Active noise reduction method and device, controller, vehicle and storage medium

Abstract

The invention discloses an active noise reduction method and device, a controller, a vehicle and a storage medium. The method comprises the steps of obtaining a first audio signal corresponding to a target space; performing denoising processing on audio signal components except the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal; the first anti-noise audio signal is output in the target space, active noise reduction can be performed on the target space, the comfort level of the target space is improved, the target audio signal component is reserved, and a user is prevented from missing important information.

Description

Technical Field

[0001] The present application relates to the field of audio processing, and in particular to an active noise reduction method, device, controller, vehicle, and storage medium, wherein the storage medium is a computer-readable storage medium. Background Art

[0002] With the rapid development of technology and economy, people's pursuit of comfort in the space they live in is increasing. Due to the poor sound insulation effect of the space or the high noise of the external environment, the space will be noisy and the comfort of the space will be poor. Summary of the Invention

[0003] The embodiments of the present application provide an active noise reduction method, device, vehicle, and storage medium, which can actively reduce the noise of a target space, improve the comfort of the target space, and retain the target audio signal component to prevent users from missing important information.

[0004] To achieve the above objectives, according to a first aspect of the present application, there is provided an active noise reduction method, comprising:

[0005] Acquire a first audio signal corresponding to the target space;

[0006] performing denoising processing on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal;

[0007] The first anti-noise audio signal is output in the target space to perform active noise reduction processing on the target space.

[0008] Optionally, obtaining the first audio signal corresponding to the target space includes:

[0009] Acquiring multiple ambient audio signals outside the target space;

[0010] The plurality of environmental audio signals are sampled multiple times to obtain a plurality of first audio signals, wherein each time sampling is performed, one environmental audio signal is sampled into a plurality of sampling signals.

[0011] Optionally, the performing denoising on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal includes:

[0012] Calculating a covariance matrix and a space-time steering vector of the first audio signal based on the first audio signal;

[0013] determining a weight vector of a filter based on the space-time steering vector and the covariance matrix under the condition that the power of the audio signal components other than the target audio signal component is minimized;

[0014] The first audio signal is processed by the filter based on the weight vector to obtain the first anti-noise audio signal.

[0015] Optionally, calculating the covariance matrix and the space-time steering vector of the first audio signal based on the first audio signal includes:

[0016] calculating a space-time steering vector based on the first audio signal;

[0017] Performing maximum likelihood estimation processing on a covariance matrix of the first audio signal to obtain a covariance matrix of the first audio signal.

[0018] Optionally, the first audio signal is an audio signal collected outside the target space.

[0019] Optionally, the active noise reduction method further includes:

[0020] performing sound source localization processing based on the first audio signal to determine the direction information of the sound source emitting the target audio signal component;

[0021] Outputting direction prompt information corresponding to the target audio signal in the target space based on the direction information.

[0022] Optionally, the position prompt information includes at least one of text information, image information, and audio information, and outputting the position prompt information corresponding to the target audio signal in the target space based on the position information includes:

[0023] Displaying the orientation prompt information on a display device in the target space;

[0024] And / or, the direction prompt information is output through an audio device in the target space.

[0025] Optionally, the active noise reduction method further includes:

[0026] Acquiring a second audio signal collected inside the target space;

[0027] generating a second anti-noise audio signal of the second audio signal based on the second audio signal;

[0028] Outputting the first anti-noise frequency signal in the target space includes:

[0029] The first anti-noise audio signal and the second anti-noise audio signal are output in the target space.

[0030] Optionally, generating a second anti-noise frequency signal of the second audio signal based on the second audio signal includes:

[0031] performing an inverted signal generation process on the second audio signal to obtain a basic anti-noise audio signal of the second audio signal;

[0032] Detecting the call status of users in the target space;

[0033] If the user is in a call state, the voice signal received by the user in the call and the basic anti-noise audio signal are fused to obtain a second anti-noise audio signal.

[0034] Optionally, the active noise reduction method further includes:

[0035] acquiring a third audio signal generated by a power device in the target space;

[0036] performing an inverted signal generation process based on the audio signal to generate a third anti-noise audio signal of the third audio signal;

[0037] Outputting the first anti-noise audio signal and the second anti-noise audio signal in the target space includes:

[0038] superimposing the first anti-noise audio signal, the second anti-noise audio signal, and the third anti-noise audio signal to obtain a superimposed audio signal;

[0039] The superimposed audio signal is output in the target space.

[0040] Optionally, outputting the superimposed audio signal in the target space includes:

[0041] Detecting a head area of the user in the target space;

[0042] determining a target noise reduction area of the target space based on the head area, where the target noise reduction area does not overlap with the head area;

[0043] Based on the target noise reduction area, the superimposed audio signal is output in the target space.

[0044] Optionally, the target space includes a plurality of audio devices, and outputting the superimposed audio signal in the target space based on the target noise reduction area includes:

[0045] For each audio device, based on a positional relationship between the audio device and the target noise reduction area, adjusting the superimposed audio information to be output by the audio device to obtain audio to be played corresponding to each audio device;

[0046] The corresponding audio to be played is output in the target space through each of the audio devices.

[0047] Optionally, the target space includes a passenger space of a vehicle.

[0048] According to a second aspect of the present application, an active noise reduction device is provided, comprising a sound sensor unit, an active noise reduction unit, and an audio output unit, wherein:

[0049] The sound sensor unit is configured to obtain a first audio signal corresponding to the target space;

[0050] The active noise reduction unit is configured to perform denoising on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal;

[0051] The audio output unit is configured to output the first anti-noise audio signal in the target space.

[0052] Optionally, the active noise reduction device further includes an image sensor unit;

[0053] The image sensor unit is configured to detect a head area of the user in the target space;

[0054] The active noise reduction unit is further configured to determine a target noise reduction area of the target space based on the head area, where the target noise reduction area does not overlap with the head area; and output the first anti-noise audio signal in the target space based on the target noise reduction area.

[0055] According to a third aspect of the present application, a controller is provided, on which a computer program is stored. The computer program is used by a processor to execute any one of the active noise reduction methods provided in the embodiments of the present application.

[0056] According to a fourth aspect of the present application, a vehicle is provided, comprising a memory and a processor; the memory stores a computer program, and the processor is configured to run the computer program in the memory to perform any one of the active noise reduction methods provided in the embodiments of the present application.

[0057] According to a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute any active noise reduction method provided in the embodiments of the present application.

[0058] The embodiment of the present application obtains a first audio signal corresponding to a target space; performs denoising on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal; and outputs the first anti-noise audio signal in the target space. This can actively reduce the noise of the target space, improve the comfort of the target space, and retain the target audio signal component to prevent the user from missing important information. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0060] Figure 1 is a flow chart of the active noise reduction method provided by an embodiment of the present application;

[0061] Figure 2 This is a schematic diagram of the denoising process provided in an embodiment of the present application;

[0062] Figure 3 Schematic diagram of an active noise reduction device provided in an embodiment of the present application;

[0063] Figure 4 Schematic diagram of an active noise reduction device provided in an embodiment of the present application;

[0064] Figure 5 It is a schematic diagram of the structure of the controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0066] The embodiments of the present application provide an active noise reduction method, device, vehicle, and computer-readable storage medium. The active noise reduction device can be integrated into a vehicle.

[0067] It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0068] An active noise reduction method provided in an embodiment of the present application is as follows: Figure 1 As shown, the specific process of the active noise reduction method can be as follows:

[0069] 101. Obtain a first audio signal corresponding to a target space.

[0070] The target space may be a space that requires noise reduction, for example, the target space may be a space on a device, such as a vehicle compartment, a cab, a passenger cabin on a ship, an aircraft cabin, etc.; for another example, the target space may not be a space on a device, for example, it may be a study room, an examination room, etc. that requires noise reduction.

[0071] The first audio signal may be an audio signal collected within or outside the target space. For example, for a vehicle, the first audio signal may include sounds generated by various sound sources in the environment outside the vehicle, such as road environment noise, vehicle engine noise, tire noise, weather noise, engine sounds of other vehicles, and horn sounds.

[0072] 102. Perform denoising processing on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal.

[0073] Among them, the target audio signal can be considered as the effective audio signal in the first audio signal. The effective audio signal in different scenarios is different. For example, for the scenario of noise reduction in the vehicle's interior space, the target audio signal can include the vehicle's horn, horn sound and sounds related to traffic signals. For a study room that requires noise reduction, the target audio signal can be a classroom bell, etc.

[0074] In the first audio signal, audio signal components other than the target audio signal component may be referred to as noise signal components hereinafter. The denoising process may include enhancing the target audio signal component in the first audio signal and / or suppressing the noise signal component. It may also include generating anti-phase noise for the noise signal component based on the first audio signal, where the anti-phase noise has the same frequency and opposite phase as the noise signal component.

[0075] The first anti-noise audio signal can enhance the target audio signal component heard in the target space and reduce interference from the noise signal component.

[0076] In one embodiment, the first audio signal may be obtained by sampling an ambient audio signal of the target space. The ambient audio signal may be noise generated by a sound source in an environment outside the target space. That is, in one embodiment, the step of “obtaining the first audio signal corresponding to the target space” includes:

[0077] Acquire multiple ambient audio signals outside the target space;

[0078] The multiple environmental audio signals are sampled multiple times to obtain multiple first audio signals, wherein each time one environmental audio signal is sampled into multiple sampling signals.

[0079] Among them, different environmental audio signals can be collected by different sound sensors, and multiple environmental audio signals can be collected by multiple sensors at the same time.

[0080] Specifically, the first audio signal may be sampled by processing K pulses of the ambient audio signal in each coherent processing interval (CPI), collecting L samples in each pulse repetition time (PRT), and each sample collection is equivalent to N (N is the number of sensors) sampling in the spatial dimension and K sampling in the time dimension. The structure of the first audio signal obtained by sampling can be as follows: Figure 2 As shown, it is an N×K×L matrix. Figure 2 The wireless array elements in the embodiment are sound sensors. Since the samples collected each time are two-dimensional data (N×K), compared with the amount of data K collected by a single sensor, the embodiment of the present application obtains more data each time. The number of collection times (i.e., the size of L) can be reduced during active noise reduction processing. Therefore, the first anti-noise frequency signal of the first audio signal can be quickly output, reducing the latency of active noise reduction.

[0081] The lth sample data of the fast time dimension can be expressed as X l (N×K):

[0082]

[0083] Among them, x n，k，l Represents the sampling data of the kth PRT of the nth sensor channel in the lth sample data.

[0084] The matrix X can be represented by an N×1 column vector l (N×K):X l =[x 1，l , x 2，l ,…,x K，l ].

[0085] Among them, x k，l represents the space-time snapshot sampling data of the lth sample of the kth PRT, that is, represents an N×1 column vector.

[0086] The matrix X can be represented by a kN×1 column vector l (N×K):x l =vec(X l )=[x 1，l , x2，l ,…x K，l ].

[0087] Among them, x l Represents the space-time snapshot data of the lth unit.

[0088] For space-time snapshot data, there are two cases. Next, this article will l Written as x, the space-time snapshot data of the lth unit can be expressed as:

[0089]

[0090] Among them, x u Represents the noise signal component in the first audio signal. The effective signal and the noise signal are uncorrelated. t It represents the expected signal amplitude, that is, the amplitude of the target audio signal component, s represents a valid signal with an amplitude of 1, H0 represents data without a real target, and H1 represents data with a real target.

[0091] In one embodiment, the step of “performing denoising processing on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal” may include:

[0092] Calculating a covariance matrix and a space-time steering vector of the first audio signal based on the first audio signal;

[0093] determining a weight vector of the filter based on the space-time steering vector and the covariance matrix under the condition that the power of the audio signal components other than the target audio signal component is minimized;

[0094] The first audio signal is processed by a filter based on a weight vector to obtain a first anti-noise audio signal.

[0095] Since the target audio signal and the noise signal are independent of each other, the covariance matrix R of the first audio signal is u It can be expressed as

[0096] The weight vector w of the filter can be expressed as:

[0097] w=[ω 11 ω 12 … ω 1k ω 21 … ω 2K … ω N1 … ω NK ] T

[0098] Under the H1 hypothesis, the first-order statistics and second-order statistics of the first audio signal are:

[0099] E(y)=α t w H s

[0100] Var(y)=E(|y| 2 )-E 2 (y) = w H R u w

[0101] The conditions for minimizing the power of audio signal components other than the target audio signal component are as follows:

[0102]

[0103] Wherein, s is the space-time steering vector of the first audio signal.

[0104] The optimal weight vector of the space-time filter is calculated by the linearly constrained minimum variance (LCMV) beamforming algorithm, and the weight vector is:

[0105]

[0106] Among them, μ is a normalized complex constant, and the weight vector consists of two parts: the inverse covariance matrix of the data in the noisy environment and the space-time steering vector.

[0107] The first audio signal is processed by a filter based on a weight vector to obtain a first anti-noise audio signal. The first anti-noise audio signal is as follows:

[0108]

[0109] In one embodiment, the covariance matrix of the first audio signal may be determined by maximum likelihood estimation. That is, in one embodiment, the step of “calculating the covariance matrix and the space-time steering vector of the first audio signal based on the first audio signal” includes:

[0110] calculating a space-time steering vector based on the first audio signal;

[0111] A maximum likelihood estimation process is performed on the first audio signal with respect to a covariance matrix to obtain a covariance matrix of the first audio signal.

[0112] The space-time steering vector is a vector calculated based on the first audio signal. The space-time steering vector can represent the arrival of the audio signal in space and time, such as the arrival direction of the audio signal.

[0113] By performing feature separation on the first audio signal, eigenvalues and eigenvectors are obtained, and the eigenvector with the largest eigenvalue is selected as the space-time steering vector, which represents the main propagation direction of the first audio signal.

[0114] The first audio signal can be used to u Perform maximum likelihood estimation:

[0115]

[0116] In one embodiment, the first anti-noise frequency signal of the first audio signal may be calculated by using a space-time adaptive processing (STAP) filter, for example, Figure 2 As shown, the space-time filter can be trained using the first audio signal, and the weight vector of the first audio signal can be output based on the trained space-time filter, that is, the adaptive weight is calculated. The first anti-noise audio signal can be obtained according to the weight vector and the first audio signal. By comparing the amplitude of the anti-noise audio signal with a preset amplitude threshold, it can be determined whether the first audio signal contains the target audio signal component so as to provide a reminder.

[0117] Optionally, before sampling the ambient audio signal, the ambient audio signal may be pre-processed, for example, by performing signal processing on the ambient audio signal through a frequency converter, a matched filter, a converter, and the like.

[0118] In one embodiment, the direction of the target audio signal may be determined based on the first audio signal, thereby alerting the user. That is, in one embodiment, the active noise reduction method provided by the embodiment of the present application may further include:

[0119] Performing sound source localization processing based on the first audio signal to determine the direction information of the sound source that emits the target audio signal component;

[0120] Based on the orientation information, orientation prompt information corresponding to the target audio signal is output in the target space.

[0121] When a sound source emits a sound, each sound sensor will receive the sound signal. Due to the different relative positions of the sound source and different sound sensors, the time, intensity and phase of the sound signal emitted by the sound source reaching each sound sensor will be different. Based on the differences in the sound signals arriving at different sound sensors, the direction of the sound source corresponding to the target audio signal can be determined by processing the sound signals received by the sound sensors.

[0122] In one embodiment, adaptive weights for each sound sensor may be calculated, and the first audio signals collected by the multiple sound sensors may be weighted according to the adaptive weights, with the direction of the target sound source being determined as the direction of the target sound source. Beamforming-based sound source azimuth estimation algorithms may include a delay and sum (DS) algorithm, a minimum variance distortionless response (MVDR) algorithm, and a steered response power-phase transform (SRP-PHAT) method.

[0123] After determining the direction information of the sound source of the target audio signal component, direction prompt information may be output in the target space to prompt the user that the target audio signal appears and the direction of the sound source of the target audio signal.

[0124] The target space may include a display device, and the position prompt information may be displayed on the display device. The target space may also include an audio device, and the position prompt information may be output through the audio device. That is, in one embodiment, the position prompt information includes at least one of text information, image information, and audio information. The step of "generating the position prompt information corresponding to the target audio signal based on the position information" may include:

[0125] Displaying orientation prompt information on a display device in the target space;

[0126] And / or, outputting the orientation prompt information via an audio device in the target space.

[0127] Display devices may include display screens, mobile terminals, and other devices that can be used to display images, text, and other content. Audio devices may include speakers, audio equipment, and amplifiers.

[0128] For example, text information can be generated based on the position information, such as a horn sound behind the car, and the text information can be displayed on a display device, and the voice corresponding to the text information can also be output through an audio device.

[0129] Optionally, image information may be generated based on the orientation information to display the location of the sound source through the image information.

[0130] Optionally, an alarm sound may be played as a reminder.

[0131] 103. Output a first anti-noise frequency signal in the target space.

[0132] For example, the first anti-noise audio signal may be output in the target space through an audio device (a speaker, a loudspeaker, a stereo, etc.).

[0133] Since the target audio signal component in the first audio signal is not denoised, the first anti-noise audio signal is output in the target space. Users in the target space can hear the target audio signal component, preventing users from missing important information.

[0134] For a vehicle, the target space is the vehicle's interior seating space, and the target audio signal components can be the vehicle's horn and whistle sounds. When actively reducing noise in the target space, users inside the vehicle can still hear the horn and whistle sounds, which can improve driving safety.

[0135] In one embodiment, the first audio signal may be an audio signal collected outside the target space.

[0136] In one embodiment, a second audio signal inside the target space may be collected to further perform active noise reduction on the target space. That is, in one embodiment, the active noise reduction method provided by the embodiment of the present application may further include:

[0137] Acquiring a second audio signal collected inside the target space;

[0138] generating a second anti-noise audio signal of the second audio signal based on the second audio signal;

[0139] Outputting a first anti-noise frequency signal in the target space includes:

[0140] A first anti-noise audio signal and a second anti-noise audio signal are output in the target space.

[0141] The second audio signal may be collected inside the target space, and the sound sensor for collecting the second audio signal may be located in the target space.

[0142] For example, an inverted noise of the second audio signal can be generated. The inverted noise of the second audio signal has the same frequency, opposite phase, and the same amplitude as the second audio signal. When the second audio signal and the inverted noise of the second audio signal meet, they can cancel each other out, thereby reducing or eliminating the second audio signal, and users in the target space are protected from interference from the second audio signal.

[0143] Outputting the first anti-noise audio signal and the second anti-noise audio signal in the target space can retain the target audio signal component while removing the noise in the target space, thereby preventing users in the target space from missing important information.

[0144] In one embodiment, when it is detected that a user in the target space is in a call state, active noise reduction can be performed in the target space to prevent the user from being unable to hear the call due to the noise in the target space. That is, in one embodiment, the step of "generating a second anti-noise audio signal for the second audio signal based on the second audio signal" may include:

[0145] performing an inverted signal generation process on the second audio signal to obtain a basic anti-noise audio signal of the second audio signal;

[0146] Detecting the call status of users in the target space;

[0147] If the user is in a call state, the voice signal received by the user in the call and the basic anti-noise audio signal are fused to obtain a second anti-noise audio signal.

[0148] The second audio signal is subjected to inverted signal generation processing to obtain a basic anti-noise audio signal of the second audio signal. The basic anti-noise audio signal and the second audio signal have the same frequency, opposite phase, and the same amplitude. When the second audio signal and the basic anti-noise audio signal meet, they can cancel each other out, thereby reducing or eliminating the second audio signal.

[0149] The call status of the user in the target space is detected. For example, the usage status of the call device in the target space can be detected to determine whether the user is in a call state.

[0150] If the user is in a call state, the voice signal received by the user during the call and the basic anti-noise audio signal are fused to obtain a second anti-noise audio signal. The second anti-noise audio signal may include the voice signal received by the user and the basic anti-noise audio signal of the second audio signal.

[0151] The voice signal received by the user may be a voice signal sent by the device with which the user is talking. Specifically, assuming that the user in the target space is talking to another user A, the voice signal received by the user in the target space may be a voice signal sent by the device used by user A for the call.

[0152] Optionally, the target space is further configured with a power device, which can be a device that provides power to the target space or equipment in the target space. For example, if the target space is a passenger space of a vehicle, the power device can provide power to the vehicle to enable the vehicle to move. In order to improve the noise reduction effect, the sound generated by the power device of the vehicle can also be subjected to noise reduction processing. That is, in one embodiment, the active noise reduction method provided in the embodiment of the present application can further include:

[0153] acquiring a third audio signal generated by a power device in the target space;

[0154] performing an inverted signal generation process based on the audio signal to generate a third anti-noise audio signal of the third audio signal;

[0155] Outputting a first anti-noise audio signal and a second anti-noise audio signal in a target space includes:

[0156] Superimposing the first anti-noise audio signal, the second anti-noise audio signal, and the third anti-noise audio signal to obtain a superimposed audio signal;

[0157] Output the superimposed audio signal in the target space.

[0158] A third audio signal generated by a power device in a target space is obtained; an inverted signal generation process is performed based on the audio signal to generate a third anti-noise frequency signal of the third audio signal; the third audio signal and the third anti-noise frequency signal have the same frequency, opposite phases, and the same amplitude. When the third audio signal and the third anti-noise frequency signal meet, they can cancel each other out, thereby reducing or eliminating interference of the third audio signal on the target space.

[0159] The first anti-noise audio signal, the second anti-noise audio signal, and the third anti-noise audio signal are superimposed to obtain a superimposed audio signal, and the superimposed audio signal is output in a target space.

[0160] To prevent the output superimposed audio signal from causing ear pressure on the user in the target space, causing discomfort to the user, at least one of the volume and phase of the superimposed audio signal can be adjusted so that the target noise reduction area of the superimposed audio signal in the target space does not overlap with the position of the user's head. The target noise reduction area can be the area with the best noise reduction effect in the target space. That is, in one embodiment, the step of "outputting the superimposed audio signal in the target space" may include:

[0161] Detect the user's head area in the target space;

[0162] Based on the head area, a target noise reduction area in the target space is determined, and the target noise reduction area does not overlap with the head area;

[0163] Based on the target noise reduction area, the superimposed audio signal is output in the target space.

[0164] Detecting the head area of the user in the target space, for example, can be performed by detecting the control area where the user's head is located in the target space through an image. Specifically, an image acquisition device (camera, etc.) in the target space can be used to capture an image of the target space, where the image includes the user located in the target space. The captured image is recognized to determine the user's head area.

[0165] For another example, the position of the user's head can be detected by a radar in the target space, and the user's head area can be determined.

[0166] The spatial area near the head area can be used as the target noise reduction area. Based on the target noise reduction area, at least one of the volume and phase of the superimposed audio signal is adjusted so that when the adjusted superimposed audio signal is output, the optimal noise reduction area in the target space is the target noise reduction area.

[0167] In one embodiment, a target amplitude corresponding to the optimal noise reduction effect can be determined, and then, based on the attenuation law of sound propagation, the initial amplitude of the superimposed audio signal that the audio device should output if the amplitude of the superimposed audio signal attenuates to the target amplitude when it propagates to the target noise reduction area is determined, and the volume of the superimposed audio signal is determined based on the initial amplitude.

[0168] Since there are multiple audio devices in the target space, and each audio device has a different positional relationship with the target noise reduction area, with some being close and some being far away, the superimposed audio signal can be adjusted based on the positional relationship between the audio device and the target noise reduction area so that the optimal noise reduction area for the audio signal output by each audio device is the target noise reduction area. That is, in one embodiment, the target space includes multiple audio devices, and the step of "outputting the superimposed audio signal in the target space based on the target noise reduction area" can include:

[0169] For each audio device, based on the positional relationship between the audio device and the target noise reduction area, adjusting the superimposed audio information to be output by the audio device to obtain the audio to be played corresponding to each audio device;

[0170] The corresponding audio to be played is output in the target space through each audio device.

[0171] For example, the target amplitude corresponding to the optimal noise reduction effect can be determined based on the amplitudes of the second audio signal and the third audio signal. For each audio device, the amplitude of the superimposed audio signal is determined to attenuate to the target amplitude when it propagates to the target noise reduction area. The initial amplitude of the superimposed audio signal that the audio device should output is determined. Then, the superimposed audio information is adjusted to obtain the audio to be played corresponding to each audio device; and the corresponding audio to be played is output in the target space through each audio device.

[0172] As can be seen from the above, the embodiment of the present application obtains a first audio signal corresponding to the target space; denoises the audio signal components other than the target audio signal components in the first audio signal to obtain a first anti-noise audio signal of the first audio signal; and outputs the first anti-noise audio signal in the target space. This can actively reduce the noise of the target space, improve the comfort of the target space, and retain the target audio signal components to prevent users from missing important information.

[0173] In order to facilitate better implementation of the active noise reduction method provided in the embodiment of the present application, an active noise reduction device is also provided in one embodiment. The meanings of the terms are the same as those in the above-mentioned active noise reduction method, and the specific implementation details can be referred to the description in the method embodiment.

[0174] The active noise reduction device can be integrated into a vehicle, such as Figure 3As shown, the active noise reduction device may include: a sound sensor unit 301, an active noise reduction unit 302 and an audio output unit 303, specifically as follows:

[0175] (1) A sound sensor unit 301 is used to obtain a first audio signal corresponding to a target space.

[0176] The sound sensor unit may include multiple sound sensors, for example, sound sensors located outside the target space, inside the target space, and where the power device is located.

[0177] In one embodiment, the sound sensor unit 301 may also be used to:

[0178] Acquire multiple ambient audio signals outside the target space;

[0179] The plurality of environmental audio signals are sampled multiple times to obtain a plurality of first audio signals, wherein each time sampling is performed, one environmental audio signal is sampled into a plurality of sampling signals.

[0180] (2) An active noise reduction unit 302 is configured to perform denoising on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal.

[0181] In one embodiment, the active noise reduction unit 302 may also be used to:

[0182] Calculating a covariance matrix and a space-time steering vector of the first audio signal based on the first audio signal;

[0183] determining a weight vector of a filter based on the space-time steering vector and the covariance matrix under the condition that the power of the audio signal components other than the target audio signal component is minimized;

[0184] The first audio signal is processed by the filter based on the weight vector to obtain the first anti-noise audio signal.

[0185] In one embodiment, the active noise reduction unit 302 may also be used to:

[0186] Calculating a space-time steering vector based on the first audio signal;

[0187] Performing maximum likelihood estimation processing on a covariance matrix of the first audio signal to obtain a covariance matrix of the first audio signal.

[0188] In one embodiment, the first audio signal is an audio signal collected outside the target space.

[0189] In one embodiment, the active noise reduction unit 302 may also be used to:

[0190] performing sound source localization processing based on the first audio signal to determine the direction information of the sound source emitting the target audio signal component;

[0191] Based on the above-mentioned direction information, direction prompt information corresponding to the above-mentioned target audio signal is output in the above-mentioned target space.

[0192] In one embodiment, the above-mentioned position prompt information includes at least one of text information, image information and audio information, such as Figure 4 As shown, the active noise reduction device may further include a main control unit, a communication module, and a display device. The active noise reduction unit 302 may communicate with the main control unit of the active noise reduction device and send position information to the main control unit. The main control unit may control the display device to display the position prompt information or control the audio output unit to output the position information through the communication module. Specifically:

[0193] Displaying the above-mentioned direction prompt information on the display device in the above-mentioned target space;

[0194] And / or, the above-mentioned direction prompt information is output through the audio equipment in the above-mentioned target space.

[0195] In one embodiment, the target space includes a passenger space of a vehicle.

[0196] (3) An audio output unit 303, configured to output the first anti-noise audio signal in the target space.

[0197] In one embodiment, the active noise reduction device may be integrated into a vehicle, and the audio output unit 303 may send the audio to a seat audio device of the vehicle via an audio output module, so that the seat audio device of the vehicle plays the audio signal.

[0198] In one embodiment, the sound sensor unit 301 may also be used to:

[0199] Acquire a second audio signal collected inside the target space;

[0200] generating a second anti-noise audio signal of the second audio signal based on the second audio signal;

[0201] The audio output unit 303 can also be used to:

[0202] The first anti-noise audio signal and the second anti-noise audio signal are output in the target space.

[0203] In one embodiment, the sound sensor unit 301 may also be used to:

[0204] performing an inverted signal generation process on the second audio signal to obtain a basic anti-noise audio signal of the second audio signal;

[0205] Detecting the call status of users in the target space;

[0206] If the user is in a call state, the voice signal received by the user in the call and the basic anti-noise audio signal are fused to obtain a second anti-noise audio signal.

[0207] In one embodiment, the sound sensor unit 301 may also be used to:

[0208] Acquiring a third audio signal generated by the power device in the target space;

[0209] Performing an inverted signal generation process based on the audio signal to generate a third anti-noise audio signal of the third audio signal;

[0210] The audio output unit 303 can also be used to:

[0211] superimposing the first anti-noise audio signal, the second anti-noise audio signal, and the third anti-noise audio signal to obtain a superimposed audio signal;

[0212] The superimposed audio signal is outputted in the target space.

[0213] In one embodiment, if Figure 4 As shown, the active noise reduction device further includes an image sensor unit, which is used to:

[0214] Detecting a head region of the user in the target space;

[0215] The audio output unit 303 can also be used to:

[0216] determining a target noise reduction area in the target space based on the head area, where the target noise reduction area does not overlap with the head area;

[0217] Based on the target noise reduction area, the superimposed audio signal is output in the target space.

[0218] In one embodiment, the target space includes multiple audio devices, and the audio output unit 303 can also be used to:

[0219] For each audio device, based on the positional relationship between the audio device and the target noise reduction area, adjusting the superimposed audio information to be output by the audio device to obtain the audio to be played corresponding to each audio device;

[0220] The corresponding audio to be played is output in the target space through each of the above audio devices.

[0221] As can be seen from the above, the active noise reduction device in the embodiment of the present application obtains the first audio signal corresponding to the target space through the sound sensor unit 301; the active noise reduction unit 302 performs denoising on the audio signal components other than the target audio signal components in the first audio signal to obtain a first anti-noise audio signal of the first audio signal; the audio output unit 303 outputs the first anti-noise audio signal in the target space, which can actively reduce the noise of the target space, improve the comfort of the target space, and retain the target audio signal components to prevent users from missing important information.

[0222] The present application also provides a controller, such as Figure 5 , which shows a schematic diagram of the structure of the controller involved in the embodiment of the present application, specifically:

[0223] The controller may include one or more processors 1001 of processing cores, one or more computer-readable storage media memories 1002, a power supply 1003, an input unit 1004 and other components. Those skilled in the art will appreciate that Figure 5 The controller structure shown in the figure does not constitute a limitation on the controller, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0224] Processor 1001 is the controller's control center, connecting all components of the controller using various interfaces and circuits. By running or executing software programs and / or modules stored in memory 1002 and accessing data stored in memory 1002, it performs various controller functions and processes data, thereby providing overall monitoring of the controller. Optionally, processor 1001 may include one or more processing cores; preferably, processor 1001 may integrate an application processor and a modem processor, with the application processor primarily processing the operating system, user interface, and computer programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into processor 1001.

[0225] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.

[0226] The controller also includes a power supply 1003 for supplying power to various components. Preferably, the power supply 1003 can be logically connected to the processor 1001 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The power supply 1003 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0227] The controller may further include an input unit 1004, which may be configured to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0228] Although not shown, the controller may further include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 1001 in the controller will load the executable files corresponding to one or more computer program processes into the memory 1002 according to the following instructions, and the processor 1001 will run the computer programs stored in the memory 1002 to implement various functions as follows:

[0229] Acquire a first audio signal corresponding to the target space;

[0230] Performing denoising on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal;

[0231] A first anti-noise frequency signal is output in the target space.

[0232] The specific implementation of the above operations can be found in the previous embodiments and will not be described in detail here.

[0233] As can be seen from the above, in the embodiment of the present application, a first audio signal corresponding to the target space is obtained; audio signal components other than the target audio signal component in the first audio signal are denoised to obtain a first anti-noise audio signal of the first audio signal; and the first anti-noise audio signal is output in the target space. This can actively reduce the noise of the target space, improve the comfort of the target space, and retain the target audio signal component to prevent users from missing important information.

[0234] According to one aspect of the present application, a vehicle is provided. The vehicle may include the above-mentioned controller, and the vehicle may execute the methods provided in various optional implementations of the above-mentioned embodiments through the controller.

[0235] According to one aspect of the present application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a vehicle reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the vehicle to perform the methods provided in various optional implementations of the aforementioned embodiments.

[0236] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0237] To this end, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. The computer program can be loaded by a processor to execute any active noise reduction method provided in the embodiment of the present application.

[0238] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0239] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0240] Since the computer program stored in the computer-readable storage medium can execute any of the active noise reduction methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any of the active noise reduction methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0241] The above describes in detail an active noise reduction method, device, controller, vehicle, and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the method and core concept of the present application. At the same time, for those skilled in the art, based on the concept of the present application, there may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present application.

Claims

1. An active noise reduction method, characterized in that: include: Acquire a first audio signal corresponding to the target space; performing denoising processing on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal; The first anti-noise frequency signal is outputted in the target space.

2. The method according to claim 1, characterized in that The obtaining of the first audio signal corresponding to the target space includes: Acquiring multiple ambient audio signals outside the target space; The plurality of environmental audio signals are sampled multiple times to obtain a plurality of first audio signals, wherein each time sampling is performed, one environmental audio signal is sampled into a plurality of sampling signals.

3. The method according to claim 2, characterized in that The performing denoising on the audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal includes: Calculating a covariance matrix and a space-time steering vector of the first audio signal based on the first audio signal; determining a weight vector of a filter based on the space-time steering vector and the covariance matrix under the condition that the power of the audio signal components other than the target audio signal component is minimized; The first audio signal is processed by the filter based on the weight vector to obtain the first anti-noise audio signal.

4. The method according to claim 3, characterized in that The calculating, based on the first audio signal, a covariance matrix and a space-time steering vector of the first audio signal includes: calculating a space-time steering vector based on the first audio signal; Performing maximum likelihood estimation processing on a covariance matrix of the first audio signal to obtain a covariance matrix of the first audio signal.

5. The method according to claim 1, wherein The first audio signal is an audio signal collected outside the target space.

6. The method according to claim 1, characterized in that The method further comprises: performing sound source localization processing based on the first audio signal to determine the direction information of the sound source emitting the target audio signal component; Outputting direction prompt information corresponding to the target audio signal in the target space based on the direction information.

7. The method according to claim 6, characterized in that The position prompt information includes at least one of text information, image information, and audio information, and outputting the position prompt information corresponding to the target audio signal in the target space based on the position information includes: Displaying the orientation prompt information on a display device in the target space; And / or, the direction prompt information is output through an audio device in the target space.

8. The method according to claim 1, characterized in that The method further comprises: Acquiring a second audio signal collected inside the target space; generating a second anti-noise audio signal of the second audio signal based on the second audio signal; Outputting the first anti-noise frequency signal in the target space includes: The first anti-noise audio signal and the second anti-noise audio signal are output in the target space.

9. The method according to claim 8, characterized in that Generating a second anti-noise frequency signal of the second audio signal based on the second audio signal includes: performing an inverted signal generation process on the second audio signal to obtain a basic anti-noise audio signal of the second audio signal; Detecting the call status of users in the target space; If the user is in a call state, the voice signal received by the user in the call and the basic anti-noise audio signal are fused to obtain a second anti-noise audio signal.

10. The method according to claim 9, characterized in that The method further comprises: acquiring a third audio signal generated by a power device in the target space; performing an inverted signal generation process based on the audio signal to generate a third anti-noise audio signal of the third audio signal; Outputting the first anti-noise audio signal and the second anti-noise audio signal in the target space includes: superimposing the first anti-noise audio signal, the second anti-noise audio signal, and the third anti-noise audio signal to obtain a superimposed audio signal; The superimposed audio signal is output in the target space.

11. The method according to claim 10, characterized in that Outputting the superimposed audio signal in the target space includes: Detecting a head area of the user in the target space; determining a target noise reduction area of the target space based on the head area, where the target noise reduction area does not overlap with the head area; Based on the target noise reduction area, the superimposed audio signal is output in the target space.

12. The method according to claim 11, characterized in that The target space includes a plurality of audio devices, and the method outputting the superimposed audio signal in the target space based on the target noise reduction area is characterized by comprising: For each audio device, based on a positional relationship between the audio device and the target noise reduction area, adjusting the superimposed audio information to be output by the audio device to obtain audio to be played corresponding to each audio device; The corresponding audio to be played is output in the target space through each of the audio devices.

13. The method according to any one of claims 1 to 11, characterized in that The target space includes the passenger space of the vehicle.

14. An active noise reduction device, characterized in that: The active noise reduction device includes a sound sensor unit, an active noise reduction unit and an audio output unit, wherein: The sound sensor unit is configured to obtain a first audio signal corresponding to the target space; The active noise reduction unit is configured to perform denoising on audio signal components other than the target audio signal component in the first audio signal to obtain a first anti-noise audio signal of the first audio signal; The audio output unit is configured to output the first anti-noise audio signal in the target space.

15. The device according to claim 14, characterized in that The active noise reduction device further includes an image sensor unit; The image sensor unit is configured to detect a head area of the user in the target space; The active noise reduction unit is further configured to determine a target noise reduction area of the target space based on the head area, where the target noise reduction area does not overlap with the head area; and output the first anti-noise audio signal in the target space based on the target noise reduction area.

16. A controller having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

17. A vehicle, characterized in that: The invention comprises a memory, a processor, and the controller according to claim 16; the memory stores a computer program, and the processor is used to run the computer program in the memory to perform the active noise reduction method according to any one of claims 1 to 13.

18. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute the active noise reduction method according to any one of claims 1 to 13.

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