Prompting method, device and equipment for low-speed warning tone and vehicle

Abstract

The invention relates to a low-speed warning tone prompting method, device and equipment and a vehicle, and the method comprises the steps: controlling a target vehicle to play a low-speed warning tone when the real-time vehicle speed of the target vehicle is in a first interval; when the real-time vehicle speed of the target vehicle is located in a second interval, whether a low-speed warning tone is played or not is determined according to the target pedestrian number and the target environment noise intensity, and when it is determined that the low-speed warning tone is played, the target vehicle is controlled to play the low-speed warning tone, and the minimum value of the second interval is larger than the maximum value of the first interval. When the low-speed prompt tone is prompted, different strategies are adopted for different vehicle speed intervals, and when the vehicle speed is in the low-middle gear, whether the low-speed prompt tone is prompted or not is determined according to the number of pedestrians and the environmental noise, so that the effect of improving the prompt accuracy of the low-speed prompt tone is achieved. Therefore, the problem of inaccurate prompt of the low-speed prompt tone is solved.

Description

Technical Field

[0001] This application relates to the technical field of automotive parts, and particularly relates to a method, device, equipment and vehicle for low-speed prompt sound. Background Art

[0002] The engine of an electric vehicle hardly makes mechanical sounds. This means that when driving at low speeds, an electric vehicle is almost silent, making it difficult for pedestrians to notice when an electric vehicle approaches. The low-speed prompt sound, also known as the electric vehicle low-speed prompt sound, is to add a vehicle prompt sound system. When the driving speed of the vehicle is lower than a certain value, this system emits a prompt sound to convey information to other road users, aiming to alert surrounding pedestrians and other traffic participants.

[0003] In the existing methods for low-speed prompt sound, most turn on the low-speed prompt sound when the speed drops to a certain level and turn it off when the speed is higher than a certain level. The prompt of the low-speed prompt sound is not accurate. Summary of the Invention

[0004] This application provides a method, device, equipment and vehicle for low-speed prompt sound to solve the technical problem of inaccurate prompt of low-speed prompt sound.

[0005] In a first aspect, this application provides a method for low-speed prompt sound, including: when the real-time vehicle speed of the target vehicle is in the first interval, controlling the target vehicle to play the low-speed prompt sound; when the real-time vehicle speed of the target vehicle is in the second interval, determining whether to play the low-speed prompt sound according to the number of target pedestrians and the intensity of the target environmental noise, and when it is determined to play the low-speed prompt sound, controlling the target vehicle to play the low-speed prompt sound, where the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, the intensity of the target environmental noise is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

[0006] In a second aspect, this application provides a device for low-speed prompt sound, including: a first control module for controlling the target vehicle to play the low-speed prompt sound when the real-time vehicle speed of the target vehicle is in the first interval; a second control module for determining whether to play the low-speed prompt sound according to the number of target pedestrians and the intensity of the target environmental noise when the real-time vehicle speed of the target vehicle is in the second interval, and when it is determined to play the low-speed prompt sound, controlling the target vehicle to play the low-speed prompt sound, where the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, the intensity of the target environmental noise is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

[0007] In a third aspect, the present application provides a prompting device for low-speed prompting sounds, comprising: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; and at least one memory connected to the at least one bus. Wherein, the processor is configured to: when the real-time vehicle speed of the target vehicle is within a first interval, control the target vehicle to play a low-speed prompting sound; when the real-time vehicle speed of the target vehicle is within a second interval, determine whether to play a low-speed prompting sound according to the number of target pedestrians and the intensity of the target environmental noise, and when it is determined to play a low-speed prompting sound, control the target vehicle to play a low-speed prompting sound. Wherein, the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, the intensity of the target environmental noise is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

[0008] In a fourth aspect, the present application further provides a computer storage medium storing computer-executable instructions for executing the low-speed prompting sound prompting method of any one of the above in the present application.

[0009] In a fifth aspect, the present application further provides a vehicle equipped with the above-mentioned low-speed prompting sound prompting device.

[0010] Advantages of the present application:

[0011] When the vehicle speed of the present application is within the first interval, a low-speed prompting sound is played, thus meeting the standard requirements and ensuring driving safety and pedestrian safety. When the vehicle speed is within the second interval with a higher speed, it is determined whether to prompt the low-speed prompting sound according to the number of pedestrians and the environmental noise intensity, thus ensuring the accuracy of the low-speed prompting sound prompt. Description of the Drawings

[0012] Figure 1 It is a flowchart of the low-speed prompting sound prompting method of the present application;

[0013] Figure 2 It is a system block diagram of the present application;

[0014] Figure 3 It is a schematic diagram of determining whether to close the data processing module of the present application;

[0015] Figure 4 It is a flowchart of the factor generation service of the present application;

[0016] Figure 5 It is a flowchart of generating pedestrian factors of the present application;

[0017] Figure 6 It is a flowchart of generating noise factors of the present application;

[0018] Figure 7 This is the low-speed prompt tone strategy selection diagram of the present application;

[0019] Figure 8 This is the prompt device diagram of the low-speed prompt tone of the present application;

[0020] Figure 9 This is the prompt device diagram of the low-speed prompt tone of the present application. Detailed implementation manners

[0021] The following will illustrate the implementation manners of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, rather than for limiting the protection scope of the present application.

[0022] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0023] For the convenience of description, spatial relative relationship terms can be used in the text to describe the relative position relationship or movement of one element or feature shown in the figure relative to another element or feature. These relative relationship terms are, for example, "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "upper", "front", "rear", etc. Such spatial relative relationship terms are intended to include different orientations of the device in use or operation other than the orientations depicted in the figure. For example, if the device in the figure undergoes a position flip, attitude change, or motion state change, then these directional indications will also change accordingly. For example, an element described as "below other elements or features" or "beneath other elements or features" will then be oriented as "above other elements or features" or "upper other elements or features". Therefore, the example term "below" can include the orientations of above and below. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used in the text are interpreted accordingly.

[0024] In order to solve the technical problem that the low-speed prompt tone in the prior art is inaccurate in prompting, the present application provides a prompting method, device, equipment, and vehicle for the low-speed prompt tone, which can achieve the effect of improving the accuracy of the low-speed prompt tone in prompting.

[0025] Figure 1 This is a flowchart of a method for prompting a low-speed prompt sound provided in an embodiment of the present application. As Figure 1 shown, it includes:

[0026] S101, when the real-time vehicle speed of the target vehicle is within the first interval, control the target vehicle to play a low-speed prompt sound;

[0027] S102, when the real-time vehicle speed of the target vehicle is within the second interval, determine whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target ambient noise, and when it is determined to play a low-speed prompt sound, control the target vehicle to play a low-speed prompt sound, where the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, the intensity of the target ambient noise is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

[0028] The target vehicle in the embodiment of the present application may be an electric vehicle, such as a pure electric vehicle (Blade Electric Vehicles, BEV), a hybrid electric vehicle (Hybrid Electric Vehicle, HEV), a plug-in hybrid electric vehicle (Plug-in Hybrid Electric Vehicle, PHEV), an extended-range electric vehicle (Extended-Range Electric Vehicles, EREV), or a fuel cell electric vehicle (Fuel Cell Electric Vehicle, FCEV), etc. Since an electric vehicle makes relatively little noise at low speeds, a low-speed prompt sound needs to be emitted to prompt pedestrians, thereby improving driving safety.

[0029] The above-mentioned first interval and second interval can be two vehicle speed intervals. The minimum value of the second interval is greater than the maximum value of the first interval, thus forming two non-overlapping vehicle speed intervals with the first interval. The vehicle speed range of the first interval can be the vehicle speed range in the national standard, that is, the vehicle speed range at which the low-speed prompt sound needs to be turned on. For example, if the national standard requires that the vehicle speed is lower than 20 km / h, then the low-speed prompt sound needs to be turned on. In this case, the range of the first interval is 0 km / h - 20 km / h. If the value in the national standard changes, the vehicle speed range of the first interval is the same as the value in the national standard. In addition, the range of the first interval can include the vehicle speed range in the national standard. For example, if the national standard requires that the vehicle speed is lower than 20 km / h, the range of the first interval is 0 km / h - 25 km / h. And the vehicle speed range of the above-mentioned second interval is greater than that of the first interval. If the range of the first interval is 0 km / h - 25 km / h, the vehicle speed range of the second interval can be 25 km / h - 50 km / h, or 30 km / h - 50 km / h. Through the setting of open intervals or closed intervals, the maximum value of the first interval does not overlap with the minimum value of the second interval.

[0030] Under the vehicle speed ranges of the above-mentioned first interval and second interval, if the vehicle speed of the target vehicle is within the above-mentioned first interval, the low-speed prompt sound is played. If the vehicle speed of the target vehicle is within the above-mentioned second interval, it is necessary to determine whether to play the low-speed prompt sound according to the conditions. The conditions for judgment are the number of pedestrians in front of and behind the target vehicle and the noise intensity around the target vehicle. According to the two, if it is judged that the low-speed prompt sound needs to be played, the low-speed prompt sound is played. If it is judged that the low-speed prompt sound does not need to be played according to the two, the low-speed prompt sound is not played.

[0031] The above-mentioned low-speed prompt sound played when the vehicle speed of the target vehicle is within the first interval and the low-speed prompt sound played when the vehicle speed of the target vehicle is within the second interval can be the same prompt sound or different prompt sounds. Specific examples are described later in the text.

[0032] In this application, when the vehicle speed is within the first interval, the low-speed prompt sound is played, thus meeting the standard requirements and ensuring driving safety and pedestrian safety. When the vehicle speed is within the second interval with a higher speed, it is determined whether to prompt the low-speed prompt sound according to the number of pedestrians and the environmental noise intensity, thus ensuring the prompt accuracy of the low-speed prompt sound.

[0033] In this application, before playing the low-speed prompt sound, the vehicle status can also be checked. The vehicle status includes the vehicle gear and the status of the vehicle's sound alarm system. If the gear is in the forward gear or reverse gear and the sound alarm system is in the on state, it is possible to determine whether to play the low-speed prompt sound according to the vehicle speed. If the gear is not in the forward gear or reverse gear, or the sound alarm system is in the off state, it is not determined whether to play the low-speed prompt sound according to the vehicle speed.

[0034] For the above-mentioned step S101, when the real-time vehicle speed of the target vehicle is within the first interval, control the target vehicle to play a low-speed prompt sound. This can be achieved by obtaining the real-time vehicle speed of the target vehicle and then comparing the real-time vehicle speed with the minimum value and the maximum value of the first interval to determine whether the vehicle speed of the target vehicle is within the first interval. If the vehicle speed of the target vehicle is within the first interval, play the low-speed prompt sound.

[0035] For the above-mentioned step S102, when the real-time vehicle speed of the target vehicle is within the second interval, determine whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target environmental noise. And when it is determined to play the low-speed prompt sound, control the target vehicle to play the low-speed prompt sound. This is when the vehicle speed of the target vehicle is not within the first interval but within the second interval, and then determine whether to play the low-speed prompt sound according to the number of target pedestrians and the intensity of the target environmental noise. The above-mentioned number of target pedestrians is the number of pedestrians in front of and behind the target vehicle. It should be noted that the target vehicle can include a camera facing the front of the vehicle and a camera facing the rear of the vehicle, or other cameras. When obtaining the number of target pedestrians, the vehicle can be divided into two parts, front and rear, by the horizontal center line. Pedestrians located in the direction of the front of the vehicle from the center line are regarded as pedestrians in front of the vehicle, and pedestrians located in the direction of the rear of the vehicle from the center line are regarded as pedestrians behind the vehicle. That is, pedestrians include those on the side of the vehicle. The purpose of including pedestrians on the side of the vehicle is that even if there are no pedestrians in front of or behind the vehicle, the low-speed prompt sound should still be emitted or not be emitted less, but pedestrians should still be prompted. The above-mentioned intensity of the target environmental noise is the environmental noise collected by the vehicle's sound collection device, such as a microphone. The number and position of the microphones are not limited here and will be described in detail in the following examples.

[0036] Determine whether to play a low-speed prompt sound through pedestrians and environmental noise, so that when the vehicle speed is within the second interval, the low-speed prompt sound can be played more reasonably, improving the accuracy of playing the low-speed prompt sound.

[0037] In the above-mentioned step S102, when the real-time vehicle speed of the target vehicle is within the second interval and determining whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target environmental noise, the following steps can be taken:

[0038] S201, determine the target pedestrian parameter according to the number of target pedestrians;

[0039] S202, determine the target environmental noise parameter according to the intensity of the target environmental noise;

[0040] S203, determine the gain level according to the target pedestrian parameter and the target environmental noise parameter;

[0041] S204. When the gain level is greater than the preset level, determine to play a low-speed prompt tone.

[0042] The above-mentioned target pedestrian parameter is used to represent the number of pedestrians. Generally, the more pedestrians there are, the larger the target pedestrian parameter. And the target environmental noise intensity is used to represent the size of the environmental noise. Generally, the larger the environmental noise, the larger the target environmental noise parameter. Determine the gain level according to the target pedestrian parameter and the target environmental noise parameter, so that the overall situation of the number of surrounding pedestrians and environmental noise can be reflected according to the gain level. If the gain level is too high, it means that there are more pedestrians or greater noise or both around the target vehicle. Therefore, it is necessary to determine to play a low-speed prompt tone.

[0043] In the above step S201, when determining the target pedestrian parameter according to the target number of pedestrians, the following steps can be taken:

[0044] S301. Obtain the number of first pedestrians in front of the target vehicle and the number of second pedestrians behind the vehicle.

[0045] S302. Assign different weights to the number of first pedestrians and the number of second pedestrians according to the gear of the target vehicle. Among them, when the gear is in the forward gear, the weight of the number of first pedestrians is greater than the weight of the number of second pedestrians. When the gear is in the reverse gear, the weight of the number of first pedestrians is less than the weight of the number of second pedestrians.

[0046] S303. Determine the target pedestrian parameter according to the number of first pedestrians, the number of second pedestrians and the weights.

[0047] In this embodiment, when determining the target pedestrian parameter according to the target number of pedestrians, the number of pedestrians in front of the vehicle and the number of pedestrians behind the vehicle can be determined.

[0048] In this embodiment, the target number of pedestrians includes the number of pedestrians in front of the vehicle and the number of pedestrians behind the vehicle. When calculating the target pedestrian parameter, the sum of the number of pedestrians in front of the vehicle and the number of pedestrians behind the vehicle can be used as the target pedestrian parameter. Or in another way, the number of pedestrians in front of the vehicle and the number of pedestrians behind the vehicle respectively correspond to different weights. When calculating the target pedestrian parameter, the weighted sum result of the number of pedestrians in front of the vehicle, the number of pedestrians behind the vehicle and their respective weights can be used as the target pedestrian parameter. The weight values in this embodiment can be set in advance or assigned according to the gear of the target vehicle. In one example, when the gear of the target vehicle is in the forward gear, the weight of the number of pedestrians in front of the vehicle is increased. If the gear of the target vehicle is in the reverse gear, the weight corresponding to the number of pedestrians behind the vehicle is increased. Through the adjusted weights, combined with the number of pedestrians in front of the vehicle and the number of pedestrians behind the vehicle, the calculation of the target pedestrian parameter is carried out.

[0049] For example, in one instance, the number of pedestrians in front of the vehicle is 10, and the number of pedestrians behind the vehicle is 20. Since the current vehicle is in the forward gear, the weight corresponding to the number of pedestrians in front of the vehicle is greater than the weight corresponding to the number of pedestrians behind the vehicle. For example, the weight set for the number of pedestrians in front of the vehicle is 2, and the weight corresponding to the number of pedestrians behind the vehicle is 1. Then the target pedestrian parameter is 40 = 10×2 + 20×1.

[0050] Through the method for calculating the target pedestrian parameter in this embodiment, different weights can be assigned to the pedestrian parameter in front of the vehicle and the pedestrian data behind the vehicle according to whether the gear is the forward gear or the reverse gear, making the calculation of the target pedestrian parameter more reasonable.

[0051] In the above step S202, when determining the target environmental noise parameter according to the target environmental noise intensity, the following steps can be adopted:

[0052] S401, when the gear of the target vehicle is in the forward gear, obtain the noise collected by the microphone in front of the target vehicle;

[0053] S402, when the gear of the target vehicle is in the reverse gear, obtain the noise collected by the microphone behind the target vehicle;

[0054] S403, determine the target environmental noise parameter according to the frequency and intensity of the collected noise.

[0055] In this embodiment, when determining the target environmental noise parameter, the noise of the surrounding environment can be collected through the microphone on the target vehicle, so as to determine the target environmental noise parameter. The microphone on the target vehicle can be one or multiple. When there are multiple microphones, microphones can be equipped in front of the vehicle or behind the vehicle. In this instance, the comprehensive result of the noise collected by multiple microphones can be used as the noise for determining the environmental noise parameter. In another example, the noise can also be collected according to the gear situation. If the gear of the target vehicle is in the forward gear, then only the noise collected by the microphone in front of the target vehicle is collected. And if the gear of the target vehicle is in the reverse gear, then only the noise collected by the microphone behind the target vehicle is collected. For the collected noise, the target environmental noise parameter is calculated according to the frequency and intensity of the noise. This can reduce the influence caused by the other side in front of or behind the vehicle when calculating the target environmental noise parameter.

[0056] For the case of determining the target environmental noise parameter through the frequency and intensity of the noise, the target environmental noise parameter can be determined according to the high or low frequency and the large or small intensity of the noise. When the frequency remains unchanged, the greater the noise intensity, the greater the target environmental noise parameter. When the intensity remains unchanged, the lower the frequency, the greater the target environmental noise parameter.

[0057] Collect noise based on the gear situation, and further determine the target environmental noise parameters according to the frequency and intensity of the noise, so as to determine the target environmental noise parameters consistent with the driving direction of the vehicle.

[0058] In the above step S203, when determining the gain level according to the target pedestrian parameters and the target environmental noise parameters, the following steps can be taken:

[0059] S501, determine the corresponding relationship between the target pedestrian parameters and the gain level, and the corresponding relationship between the target environmental noise parameters and the gain level. Among them, the larger the target pedestrian parameters, the larger the gain level, and the larger the target environmental noise parameters, the larger the gain level;

[0060] S502, determine the gain level according to the corresponding relationship.

[0061] In this embodiment, after determining the target pedestrian parameters and the target environmental noise parameters, the gain level can be determined based on both. The level of the determined gain level indicates the number of pedestrians and the magnitude of the noise in the target environment. It can be understood that the more pedestrians there are and the greater the noise in the target environment, the higher the gain level.

[0062] Through the above method, when the real-time vehicle speed of the target vehicle is in the first interval, the target vehicle is controlled to play a low-speed prompt sound. When the real-time vehicle speed of the target vehicle is in the second interval with a higher speed, the gain level is determined according to the number of pedestrians and the environmental noise intensity, and it is determined whether to play the low-speed prompt sound according to the gain level. If it is determined to play the low-speed prompt sound, then play the low-speed prompt sound. Through the above method, the prompt accuracy of the low-speed prompt sound is guaranteed.

[0063] In this embodiment, the low-speed prompt sound played when the real-time vehicle speed of the target vehicle is in the first interval and the low-speed prompt sound played when the real-time vehicle speed of the target vehicle is in the second interval and it is determined to play the low-speed prompt sound can be the same or different. The following presents an example to illustrate the two low-speed prompt sounds.

[0064] In one example, when the real-time vehicle speed of the target vehicle is within the first range, controlling the target vehicle to play a low-speed prompt sound includes: adjusting the initial low-speed prompt sound according to a gain level to obtain an adjusted low-speed prompt sound, where the initial low-speed prompt sound is a prompt sound with a frequency different from that of the target ambient noise; playing the adjusted low-speed prompt sound. In another example, when the vehicle speed of the target vehicle is within the second range and it is determined to play a low-speed prompt sound, controlling the target vehicle to play a low-speed prompt sound includes: lowering the level of the gain level; adjusting the initial low-speed prompt sound according to the lowered gain level to obtain an adjusted low-speed prompt sound, where the initial low-speed prompt sound is a prompt sound with a frequency different from that of the target ambient noise; playing the adjusted low-speed prompt sound.

[0065] In this embodiment, when the real-time vehicle speed of the target vehicle is within the first range, the initial low-speed prompt sound played can be the low-speed prompt sound determined according to the national standard, and this prompt sound can have a frequency different from that of the noise. The initial low-speed prompt sound played can also be the low-speed prompt sound obtained by adjusting the low-speed prompt sound determined according to the national standard according to the gain level. When the real-time vehicle speed of the target vehicle is within the second range and it is determined to play a low-speed prompt sound, the initial low-speed prompt sound played can be the low-speed prompt sound determined according to the national standard, and this prompt sound can have a frequency different from that of the noise. The initial low-speed prompt sound played can also be the low-speed prompt sound obtained by adjusting the initial low-speed prompt sound according to the lowered gain level after lowering the level of the gain level. The purpose of lowering the level of the gain level is that since the vehicle speed in the second range is already greater than that in the first range, the vehicle speed itself is not particularly low at this time, and the vehicle itself has a certain sound. Lowering the gain level can ensure that the sound of the adjusted low-speed prompt sound will not be too loud. The adjusted low-speed prompt sound complies with the national standard.

[0066] A specific example is used for illustration. For example, if the national standard stipulates that a low-speed prompt sound is initiated when the vehicle speed is less than 20 km / h, then the first range in this embodiment is 0 km / h - 20 km / h, and the second range is, for example, 20 km / h - 30 km / h. The vehicle driven by the user includes a front vehicle microphone, a front vehicle camera, a rear vehicle microphone, and a rear vehicle camera.

[0067] When the vehicle speed is lower than 30 km / h, turn on the microphone and camera, periodically collect pedestrian information and noise information, obtain images of the front and rear of the vehicle collected by the image acquisition device, parse and identify the image frames through an efficient recognition algorithm (such as TensorFlow, YOLO) to obtain the number of surrounding pedestrians, and generate a pedestrian number factor P (target pedestrian parameter) according to the pedestrian orientation and vehicle gear; at the same time, collect the audio data of the external environment sound of the vehicle, process it through an algorithm to obtain the frequency and intensity information of the ambient noise, and generate a road condition noise factor N (target ambient noise parameter). The generated factors are applied as follows:

[0068] 1. The national standard requires that the operating speed range of the low-speed warning sound system should at least include speeds greater than 0 km / h and less than or equal to 20 km / h. In this embodiment, the first interval is set as 0 km / h - 20 km / h, and the second interval is extended to 20 km / h - 30 km / h. When the speed is in the range greater than 0 km / h and less than or equal to 20 km / h, the speed is still the only trigger condition. When the speed is in the range of 20 km / h to 30 km / h, it will be judged whether to enable the low-speed warning sound in this speed range according to factors P and N.

[0069] 2. Adaptive adjustment of the low-speed warning sound: In the case where the low-speed warning sound needs to be triggered, within the limits of the national standard (the "continuous noise" emitted by the system should not be less than 56 dB, and the maximum sound pressure level should not exceed 75 dB; the frequency range of the warning sound should be between 500 Hz and 2000 Hz), a set of low-speed warning sound strategies is preset. According to the driving speed, factors P and N, the operating mode of the low-speed warning sound is customized, and the frequency selection and decibel gain of the warning sound are performed to make the low-speed warning sound more easily perceptible by pedestrians.

[0070] Figure 2 This is the system block diagram of this embodiment. Corresponding sensors are configured in front of and behind the vehicle. The sensors include microphones and cameras. The vehicle exterior image acquisition can reuse the cameras of the driving recorder, or dedicated cameras can be added for image acquisition. No matter which solution is adopted, there is at least one camera in front of and behind the vehicle body to ensure that images including pedestrians in front and behind can be collected. Information such as driving speed, acceleration, and driving gear is based on the in-vehicle system, and no additional devices need to be added. The selection and playback of the warning sound use the in-vehicle system, and no additional devices need to be added either.

[0071] The operating speed range of this system is 0 km / h to 30 km / h. The vehicle speed processing module mainly manages the operating state of the data processing module. The data processing module includes the processing of images and audio. The strategy generation module is responsible for generating the strategies for the warning sound and the gain strategy. The vehicle speed processing module obtains the current vehicle speed, gear, and the status of the Active Vehicle Audible Sound System (Avas) from the Microcontroller Unit (MCU), as Figure 3 shown, makes a judgment according to the vehicle speed, gear, whether Avas is enabled, etc. When the conditions are met, that is, when the vehicle speed is between 0 km / h and 30 km / h, the gear is forward (such as D gear) / reverse gear (such as R gear), and the Avas status is normal and the function is turned on, the data processing module is enabled; when the conditions are not met, the data processing module is turned off.

[0072] Figure 4Flowchart for factor generation service. The factor generation service is adopted in the data processing module. After it is enabled, the service starts running, turns on the camera and microphone, and starts collecting data. The preview frames of the front and rear cameras are obtained and recognized using algorithms such as TensorFlow and YOLO. The specific algorithm selection gives priority to efficiency. Image data generates pedestrian factors, and audio data generates noise factors, and then enters policy generation to determine the gain level. During the process of generating pedestrian factors, as Figure 5 shown, the number of pedestrians in front of the vehicle PF and the number of pedestrians behind the vehicle PB are obtained respectively. The two numbers have different weights for the forward gear and reverse gear: for the forward gear, the pedestrian score is generated through the formula PF*2 + PB, and for the reverse gear, the pedestrian score is generated through the formula PF + PB*2. According to this score, the pedestrian factor P is generated. The obtained pedestrian factor P has different values corresponding to different parameter contents. As shown in Table 1 below:

[0073] Table 1

[0074] Score ≥ 0 Score > 10 Score > 20 <![CDATA[P0]]> <![CDATA[P1]]> <![CDATA[P2]]> Few pedestrians Medium number of pedestrians Large number of pedestrians

[0075] Figure 6 is the target ambient noise intensity, that is, the flowchart for noise factor generation. In the forward gear, only the audio data of the front microphone (Microphone, MIC) is collected, and in the reverse gear, only the audio data of the rear MIC is collected. The collected audio is subjected to frequency analysis and sound pressure decibel measurement to generate the noise factor N. The frequency of the low-speed warning sound should be between 500 Hz and 2000 Hz. Therefore, energy analysis can be performed on three intervals of 500 - 1000, 1000 - 1500, and 1500 - 2000 to confirm the distribution intensity of the noise. The factor type classification is as shown in Table 2, where in the two-digit subscript, the first digit is used to reflect the sound pressure and the second digit is used to reflect the frequency.

[0076] Table 2

[0077]

[0078]

[0079] Among them, 9 types mainly correspond to 3 decibel ranges and 3 frequency distributions. The decibel corresponds to the noise level outside the vehicle and is used to select the decibel gain subsequently, while the frequency is mainly used to distinguish the main distribution range of the external environmental noise of the vehicle and is used to select different frequency warning sound files subsequently.

[0080] During the service operation, the above two factors are generated periodically and then passed to the policy generation module. As Figure 7As shown in the figure, the policy generation module selects the low-speed prompt tone policy according to factor P and factor N. First, it determines the gain of the sound pressure, that is, the decibel, based on the two factors. The specific details are shown in Table 3 below. N0x, N1x, and N2x correspond to three noise decibel ranges, which can be generally understood as quiet, normal, and noisy. P0, P1, and P2 are the number of pedestrians, which can be generally understood as a small number of pedestrians, a medium number of pedestrians, and a large number of pedestrians. The weights of the two are the same.

[0081] Table 3

[0082] <![CDATA[P0]]> <![CDATA[P1]]> <![CDATA[P2]]> <![CDATA[N 0x > 0 db 5 db 10 db <![CDATA[N 1x > 5 db 10 db 15 db <![CDATA[N 2x > 10 db 15 db 20 db

[0083] The sum of the subscripts of the two factors corresponds to different gain levels: the sum of the subscripts of P0N0x is 0, the gain level is 0, and the sound pressure gain of 0 dB is executed; the sum of the subscripts of P0N1x and P1N0x is 1, the gain level is 1, and the sound pressure gain of 5 dB is executed; the sum of the subscripts of P0N2x, P1N1x, and P2N0x is 2, the gain level is 2, and the sound pressure gain of 10 dB is executed; the sum of the subscripts of P1N2x and P2N1x is 3, the gain level is 3, and the sound pressure gain of 15 dB is executed; the sum of the subscripts of P2N2x is 4, the gain level is 4, and the sound pressure gain of 20 dB is executed. There are a total of 9 combinations and 5 sound pressure gains. An array of sound pressure gains with a length of 5 can be defined, and the subscript corresponds to the 5 levels of gain, from level 0 gain to level 5 gain:

[0084] db_gain_array = {0, 5, 10, 15, 20}

[0085] Since the current system has extended the speed range for enabling the low-speed prompt sound to 30 km / h, when the speed is in the range of 20 km / h to 30 km / h, the vehicle itself already generates a certain amount of noise. Therefore, when the speed is in the range of 20 km / h to 30 km / h, the low-speed prompt sound is enabled only when the gain is at levels 3 and 4, that is, 15 db and 20 db, and the sound pressure gain level needs to be reduced by 2 levels, that is, from level 3 to level 1, and from level 4 to level 2, and then increased to the low-speed prompt sound. If the speed is in the range of 0 km / h - 20 km / h, there is no need to reduce the gain. For the selection of frequency, the frequency switching is achieved by storing different sound source files of the low-speed prompt sound in the audio storage. If the noise in the environment is mainly low-frequency, then selecting a relatively higher-frequency prompt sound will be more effective. On the contrary, if the noise in the environment is mainly high-frequency, then selecting a relatively lower-frequency prompt sound is more appropriate. When selecting the frequency of the prompt sound, it should be avoided to conflict with the common environmental noise frequencies. In addition, low-frequency sounds usually travel farther and are not easily blocked by obstacles, which helps to improve the detectability of the sound in a complex environment. Therefore, try to select the prompt sound frequency in the low-frequency range. Therefore, for Nx0, the noise is lowest in the frequency range of 500 - 1000 hz at this time, and the prompt sound file in this range can be selected. For Nx1, the noise is lowest in the frequency range of 1000 - 1500 hz at this time, and the prompt sound file in this range can be selected. For Nx2, the noise is lowest in the frequency range of 1500 - 2000 hz at this time, and the prompt sound file in this range can be selected.

[0086] It should be noted that for the frequency strategy, this embodiment is divided into 3 intervals, and the actual processing can be a more refined method, generating more noise factor types according to the noise distribution, so as to correspond to more low-speed prompt sound files.

[0087] After the strategy generation is completed, the selected low-speed prompt sound file and the sound pressure gain value are sent to the MCU.

[0088] In this application, when playing and detecting the low-speed prompt sound, the speed range is extended to 30 km / h, different frequencies of prompt sounds are selected according to the external vehicle sound environment, and the decibels of the prompt sound are increased according to the external vehicle sound environment and the pedestrian situation, making it more easily perceivable, which is applicable to the adaptive adjustment of the low-speed prompt sound for pedestrians when the electric vehicle is driving at a low speed.

[0089] This embodiment also provides a prompt device for the low-speed prompt sound, as Figure 8 shown, including:

[0090] The first control module 801 is used to control the target vehicle to play the low-speed prompt sound when the real-time vehicle speed of the target vehicle is in the first interval;

[0091] The second control module 802 is configured to determine whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target ambient noise when the real-time vehicle speed of the target vehicle is within the second interval, and control the target vehicle to play the low-speed prompt sound when it is determined to play the low-speed prompt sound. The number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, and the intensity of the target ambient noise is the noise intensity of the surrounding environment detected by the target vehicle. The minimum value of the second interval is greater than the maximum value of the first interval.

[0092] The above-mentioned device in the embodiments of the present application can be installed on the above-mentioned target vehicle, and the target vehicle can be an electric vehicle, such as a pure electric vehicle (Blade Electric Vehicles, BEV), a hybrid electric vehicle (Hybrid Electric Vehicle, HEV), a plug-in hybrid electric vehicle (Plug-in Hybrid Electric Vehicle, PHEV), an extended-range electric vehicle (Extended-Range Electric Vehicles, EREV), or a fuel cell electric vehicle (Fuel Cell Electric Vehicle, FCEV), etc. Since electric vehicles make relatively little noise at low speeds, it is necessary to emit a low-speed prompt sound to alert pedestrians, thereby improving driving safety.

[0093] The above-mentioned first interval and second interval can be two vehicle speed intervals, and the minimum value of the second interval is greater than the maximum value of the first interval, thus forming two non-overlapping vehicle speed intervals with the first interval. The vehicle speed range of the first interval can be the vehicle speed range in the national standard, that is, the vehicle speed range at which the low-speed prompt sound needs to be turned on. For example, if the national standard requires the vehicle speed to be lower than 20 km / h, then the low-speed prompt sound needs to be turned on, and the range of the above-mentioned first interval is 0 km / h - 20 km / h. If the value of the national standard changes, the vehicle speed range of the first interval is the same as the national standard value. In addition, the range of the first interval can include the vehicle speed range of the national standard. For example, if the national standard requires the vehicle speed to be lower than 20 km / h, the range of the above-mentioned first interval is 0 km / h - 25 km / h. And the vehicle speed range of the above-mentioned second interval is greater than the vehicle speed range of the first interval. For example, if the range of the first interval is 0 km / h - 25 km / h, the vehicle speed range of the second interval can be 25 km / h - 50 km / h, or 30 km / h - 50 km / h. By setting open intervals or closed intervals, the maximum value of the first interval does not overlap with the minimum value of the second interval.

[0094] In the vehicle speed ranges of the above-mentioned first interval and second interval, if the vehicle speed of the target vehicle is within the above-mentioned first interval, a low-speed prompt tone is played. If the vehicle speed of the target vehicle is within the above-mentioned second interval, it is necessary to determine whether to play the low-speed prompt tone according to conditions. The conditions for judgment are the number of pedestrians in front of and behind the target vehicle and the noise intensity around the target vehicle. According to the two, if it is determined to play the low-speed prompt tone, the low-speed prompt tone is played. If it is determined not to play the low-speed prompt tone according to the two, the low-speed prompt tone is not played.

[0095] The above-mentioned low-speed prompt tone played when the vehicle speed of the target vehicle is within the first interval and the low-speed prompt tone played when the vehicle speed of the target vehicle is within the second interval can be the same prompt tone or different prompt tones. Specific examples will be described later.

[0096] In this application, when the vehicle speed is within the first interval, a low-speed prompt tone is played, thus meeting the standard requirements and ensuring driving safety and pedestrian safety. When the vehicle speed is within the second interval with a higher speed, it is determined whether to prompt the low-speed prompt tone according to the number of pedestrians and the environmental noise intensity, thereby ensuring the accuracy of the low-speed prompt tone prompt.

[0097] Other examples of this embodiment will not be elaborated here.

[0098] This embodiment also provides a vehicle, including the prompt device for the above-mentioned low-speed prompt tone. Other examples of the vehicle can refer to the examples of the above-mentioned device and will not be elaborated here.

[0099] As Figure 9 shown, an embodiment of this application provides a prompt device for a low-speed prompt tone, including a processor 111, a communication interface 112, a memory 113, and a communication bus 114. Among them, the processor 111, the communication interface 112, and the memory 113 complete mutual communication through the communication bus 114.

[0100] The memory 113 is used to store a computer program.

[0101] In an embodiment of this application, when the processor 111 executes the program stored on the memory 113, it implements the method for prompting the low-speed prompt tone provided in any of the foregoing method embodiments, including: when the real-time vehicle speed of the target vehicle is within the first interval, controlling the target vehicle to play the low-speed prompt tone; when the real-time vehicle speed of the target vehicle is within the second interval, determining whether to play the low-speed prompt tone according to the number of target pedestrians and the target environmental noise intensity, and when it is determined to play the low-speed prompt tone, controlling the target vehicle to play the low-speed prompt tone, where the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, the target environmental noise intensity is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

[0102] In an embodiment of the present application, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for prompting a low-speed prompt tone provided in any of the foregoing method embodiments are implemented.

[0103] The device embodiments described above are illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the related technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0105] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be executed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0106] The above description is only the specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for prompting with a low-speed prompt tone, characterized in that, Including: When the real-time vehicle speed of the target vehicle is within the first interval, controlling the target vehicle to play a low-speed prompt sound; When the real-time vehicle speed of the target vehicle is within the second interval, determining whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target ambient noise, and when it is determined to play a low-speed prompt sound, controlling the target vehicle to play a low-speed prompt sound, where the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, the intensity of the target ambient noise is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

2. The method according to claim 1, wherein The determining whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target ambient noise when the real-time vehicle speed of the target vehicle is within the second interval includes: Determining a target pedestrian parameter according to the number of target pedestrians; Determining a target ambient noise parameter according to the intensity of the target ambient noise; Determining a gain level according to the target pedestrian parameter and the target ambient noise parameter; When the gain level is greater than a preset level, determining to play a low-speed prompt sound.

3. The method according to claim 2, wherein The determining a target pedestrian parameter according to the number of target pedestrians includes: Obtaining a first number of pedestrians in front of the target vehicle and a second number of pedestrians behind the target vehicle; Allocating different weights to the first number of pedestrians and the second number of pedestrians according to the gear of the target vehicle, where when the gear is in the forward gear, the weight of the first number of pedestrians is greater than the weight of the second number of pedestrians, and when the gear is in the reverse gear, the weight of the first number of pedestrians is less than the weight of the second number of pedestrians; Determining the target pedestrian parameter according to the first number of pedestrians, the second number of pedestrians and the weight.

4. The method according to claim 2, wherein The determining a target ambient noise parameter according to the intensity of the target ambient noise includes: When the gear of the target vehicle is in the forward gear, obtaining the noise collected by the microphone in front of the target vehicle; When the gear of the target vehicle is in the reverse gear, obtaining the noise collected by the microphone behind the target vehicle; Determining the target ambient noise parameter according to the frequency and intensity of the collected noise.

5. The method according to claim 2, wherein The determining a gain level according to the target pedestrian parameter and the target ambient noise parameter includes: Determining the corresponding relationship between the target pedestrian parameter and the gain level, and the corresponding relationship between the target ambient noise parameter and the gain level, where the greater the target pedestrian parameter, the greater the gain level, and the greater the target ambient noise parameter, the greater the gain level; Determining the gain level according to the corresponding relationship.

6. The method according to claim 2, wherein The controlling the target vehicle to play a low-speed prompt sound when it is determined to play a low-speed prompt sound includes: Lowering the level of the gain level; Adjusting the initial low-speed prompt sound according to the lowered gain level to obtain an adjusted low-speed prompt sound, where the initial low-speed prompt sound is a prompt sound with a different frequency from the target ambient noise; Playing the adjusted low-speed prompt sound.

7. The method according to claim 2, wherein The controlling the target vehicle to play a low-speed prompt sound when the real-time vehicle speed of the target vehicle is within the first interval includes: Adjust the initial low-speed prompt sound according to the gain level to obtain an adjusted low-speed prompt sound, where the initial low-speed prompt sound is a prompt sound with a frequency different from that of the target ambient noise; Play the adjusted low-speed prompt sound.

8. A prompting device for a low-speed prompting sound, characterized in that, It includes: A first control module for controlling the target vehicle to play a low-speed prompt sound when the real-time vehicle speed of the target vehicle is within a first interval; A second control module for determining whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target ambient noise when the real-time vehicle speed of the target vehicle is within a second interval, and controlling the target vehicle to play a low-speed prompt sound when it is determined to play the low-speed prompt sound, where the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, and the intensity of the target ambient noise is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

9. A vehicle, characterized in that, A prompt device including the low-speed prompt sound described in claim 8.

10. A prompting device for low-speed prompt tones, characterized in that, It includes at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; at least one memory connected to the at least one bus, where the processor is configured to: control the target vehicle to play a low-speed prompt sound when the real-time vehicle speed of the target vehicle is within a first interval; determine whether to play a low-speed prompt sound according to the number of target pedestrians and the intensity of the target ambient noise when the real-time vehicle speed of the target vehicle is within a second interval, and control the target vehicle to play a low-speed prompt sound when it is determined to play the low-speed prompt sound, where the number of target pedestrians is the number of pedestrians in front of and behind the target vehicle, and the intensity of the target ambient noise is the noise intensity of the surrounding environment detected by the target vehicle, and the minimum value of the second interval is greater than the maximum value of the first interval.

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