle space of the present application can perform targeted processing on high-quality sound multi-channel audio signals such as 5.1.4, 7.1.2, and 7.1.4 according to the golden position selected by the user, such as adjusting the volume, time delay, etc. of different channels, to create an immersive and highly personalized high-quality sound audio experience.

[0049] In an optional embodiment of the present application, according to the following expression, the loudness difference of each channel sound reaching the target listening position is determined based on the distance between each channel speaker and the target listening position:

[0050]

[0051] where ΔL n is the loudness difference of the nth channel sound reaching the target listening position, r0 is the sound source reference value, which can be taken as 0.5m, and d n is the distance between the nth channel speaker and the target listening position, where d n > r0.

[0052] In an optional embodiment of the present application, controlling the amplitude of the sound signal according to the loudness difference corresponding to each channel sound includes:

[0053] For the loudness difference of each channel sound reaching the target listening position, when the current loudness difference is greater than the preset loudness threshold, the amplitude of the sound signal corresponding to the current loudness difference is adjusted until the current loudness difference is less than or equal to the preset loudness threshold. It is known that the minimum perceivable loudness difference that the human ear can recognize is 1 - 3dB. Therefore, when |ΔL| > 3dB, amplitude adjustment processing is performed on the audio signal of this speaker.

[0054] In the sound field control method for the in-vehicle space of the present application, since the vehicle is a semi-free sound field, the loudness difference of each sound propagating from the speaker to the golden listening position can be obtained. After obtaining the loudness differences of all speaker sounds reaching the golden listening position, the loudness difference caused by sound attenuation during sound propagation can be reduced by controlling the amplitude of the sound signal.

[0055] In an optional embodiment of the present application, determining the delay difference of each channel sound reaching the target listening position according to the time required for each channel sound to reach the target listening position from each channel speaker includes:

[0056] Determine the median of the time required for the sound of each channel to reach the target listening position from each channel speaker;

[0057] Take the difference between the time required for the sound of each channel to reach the target listening position from each channel speaker and the median as the delay difference of the sound of each channel reaching the target listening position.

[0058] In an optional embodiment of the present application, the controlling the phase of the sound signal according to the delay difference corresponding to each channel sound includes:

[0059] For the delay difference of each channel sound reaching the target listening position, when the current delay difference is greater than the preset delay threshold, adjust the phase of the sound signal corresponding to the current delay difference until the current delay difference is less than or equal to the preset delay threshold. It is known that the minimum perceptible delay difference that the human ear can recognize is 1 - 2 ms. At this time, take the median Mt of the time t for each speaker to reach the golden listening position obtained by calculation and calculate the difference Δt between each tn and Mt. When |Δt| > 2 ms, at this time, it is necessary to perform phase adjustment processing on the audio signal of this speaker to reduce the delay difference of the sound of each channel reaching the golden listening position by adjusting the phase of the sound signal.

[0060] In an optional embodiment of the present application, the constructing a spatial rectangular coordinate system with the center of the target vehicle as the origin and obtaining the positions of the target listening position and each channel speaker in the spatial rectangular coordinate system includes:

[0061] In the spatial rectangular coordinate system constructed with the center of the target vehicle as the origin, preset the positions of multiple listening positions and each channel speaker in the spatial rectangular coordinate system;

[0062] Receive a user request, parse the target listening position from the user request, and determine the position of the target listening position according to the positions of the preset multiple listening positions in the spatial rectangular coordinate system, where the target listening position is one of the preset multiple listening positions.

[0063] In an optional embodiment of the present application, through the following expression, according to the positions of the target listening position and each channel speaker in the spatial rectangular coordinate system, determine the distance between each channel speaker and the target listening position and the time required for the sound of each channel to reach the target listening position:

[0064]

[0065] where d n is the distance between the nth channel speaker and the target listening position, t nis the time required for the sound of the nth channel to reach the target listening position from each speaker, v is the propagation speed of sound in the vehicle interior environment, (α,β,γ) is the position of the target listening position in the spatial rectangular coordinate system, and (a n ,b n ,c n ) is the position of the nth channel speaker in the spatial rectangular coordinate system.

[0066] The application effect of the sound field control method for the vehicle interior space of the present application is as shown in Figure 2 and Figure 3 . Figure 2 is an example of the 10-channel rendering audio waveform of the Jingcai Sound standard 5.1.4 layout, and Figure 3 is the audio waveform after performing a 0.5-fold loudness adjustment and adding a 1s delay for the example in Figure 2 for channel 1.

[0067] For the sound field control method of the vehicle interior space of the present application, for the traditional two-channel vehicle interior environment, the golden listening position is generally in the center position. However, for the vehicle interior seat layout, the general golden listening position is not in the center position, such as in the case of the driver's seat, passenger seat, or rear seats. In order to achieve a better listening effect, three-dimensional Jingcai Sound needs to be adopted and the rendering output of three-dimensional Jingcai Sound for the standard speaker layout needs to be processed. By adopting the method of independently adjusting the loudness and delay for the multi-channel output of Jingcai Sound, the algorithm calculates and adjusts the delay difference and loudness attenuation difference that should exist when the sound of each different vehicle interior speaker reaches the golden listening position when the golden listening position is not in the exact center. Finally, through the mixing and rendering of the multi-channels of Jingcai Sound, a better and more accurate listening experience can be achieved.

[0068] It should be understood that although the steps in the flowchart are displayed in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential either, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0069] Please refer to Figure 4 . An embodiment of the present application provides a sound field control device 400 for a vehicle interior space, including:

[0070] An acquisition module 410, configured to construct a spatial rectangular coordinate system with the center of the target vehicle as the origin, and acquire the positions of the target listening position and each channel speaker in the spatial rectangular coordinate system;

[0071] The first determination module 420 is configured to determine the distance between each channel speaker and the target listening position, and the time required for the sound of each channel to reach the target listening position according to the target listening position and the positions of the channel speakers in the spatial rectangular coordinate system;

[0072] The second determination module 430 is configured to determine the loudness difference of the sound of each channel reaching the target listening position according to the distance between each channel speaker and the target listening position, and control the amplitude of the sound signal according to the loudness difference corresponding to the sound of each channel;

[0073] The third determination module 440 is configured to determine the delay difference of the sound of each channel reaching the target listening position according to the time required for the sound of each channel to reach the target listening position from each channel speaker, and control the phase of the sound signal according to the delay difference corresponding to the sound of each channel.

[0074] The in-vehicle space sound field control device of the present application, compared with the traditional listening position of the excellent sound in the in-vehicle environment and the traditional in-vehicle two-channel listening position allocation method, gives users more control over the vehicle audio system. Users are no longer passive recipients of fixed sound modes, but can independently set the golden listening position. All positions in the in-vehicle space support setting the golden listening position. Moreover, compared with the traditional two-channel stereo, the multi-channel excellent sound has more excellent performance in aspects such as sound spatial positioning, immersion, dynamic range, environmental sound effect simulation, and multi-audio object processing, and can provide a more realistic and rich audio experience.

[0075] The loudness and delay adjustment technologies adopted by the in-vehicle space sound field control device of the present application have the advantages of low processing complexity and small resource overhead, and can adopt corresponding loudness and delay adjustment parameters for different listening positions of different vehicle models, effectively improving the consistency and reuse efficiency of the excellent sound sound field control scheme in the in-vehicle space.

[0076] For the specific limitations of the above device 400, reference can be made to the limitations of the in-vehicle space sound field control method in the above text, which will not be elaborated here. Each module in the above device 400 can be implemented in whole or in part by software, hardware, and their combinations. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form for the processor to call and execute the operations corresponding to the above modules.

[0077] In one embodiment, a computer device is provided. The internal structure diagram of the computer device can be as Figure 5As shown in the figure. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements a method for controlling the sound field in a vehicle interior space as described above. It includes: including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements any step in the method for controlling the sound field in the vehicle interior space as described above.

[0078] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it can implement any step in the method for controlling the sound field in a vehicle interior space as described above.

[0079] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0081] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions in the flow Figure 1 one flow or multiple flows and / or blocksFigure 1 The functions specified in one or more boxes.

[0082] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 process or more processes and / or boxes Figure 1 or more boxes.

[0083] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed as including the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0084] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling the sound field in a vehicle interior, characterized in that, Including: Construct a spatial rectangular coordinate system with the center of the target vehicle as the origin, and obtain the position of the target listening position and each channel speaker in the spatial rectangular coordinate system; According to the position of the target listening position and each channel speaker in the spatial rectangular coordinate system, determine the distance between each channel speaker and the target listening position, and the time required for the sound of each channel to reach the target listening position from each channel speaker; Determine the loudness difference of the sound of each channel reaching the target listening position according to the distance between each channel speaker and the target listening position, and control the amplitude of the sound signal according to the loudness difference corresponding to the sound of each channel; Determine the delay difference of the sound of each channel reaching the target listening position according to the time required for the sound of each channel to reach the target listening position from each channel speaker, and control the phase of the sound signal according to the delay difference corresponding to the sound of each channel.

2. The method according to claim 1, wherein Through the following expression, determine the loudness difference of the sound of each channel reaching the target listening position according to the distance between each channel speaker and the target listening position: where ΔL n is the loudness difference of the sound of the nth channel reaching the target listening position, r0 is the sound source reference value, and d n is the distance between the speaker of the nth channel and the target listening position, where d n > r0.

3. The method according to claim 1, wherein The controlling the amplitude of the sound signal according to the loudness difference corresponding to the sound of each channel includes: For the loudness difference of the sound of each channel reaching the target listening position, when the current loudness difference is greater than the preset loudness threshold, adjust the amplitude of the sound signal corresponding to the current loudness difference until the current loudness difference is less than or equal to the preset loudness threshold.

4. The method according to claim 1, wherein The determining the delay difference of the sound of each channel reaching the target listening position according to the time required for the sound of each channel to reach the target listening position from each channel speaker includes: Determine the median of the time required for the sound of each channel to reach the target listening position from each channel speaker; Take the difference between the time required for the sound of each channel to reach the target listening position from each channel speaker and the median as the delay difference of the sound of each channel reaching the target listening position.

5. The method according to claim 1, wherein The controlling the phase of the sound signal according to the delay difference corresponding to the sound of each channel includes: For the delay difference of the sound of each channel reaching the target listening position, when the current delay difference is greater than the preset delay threshold, adjust the phase of the sound signal corresponding to the current delay difference until the current delay difference is less than or equal to the preset delay threshold.

6. The method according to claim 1, wherein The constructing a spatial rectangular coordinate system with the center of the target vehicle as the origin, and obtaining the position of the target listening position and each channel speaker in the spatial rectangular coordinate system includes: In the spatial rectangular coordinate system constructed with the center of the target vehicle as the origin, preset the positions of multiple listening positions and each channel speaker in the spatial rectangular coordinate system; Receive a user request, parse out the target listening position from the user request, and determine the position of the target listening position according to the positions of the preset multiple listening positions in the spatial rectangular coordinate system.

7. The method according to claim 1, wherein Through the following expression, determine the distance between each channel speaker and the target listening position, and the time required for the sound of each channel to reach the target listening position from each channel speaker according to the position of the target listening position and each channel speaker in the spatial rectangular coordinate system: Among them, d n is the distance between the n-th channel speaker and the target listening position, t n is the time required for the sound of the n-th channel to reach the target listening position from each speaker, v is the propagation speed of sound in the vehicle environment, (α, β, γ) is the position of the target listening position in the spatial rectangular coordinate system, (a n , b n , c n ) is the position of the n-th channel speaker in the spatial rectangular coordinate system.

8. An acoustic field control device for an in-vehicle space, characterized in that, Including: An acquisition module, configured to construct a spatial rectangular coordinate system with the center of the target vehicle as the origin, and obtain the position of the target listening position and each channel speaker in the spatial rectangular coordinate system; The first determination module is configured to determine the distance between each channel speaker and the target listening position, and the time required for the sound of each channel to reach the target listening position according to the target listening position and the positions of the channel speakers in the three-dimensional rectangular coordinate system. The second determination module is configured to determine the loudness difference of the sounds of each channel reaching the target listening position according to the distance between each channel speaker and the target listening position, and control the amplitude of the sound signal according to the loudness difference corresponding to the sound of each channel. The third determination module is configured to determine the delay difference of the sounds of each channel reaching the target listening position according to the time required for the sound of each channel to reach the target listening position from each channel speaker, and control the phase of the sound signal according to the delay difference corresponding to the sound of each channel.

9. A computer device, comprising: It includes a memory and a processor, the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the in-vehicle space sound field control method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the in-vehicle space sound field control method described in any one of claims 1 to 7 are implemented.

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