Vehicle-mounted sound field adjustment method and device, storage medium and program product

Abstract

The invention provides a vehicle-mounted sound field adjustment method and device, a storage medium and a program product, and relates to the technical field of intelligent cabins. The method comprises the following steps: responding to the monitored change of the attitude angle of the head of a driver, and obtaining the changed attitude angle, the vehicle body yaw velocity and a vehicle turning curvature predicted value; phase delay of a loudspeaker array in the vehicle-mounted audio equipment is determined according to the changed attitude angle, the vehicle body yaw velocity and the vehicle turning curvature predicted value, and the phase delay is used for enabling vehicle-mounted sound field energy to be focused in the changed attitude angle direction; and adjusting the phase value of the loudspeaker array according to the phase delay. The audio interaction effect of the vehicle-mounted sound field is improved, and driving safety is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of intelligent cockpit technology, and in particular to a vehicle-mounted sound field adjustment method, device, storage medium, and program product. Background Art

[0002] In-vehicle audio equipment plays a role in entertainment and voice broadcasting during driving, becoming an important factor affecting the driving experience.

[0003] In related technologies, the sound field of in-car audio equipment is a fixed sound field, that is, the audio output by the in-car audio equipment is in a fixed direction, resulting in poor audio interaction effects and even affecting driving safety in some scenarios. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, storage medium, and program product for adjusting the vehicle sound field, which are used to dynamically adjust the direction of the vehicle sound field and ensure driving safety.

[0005] In a first aspect, an embodiment of the present application provides a method for adjusting a vehicle sound field, comprising:

[0006] In response to detecting a change in the attitude angle of the driver's head, a predicted value of the attitude angle after the change, the yaw angular velocity of the vehicle body, and the vehicle turning curvature is obtained;

[0007] Determining the phase delay of a speaker array in an in-vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the predicted value of the vehicle's turning curvature, wherein the phase delay is used to focus the energy of the in-vehicle sound field in the direction of the changed attitude angle;

[0008] Adjusts the phase value of the speaker array based on the phase delay.

[0009] In one possible implementation, determining a phase delay of a speaker array in an in-vehicle audio device based on a changed attitude angle, a vehicle body yaw angular velocity, and a predicted value of a vehicle turning curvature includes:

[0010] Based on the dynamic pre-compensation model, the pre-compensation angle offset is determined according to the changed attitude angle, the vehicle body yaw rate, and the predicted vehicle curvature. The dynamic pre-compensation model reflects the mapping relationship between the attitude angle, the vehicle body yaw rate, the predicted vehicle curvature, and the angle offset;

[0011] The phase delay of a speaker array in an in-vehicle audio device is determined based on a pre-compensated angular offset.

[0012] In one possible implementation, based on the dynamic pre-compensation model, the pre-compensation angle offset is determined according to the changed attitude angle, the vehicle body yaw rate, and the predicted vehicle curvature, including:

[0013] Determine the dynamic adjustment compensation weights corresponding to the attitude angle, vehicle yaw rate, and vehicle curvature prediction values ​​in the current driving scenario;

[0014] Based on the dynamic pre-compensation model, the corresponding dynamically adjusted compensation weights are used to perform weighted calculation on the changed attitude angle, vehicle yaw rate, and vehicle turning curvature prediction values ​​to obtain the pre-compensation angle offset.

[0015] In one possible implementation, obtaining a predicted value of a vehicle turning curvature includes:

[0016] The result obtained by multiplying the vehicle speed and the steering wheel angle and dividing it by the vehicle wheelbase is determined as the corresponding vehicle turning curvature prediction value when the vehicle turns.

[0017] In a possible implementation, the vehicle audio sound field adjustment method further includes:

[0018] When an obstacle is detected, the relative distance between the vehicle and the obstacle is obtained;

[0019] Determine the amplitude gain of the speaker array based on the relative distance and the safety distance. The amplitude gain is used to adjust the intensity of the vehicle sound field energy.

[0020] Adjust the amplitude of the speaker array according to the amplitude gain.

[0021] In one possible implementation, determining the amplitude gain of the speaker array signal according to the relative distance and the safety distance includes:

[0022] Use the following formula to determine the amplitude gain:

[0023]

[0024] Where G is the amplitude gain, W is the preset gain coefficient, is the relative distance, For a safe distance.

[0025] In one possible implementation, adjusting the amplitude of the speaker array according to the amplitude gain includes:

[0026] According to the amplitude gain, the amplitude of the media entertainment signal output by the speaker array is adjusted.

[0027] In a second aspect, an embodiment of the present application provides a vehicle-mounted sound field adjustment device, comprising:

[0028] An acquisition module is used to respond to changes in the attitude angle of the driver's head detected by monitoring, and obtain the attitude angle after the change, the yaw angular velocity of the vehicle body, and the predicted value of the vehicle's turning curvature;

[0029] a processing module for determining a phase delay of a speaker array in an in-vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the predicted value of the vehicle turning curvature, wherein the phase delay is used to focus the energy of the in-vehicle sound field in the direction of the changed attitude angle;

[0030] The adjustment module is used to adjust the phase value of the speaker array according to the phase delay.

[0031] In a third aspect, an embodiment of the present application provides a vehicle-mounted sound field adjustment device, comprising: a memory, a processor;

[0032] The memory stores computer-executable instructions;

[0033] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0034] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0035] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0036] The vehicle sound field adjustment method, electronic device, storage medium and program product provided in the embodiments of the present application obtain the changed attitude angle, the vehicle body yaw angular velocity and the vehicle turning curvature predicted value after detecting the change in the attitude angle of the driver's head, and determine the phase delay of the speaker array in the vehicle audio device according to the changed attitude angle, the vehicle body yaw angular velocity and the vehicle turning curvature predicted value. The phase delay is used to focus the vehicle sound field energy on the direction of the changed attitude angle, and then adjust the phase value of the speaker array according to the phase delay, thereby realizing dynamic adjustment of the audio direction output by the speaker array, so that the vehicle sound field direction can automatically change with the change of the driver's head attitude angle, and focus the vehicle sound field energy on the direction of the changed attitude angle, thereby improving the audio interaction effect of the vehicle sound field and ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] Figure 1 Schematic diagram of the process of the vehicle sound field adjustment method provided in the embodiment of the present application Figure 1 ;

[0039] Figure 2 A schematic diagram of a scenario for adjusting the sound field directionality of a loudspeaker array provided in an embodiment of the present application;

[0040] Figure 3 Schematic diagram of the process of the vehicle sound field adjustment method provided in the embodiment of the present application Figure 2 ;

[0041] Figure 4 A schematic diagram of the structure of the vehicle-mounted sound field adjustment device provided in this application;

[0042] Figure 5 This is a schematic diagram of the structure of the vehicle-mounted sound field adjustment device provided in this application.

[0043] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0044] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0045] As an indispensable part of the vehicle cabin, in-vehicle audio equipment plays a role in entertainment and voice broadcasting during driving, becoming an important factor affecting the driving experience. In related technologies, the sound field of in-vehicle audio equipment is a fixed sound field, that is, the audio output by the in-vehicle audio equipment is fixed in direction. When the driver's head posture changes, the experience brought by the fixed sound field is reduced, and the audio interaction effect is poor. In some scenarios, the reception of navigation prompts or warning sounds will be affected due to inaccurate sound field positioning, increasing safety hazards. For example, when the driver turns his head to check the rearview mirror, the navigation sound may still come from a fixed position. There is a deviation between the position of the human ear and the direction of the sound field, which requires the driver to pay extra attention to identify the direction, which is especially dangerous when driving at high speeds.

[0046] The in-vehicle sound field adjustment method provided in an embodiment of the present application obtains the changed attitude angle, the vehicle body yaw angular velocity, and the vehicle turning curvature predicted value after detecting a change in the attitude angle of the driver's head, and determines the phase delay of the speaker array in the in-vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the vehicle turning curvature predicted value. The phase delay is used to focus the energy of the in-vehicle sound field in the direction of the changed attitude angle. The phase value of the speaker array is adjusted according to the phase delay to realize the directional adjustment of the signal transmitted by the speaker array, so that the sound field directional direction can automatically change with the change of the driver's head attitude angle, thereby achieving the effect of dynamically adjusting the in-vehicle sound field.

[0047] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0048] Figure 1 Schematic diagram of the process of the vehicle sound field adjustment method provided in this application Figure 1 The embodiment of the present application provides a method for adjusting the vehicle sound field, which can be specifically executed by a controller with data processing capabilities and control functions. For example, the controller can be a vehicle computer controller, an intelligent cockpit controller, or an independent controller. Figure 1 As shown, the method includes:

[0049] S101 . In response to detecting a change in the attitude angle of the driver's head, obtaining predicted values ​​of the attitude angle after the change, the yaw angular velocity of the vehicle body, and the vehicle turning curvature.

[0050] In some embodiments, the driver's head posture angle can be acquired by a Driver Monitoring System (DMS) installed in the vehicle cabin. This posture angle can represent changes in the driver's head position. As will be appreciated, when the driver's head turns, the direction of their ears also turns. In this case, it is necessary to acquire the driver's head, or rather, their ear, posture angle and adjust the direction of the vehicle's sound field based on the posture angle to ensure that the vehicle's sound field follows the driver's head rotation.

[0051] S102: Determine a phase delay of a speaker array in an in-vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the predicted value of the vehicle turning curvature. The phase delay is used to focus the energy of the in-vehicle sound field in the direction of the changed attitude angle.

[0052] When a vehicle turns, inertia causes passengers and objects inside to attempt to maintain their original straight-line motion, resulting in a sensation of tilting toward the outside of the turn. The degree of this tilt is related to the vehicle's yaw rate, curvature, and hardware tuning. When the driver's body tilts due to inertia during a turn, the driver's head may tilt relative to the vehicle. The sound field generated by the speaker array installed in the vehicle's cabin may also deviate from the position of the driver's head. Therefore, the sound field generated by the speaker array—that is, the direction in which the vehicle's sound field energy is focused—should be adjusted promptly.

[0053] The predicted vehicle curvature value is the predicted curvature of the vehicle in response to the driver turning the steering wheel, calculated based on the current steering wheel angle and vehicle speed. Generally speaking, there is a certain time interval between the driver turning the steering wheel and the vehicle turning after a series of transmission operations of the vehicle system. For example, this time interval is 100ms. The predicted vehicle curvature value can be regarded as the vehicle's curvature after this time interval.

[0054] According to the beamforming principle, the direction of the sound field generated by the speaker array is determined by the phase of the signal transmitted by the speaker array. Figure 2 As shown, assume that there are N speakers installed on the vehicle, namely speaker 1, speaker 2, speaker 3... speaker N. These N speakers form a speaker array, and the interval between each speaker is , Figure 2 The arrow in the figure points to the direction of the sound field formed by the speaker array. The phase delay of the transmitted signal of each speaker is related to the deflection angle of the transmitted signal relative to the normal direction of the speaker. The relationship between can be expressed by the following formula:

[0055]

[0056] in, is the phase delay of the transmission signal of the i-th speaker in the speaker array, i is an integer from 1 to N, and N is the number of speakers in the speaker array. is the spacing between the speakers, is the deflection angle of the speaker emission signal relative to the normal direction, The wavelength of the signal emitted by the speaker.

[0057] In the above formula, and is a known constant value, so the phase delay and declination There is a linear mapping relationship. When the deflection angle that needs to be adjusted in the sound field is determined, the phase delay that needs to be adjusted in the signal transmitted by the speaker array can be determined. In other words, the directionality of the sound field can be adjusted by adjusting the phase delay of the signal transmitted by the speakers in the speaker array.

[0058] S103: Adjust the phase value of the speaker array according to the phase delay.

[0059] Specifically, the phase delay is added to the default phase value of the transmission signal of each speaker in the speaker array to obtain a new phase, and a transmission signal is generated according to the new phase. The sound field formed by the transmission signal is the sound field after the adjustment direction.

[0060] The in-vehicle sound field adjustment method provided in an embodiment of the present application obtains the changed attitude angle, the vehicle body yaw angular velocity, and the vehicle turning curvature predicted value after detecting a change in the attitude angle of the driver's head, determines the phase delay of the speaker array in the in-vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the vehicle turning curvature predicted value, adjusts the phase value of the speaker array based on the phase delay, and realizes the directional adjustment of the signal transmitted by the speaker array, so that the sound field directional direction can automatically change with the change in the driver's head attitude angle, thereby achieving the effect of dynamically adjusting the in-vehicle sound field.

[0061] In one possible implementation, determining a phase delay of a speaker array in an in-vehicle audio device based on a changed attitude angle, a vehicle body yaw angular velocity, and a predicted value of a vehicle turning curvature includes:

[0062] Based on the dynamic pre-compensation model, the pre-compensation angle offset is determined according to the changed attitude angle, vehicle yaw rate, and predicted vehicle turning curvature. The dynamic pre-compensation model reflects the mapping relationship between the attitude angle, vehicle yaw rate, predicted vehicle turning curvature, and the angle offset. The phase delay of the speaker array in the in-vehicle audio system is determined based on the pre-compensation angle offset.

[0063] It's understandable that to determine the driver's head offset relative to the vehicle while driving, we first need to determine the head's posture angle due to changes in the driver's body posture. Secondly, the vehicle's shape also causes the driver to involuntarily tilt relative to the vehicle. When the vehicle turns, inertia causes passengers and objects inside the vehicle to attempt to maintain their original straight-line motion, resulting in a perceived tilt toward the outside of the turn. The extent of this tilt is related to the vehicle's yaw rate, curvature, and the vehicle's hardware tuning.

[0064] Therefore, the in-vehicle sound field adjustment method provided in this embodiment considers the deviation angle between the driver's head and the in-vehicle sound field from two perspectives: the driver's posture change and the vehicle's operating state. Using a dynamic pre-compensation model, the pre-compensation angle offset is determined based on the post-change posture angle, the vehicle's yaw rate, and the predicted vehicle curvature.

[0065] Among them, the yaw angle rate of the vehicle body is measured in real time, and the predicted curvature value of the vehicle turning is predicted based on the vehicle speed and steering wheel angle. It is understandable that when the driver turns the steering wheel to a certain angle, the vehicle will definitely turn accordingly, which will cause the driver's body to tilt. However, the driver's turning of the steering wheel and the vehicle's turning action do not occur synchronously. It is often after the driver turns the steering wheel and a series of vehicle system transmissions are transmitted that the vehicle responds, turns, and generates a turning curvature. Therefore, the role of the dynamic pre-compensation model described in the embodiment of the present application can be understood as using the predicted curvature value of the vehicle turning after the driver turns the steering wheel to compensate the sound field in advance before the vehicle actually turns. This can improve the timeliness and accuracy of the vehicle sound field adjustment.

[0066] In some embodiments, the dynamic pre-compensation model can be obtained through calibration to reflect the mapping relationship between the attitude angle, the vehicle body yaw rate, the vehicle turning curvature prediction value and the angle offset.

[0067] Exemplarily, the attitude angle ranges from 0° to 180°, with an interval of 1°; the vehicle body yaw angular velocity ranges from 0.1ras / s to 0.4 rad / s, with an interval of 0.05rad / s; the turning curvature prediction value ranges from 3m to 5m, with an interval of 0.2m. The above attitude angle values, vehicle body yaw angular velocity values, and turning curvature prediction values ​​are arranged and combined, and calibrated to obtain the corresponding angle offset. The dynamic compensation model is composed of the combined data of all attitude angle values, vehicle body yaw angular velocity values, and turning curvature prediction value values, as well as the corresponding angle offset.

[0068] The vehicle sound field adjustment method provided in the embodiments of the present application fully considers the sound field directionality deviation caused by the driver's posture changes and the vehicle's operating state, accurately compensating for the vehicle sound field. Furthermore, the vehicle sound field directionality is adjusted using the predicted value of the vehicle's operating state, thereby improving the timeliness of vehicle sound field adjustment.

[0069] In one possible implementation, based on the dynamic pre-compensation model, the pre-compensation angle offset is determined according to the changed attitude angle, the vehicle body yaw rate, and the predicted vehicle curvature, including:

[0070] Determine the dynamic adjustment compensation weights corresponding to the attitude angle, body yaw rate and vehicle turning curvature prediction values ​​in the current driving scenario; based on the dynamic pre-compensation model, use the corresponding dynamic adjustment compensation weights to perform weighted calculation on the changed attitude angle, body yaw rate and vehicle turning curvature prediction values ​​to obtain the pre-compensation angle offset.

[0071] For example, the dynamic compensation model reflects * Attitude angle, *Body yaw rate and *The mapping relationship between the vehicle turning curvature prediction value and the angle offset. is the first proportional coefficient, which indicates the influence of the attitude angle on the angle offset; is the second proportional coefficient, which expresses the influence of the vehicle body yaw rate on the angle offset; is the third proportional coefficient, which represents the influence of the vehicle turning curvature prediction value on the angle offset. 、 、 The value of depends on the vehicle structure and driving scenario and is obtained through calibration. For example, 、 、 The value range of is 0 to 1, with an interval of 0.1, and the test is carried out in different vehicle structures and driving scenarios. 、 、 The sound field adjustment effect corresponding to the value combination is the one with the best adjustment effect of the sound field pointing following the driver's head rotation. 、 、 The calibration result.

[0072] The vehicle sound field adjustment method provided in the embodiment of the present application is set to represent the degree of influence of different variables on the angle offset, and can be flexibly adjusted according to the vehicle body structure or vehicle type and road conditions, making the vehicle sound field adjustment more flexible and accurate.

[0073] In a possible implementation, obtaining the vehicle turning curvature prediction value includes: multiplying the vehicle speed by the steering wheel angle and dividing the result by the vehicle wheelbase to determine the result as the vehicle turning curvature prediction value corresponding to the vehicle turning.

[0074] Specifically, the vehicle turning pre-curvature measurement value can be determined by the following formula:

[0075]

[0076] in, is the predicted value of vehicle turning curvature, v is the vehicle speed, is the steering wheel rotation angle, and L is the vehicle wheelbase.

[0077] The vehicle's turning curvature prediction value can represent the change in curvature of the vehicle's route after the driver turns the steering wheel. Using the vehicle's turning curvature prediction value to adjust the direction of the on-board sound field can enable the vehicle to effectively follow the changes in the driver's body position during the turning process.

[0078] The vehicle sound field adjustment method provided in the embodiment of the present application predicts the curvature of the vehicle when turning based on the vehicle speed, steering wheel angle and vehicle wheelbase, providing a basis for subsequently adjusting the vehicle sound field using the predicted value of the vehicle turning curvature.

[0079] Figure 3 Schematic diagram of the vehicle sound field adjustment process provided in the embodiment of this application Figure 2 In one possible implementation, Figure 2 As shown, the vehicle audio sound field adjustment method further includes:

[0080] S301: When an obstacle is detected, obtain the relative distance between the vehicle and the obstacle.

[0081] In some embodiments, the relative distance between the vehicle and the obstacle can be obtained by using ranging equipment such as a vehicle-mounted laser radar, a millimeter-wave radar, etc.

[0082] S302: Determine the amplitude gain of the speaker array according to the relative distance and the safety distance, where the amplitude gain is used to adjust the intensity of the vehicle-borne sound field energy.

[0083] It's understandable that when the relative distance is less than or equal to the safe distance, it indicates a driving safety risk. In some scenarios, the ambient sound level inside the cabin can make it difficult for the driver to hear other vehicles' horns or other traffic signs. Lowering the volume of the ambient sound inside the cabin can help the driver focus and hear other vehicles' horns or other traffic signs clearly.

[0084] S303: Adjust the amplitude of the speaker array according to the amplitude gain.

[0085] The volume of the in-car sound field is related to the amplitude of the transmitted signal from the speakers in the speaker array. By adjusting the amplitude of the speaker array according to the amplitude gain, the ambient volume in the cabin can be effectively adjusted as the relative distance changes.

[0086] The in-vehicle sound field adjustment method provided in the embodiment of the present application adjusts the amplitude of the speaker array according to the relative distance between the vehicle and the obstacle, which can ensure the quietness of the cabin environment when there is a driving safety risk, and help the driver concentrate on driving safely.

[0087] In a possible implementation, determining the amplitude adjustment coefficient of the speaker array signal according to the relative distance and the safety distance includes:

[0088] Use the following formula to determine the amplitude gain:

[0089]

[0090] Where G is the amplitude gain, W is the preset gain coefficient, is the relative distance, For a safe distance.

[0091] When the speaker array amplitude is not adjusted, the speaker array modulates and sends the signal by default with the preset gain coefficient W. When the relative distance between the vehicle and the obstacle is far, and The ratio is small and has almost no effect on the preset gain coefficient W. When the relative distance between vehicles is close, and The ratio is larger, The value of is small, and the final amplitude gain G is significantly reduced relative to the preset gain coefficient W. The amplitude gain G is used to modulate and send the signal, thereby achieving the effect of reducing the sound field energy intensity and the sound volume in the cabin.

[0092] The vehicle-mounted sound field adjustment method provided in the embodiment of the present application dynamically adjusts the amplitude gain of the speaker according to the relative distance between the vehicle and the obstacle, thereby adjusting the energy intensity of the vehicle-mounted sound field, keeping the cabin environment quiet when the vehicle is close to the obstacle, and improving driving safety.

[0093] In a possible implementation, adjusting the amplitude of the speaker array according to the amplitude gain includes: adjusting the amplitude of the speaker array when outputting the media entertainment signal according to the amplitude gain.

[0094] A vehicle's speaker array may broadcast a variety of audio signals, such as media entertainment audio, navigation voice, and alarm tones. In an emergency, the volume of media entertainment audio can be lowered, but lowering the volume of audio such as navigation voice and alarm tones is detrimental to safe driving. Therefore, in the embodiment of the present application, when controlling the amplitude of the speaker array, different types of signals are output differently, adjusting the amplitude of the speaker array when outputting media entertainment signals, and maintaining the amplitude of signals such as navigation voice and alarm tones unchanged, thereby ensuring driving safety.

[0095] The vehicle-mounted sound field adjustment method provided in the embodiment of the present application adjusts the amplitude of the speaker array when outputting media entertainment signals according to the amplitude gain, so that the driver can clearly hear signals such as navigation voice and alarm prompt tones, thereby improving driving safety.

[0096] Figure 4 This is a schematic diagram of the structure of the vehicle-mounted sound field adjustment device provided in this application, as shown in FIG. Figure 4 As shown, the vehicle-mounted sound field adjustment device 40 provided in this embodiment includes:

[0097] The acquisition module 401 is used to respond to monitoring the change in the attitude angle of the driver's head and acquire the attitude angle after the change, the yaw angular velocity of the vehicle body and the predicted value of the vehicle turning curvature.

[0098] The processing module 402 is used to determine the phase delay of the speaker array in the vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the predicted value of the vehicle turning curvature. The phase delay is used to focus the vehicle sound field energy in the direction of the changed attitude angle.

[0099] The adjustment module 403 is configured to adjust the phase value of the speaker array according to the phase delay.

[0100] In a possible implementation, the processing module 402 is specifically configured to:

[0101] Based on the dynamic pre-compensation model, the pre-compensation angle offset is determined according to the changed attitude angle, the vehicle body yaw rate, and the predicted vehicle curvature. The dynamic pre-compensation model reflects the mapping relationship between the attitude angle, the vehicle body yaw rate, the predicted vehicle curvature, and the angle offset;

[0102] The phase delay of a speaker array in an in-vehicle audio device is determined based on a pre-compensated angular offset.

[0103] In a possible implementation, the processing module 402 is further configured to:

[0104] Determine the dynamic adjustment compensation weights corresponding to the attitude angle, vehicle yaw rate, and vehicle curvature prediction values ​​in the current driving scenario;

[0105] Based on the dynamic pre-compensation model, the corresponding dynamically adjusted compensation weights are used to perform weighted calculation on the changed attitude angle, vehicle yaw rate, and vehicle turning curvature prediction values ​​to obtain the pre-compensation angle offset.

[0106] In a possible implementation, the acquisition module 401 is further configured to:

[0107] The result obtained by multiplying the vehicle speed and the steering wheel angle and dividing it by the vehicle wheelbase is determined as the corresponding vehicle turning curvature prediction value when the vehicle turns.

[0108] In a possible implementation, the acquisition module 401 is further configured to acquire the relative distance between the vehicle and the obstacle when an obstacle is detected;

[0109] The processing module 402 is further configured to determine an amplitude gain of the speaker array according to the relative distance and the safety distance, wherein the amplitude gain is used to adjust the intensity of the vehicle-borne sound field energy;

[0110] The adjustment module 403 is further configured to adjust the amplitude of the speaker array according to the amplitude gain.

[0111] In a possible implementation, the processing module 402 is further configured to:

[0112] Use the following formula to determine the amplitude gain:

[0113]

[0114] Where G is the amplitude gain, W is the preset gain coefficient, is the relative distance, For a safe distance.

[0115] In a possible implementation, the adjustment module 403 is specifically configured to:

[0116] According to the amplitude gain, the amplitude of the media entertainment signal output by the speaker array is adjusted.

[0117] The vehicle-mounted sound field adjustment device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0118] Figure 5 This is a schematic diagram of the structure of the vehicle-mounted sound field adjustment device provided in this application. Figure 5 As shown, the vehicle-mounted sound field adjustment device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502, and the communication component 503 are connected via a bus 504.

[0119] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that the at least one processor 501 performs the above method.

[0120] The specific implementation process of the processor 501 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0121] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0122] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage.

[0123] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0124] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0125] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0126] The readable storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0127] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0128] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0129] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0130] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0131] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical disks.

[0132] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0133] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A vehicle-mounted sound field adjustment method, characterized in that: include: In response to detecting a change in the attitude angle of the driver's head, a predicted value of the attitude angle after the change, the yaw angular velocity of the vehicle body, and the vehicle turning curvature is obtained; determining a phase delay of a speaker array in an in-vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the predicted value of the vehicle turning curvature, wherein the phase delay is used to focus the energy of the in-vehicle sound field in the direction of the changed attitude angle; A phase value of the speaker array is adjusted according to the phase delay.

2. The vehicle-mounted sound field adjustment method according to claim 1, characterized in that: The determining, based on the changed attitude angle, the vehicle body yaw angular velocity, and the predicted vehicle curvature, of a phase delay of a speaker array in an in-vehicle audio device includes: determining a pre-compensation angle offset based on the changed attitude angle, the vehicle body yaw rate, and the predicted vehicle curvature based on a dynamic pre-compensation model, wherein the dynamic pre-compensation model reflects a mapping relationship between the attitude angle, the vehicle body yaw rate, the predicted vehicle curvature, and the angle offset; The phase delay of the speaker array in the in-vehicle audio device is determined according to the pre-compensated angular offset.

3. The vehicle-mounted sound field adjustment method according to claim 2, characterized in that: The method of determining the pre-compensation angle offset based on the dynamic pre-compensation model according to the changed attitude angle, the vehicle body yaw angular velocity, and the vehicle turning curvature prediction value includes: Determining dynamic adjustment compensation weights corresponding to the changed attitude angle, the vehicle body yaw angular velocity, and the vehicle turning curvature prediction value in the current driving scenario; Based on a dynamic pre-compensation model, a weighted calculation is performed on the changed attitude angle, the vehicle body yaw angular velocity, and the vehicle turning curvature prediction value using corresponding dynamically adjusted compensation weights to obtain a pre-compensated angular offset.

4. The vehicle-mounted sound field adjustment method according to any one of claims 1 to 3, characterized in that: Obtain the vehicle's turning curvature prediction value, including: The result obtained by multiplying the vehicle speed and the steering wheel angle and dividing the result by the vehicle wheelbase is determined as the vehicle turning curvature prediction value corresponding to the vehicle turning.

5. The vehicle-mounted sound field adjustment method according to any one of claims 1 to 3, characterized in that: The vehicle audio sound field adjustment method further includes: When an obstacle is detected, the relative distance between the vehicle and the obstacle is obtained; determining an amplitude gain of the speaker array according to the relative distance and the safety distance, wherein the amplitude gain is used to adjust the intensity of the vehicle-borne sound field energy; The amplitude of the speaker array is adjusted according to the amplitude gain.

6. The vehicle-mounted sound field adjustment method according to claim 5, characterized in that: The determining the amplitude gain of the speaker array signal according to the relative distance and the safety distance includes: The amplitude gain is determined using the following formula: Wherein, G is the amplitude gain, W is the preset gain coefficient, is the relative distance, is the safety distance.

7. The vehicle-mounted sound field adjustment method according to claim 5, characterized in that: The adjusting the amplitude of the speaker array according to the amplitude gain includes: According to the amplitude gain, the amplitude of the media entertainment signal output by the speaker array is adjusted.

8. A vehicle-mounted sound field adjustment device, characterized in that: include: An acquisition module is used to respond to changes in the attitude angle of the driver's head detected by monitoring, and obtain the attitude angle after the change, the yaw angular velocity of the vehicle body, and the predicted value of the vehicle's turning curvature; a processing module, configured to determine a phase delay of a speaker array in an in-vehicle audio device based on the changed attitude angle, the vehicle body yaw angular velocity, and the predicted value of the vehicle turning curvature, wherein the phase delay is used to focus the energy of the in-vehicle sound field in the direction of the changed attitude angle; An adjustment module is configured to adjust a phase value of the speaker array according to the phase delay.

9. A vehicle-mounted sound field adjustment device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

11. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when executed by a processor.

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