Vehicle sound effect control method, device and equipment, storage medium and vehicle

Abstract

The invention provides a vehicle sound effect control method and device, equipment, a storage medium and a vehicle. The method comprises the steps that head pose information of a target user in the vehicle is acquired; extracting a target acoustic transfer function corresponding to the head pose information from an acoustic transfer function set according to the head pose information; and determining a filter parameter of each sound output device according to the target acoustic transfer function so as to form a preset sound field partition in the head area of the target user. According to the method provided by the embodiment of the invention, when the head pose information changes, the acoustic transfer function corresponding to the head pose information can be extracted, and the filter parameters of the sound output device can be subsequently adjusted in real time based on the dynamically changing target acoustic transfer function, so that when the head pose information changes, the filter parameters of the sound output device can be adjusted in real time. And the preset sound field subarea can be formed in the head area, so that the control effect on the sound effect of the vehicle is improved, and the user experience is improved.

Description

[0001] This application is a divisional application of the invention patent application filed on August 16, 2024, with application number 2024111293372, entitled "Vehicle Sound Effect Control Method, Device, Equipment, Storage Medium and Vehicle". Technical Field

[0002] This application relates to the field of vehicle control technology, and in particular to a vehicle sound effect control method, device, equipment, storage medium, and vehicle. Background Technology

[0003] In the context of intelligent technology, the types of automotive audio signals are increasing, such as music, navigation prompts, turn signals, and alarm sounds. Prolonged mixing of various sounds inside the car can increase passenger annoyance, leading to a growing demand for a separate acoustic environment. This has given rise to in-vehicle sound field zone control technology.

[0004] However, current in-vehicle sound field zoning technology often uses parametric speaker arrays to directionally emit sound to achieve sound field zoning. But because the sound emission direction inside the vehicle is fixed by its structure and cannot be changed, the sound field zoning effect is not ideal when the user's head position information is different, such as when the user's head is in different height areas due to different user height, thus affecting the user experience. Summary of the Invention

[0005] This application provides a vehicle sound effect control method, device, equipment, storage medium, and vehicle to at least partially solve the above-mentioned technical problems.

[0006] To achieve the above objectives, according to a first aspect of this application, a vehicle sound effect control method is provided, comprising:

[0007] Obtain the head position and pose information of the target user inside the vehicle;

[0008] Based on the head position information, a target acoustic transfer function corresponding to the head position information is extracted from a preset set of acoustic transfer functions; the target acoustic transfer function includes the acoustic transfer functions of multiple sound output devices at the positions corresponding to the head position information;

[0009] The filter parameters of each sound output device in the vehicle are determined based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user.

[0010] Optionally, as another embodiment of this application, before the step of extracting the target acoustic transfer function corresponding to the head pose information from a preset acoustic transfer function set based on the head pose information, the method further includes:

[0011] For each sound output device, the sound pressure signal of the sound output device is collected through the sound input devices of at least two grid spaces within the vehicle space;

[0012] Based on the sound pressure signal and a reference audio signal of the sound pressure signal, the acoustic transfer function of the sound output device in the grid space is generated;

[0013] By associating the grid space with its corresponding acoustic transfer function, a preset set of acoustic transfer functions for the vehicle is obtained.

[0014] Optionally, as another embodiment of this application, associating the grid space with its corresponding acoustic transfer function to obtain a preset acoustic transfer function set for the vehicle includes:

[0015] The preset acoustic transfer function set of the vehicle is associated with the vehicle's identification information and stored in a preset database.

[0016] Optionally, as another embodiment of this application, before extracting the target acoustic transfer function corresponding to the head pose information from a preset set of acoustic transfer functions, the method includes:

[0017] Query the preset database to obtain the preset acoustic transfer function set corresponding to the vehicle's identification information.

[0018] Optionally, as another embodiment of this application, the step of extracting the target acoustic transfer function corresponding to the head pose information from a preset acoustic transfer function set based on the head pose information includes:

[0019] The position information in the head pose information is corrected based on the physiological feature parameters corresponding to the pose information in the head pose information to obtain the ear position information of the target user;

[0020] Based on the ear position information, a target acoustic transfer function corresponding to the ear position information is extracted from a preset set of acoustic transfer functions.

[0021] Optionally, as another embodiment of this application, determining the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user includes:

[0022] Based on the target user's status information and / or input sound field partitioning instructions, the target sound field partition selected by the target user is determined; the target sound field partition includes at least one of a bright zone and a dark zone;

[0023] The target acoustic transfer function is processed according to a preset sound field zoning control method to obtain the filter parameters of each sound output device in the vehicle, so as to form the target sound field zoning in the head region of the target user.

[0024] Optionally, as another embodiment of this application, the preset sound field zoning control method includes at least one of the sound contrast method and the sound pressure matching method.

[0025] Optionally, as another embodiment of this application, the step of extracting the target acoustic transfer function corresponding to the head pose information from a preset acoustic transfer function set based on the head pose information further includes:

[0026] When there are multiple target users, multiple target acoustic transfer functions corresponding to the head pose information are extracted from a preset acoustic transfer function set based on the head pose information; the target acoustic transfer functions include at least a first acoustic transfer function and a second acoustic transfer function;

[0027] Determining the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function includes:

[0028] The first filter parameters of each sound output device in the vehicle are determined according to the first acoustic transfer function, and the second filter parameters of each sound output device in the vehicle are determined according to the second acoustic transfer function.

[0029] The first filter parameter and the second filter parameter are weighted according to preset weighting coefficients to obtain the target filter parameters for each sound output device.

[0030] Optionally, as another embodiment of this application, the method further includes:

[0031] When the number of target users is a single user, control to shut down part of the sound output devices and determine the target filter parameters of the remaining sound output devices to form a sound field partition in the head region of the target user.

[0032] Optionally, as another embodiment of this application, the filter parameters of the sound output device include a third filter parameter that forms a preset first sound field partition in the head region of the target user and a fourth filter parameter that forms a preset second sound field partition in the head region of the target user.

[0033] After the step of determining the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user, the method further includes:

[0034] When the target audio is of the first type, the target audio output by the sound output device is processed by a filter corresponding to the third filter parameters; the first type of audio is at least one of prompt audio and navigation audio.

[0035] When the target audio is of the second type, the target audio output by the sound output device is processed by a filter corresponding to the fourth filter parameter; the second type of audio is at least one of multimedia audio.

[0036] Optionally, as another embodiment of this application, after the step of determining the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function to form a preset sound field partition in the head region of the target user, the method further includes:

[0037] If a change in the head position information of the target user is detected, the filter parameters of each sound output device in the vehicle are adjusted according to the adjusted head position information.

[0038] According to a second aspect of this application, a vehicle sound effect control device is provided, comprising:

[0039] The acquisition module is used to acquire the head position and pose information of the target user inside the vehicle;

[0040] An extraction module is used to extract a target acoustic transfer function corresponding to the head posture information from a preset set of acoustic transfer functions based on the head posture information; the target acoustic transfer function includes acoustic transfer functions of multiple sound output devices at the positions corresponding to the head posture information;

[0041] The determination module is used to determine the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head region of the target user.

[0042] According to a third aspect of this application, an electronic device is also provided, including a memory and a processor; the memory stores a computer program; the processor is configured to execute the computer program in the memory to implement the method as described in any of the preceding claims.

[0043] According to a fourth aspect of this application, a computer storage medium is also provided, the computer storage medium storing instructions that, when executed by a computer, cause the computer to perform the method as described in any of the preceding claims.

[0044] According to a fifth aspect of this application, a computer program product is also provided, the computer program product storing instructions that, when executed by a computer, cause the computer to perform the method as described in any of the preceding claims.

[0045] According to a sixth aspect of this application, a vehicle is also provided, including a vehicle controller, a processor, and a memory, the memory storing a computer program; when the computer program is executed by the processor, the processor causes the processor to perform the method as described in any of the preceding claims.

[0046] This application embodiment acquires the head posture information of a target user inside a vehicle, and extracts a target acoustic transfer function corresponding to the head posture information from multiple acoustic transfer functions within the vehicle space based on the head posture information. The filter parameters of each sound output device in the vehicle are then determined based on this target acoustic transfer function, thereby achieving the effect of forming a preset sound field partition in the head region of the target user. Through the method provided by this application embodiment, even when the head posture information changes, the acoustic transfer function corresponding to that head posture information can still be extracted. Subsequently, the filter parameters of the sound output device can be adjusted in real time based on the dynamically changing target acoustic transfer function, so that a preset sound field partition can still be formed in the head region even when the head posture information changes, thereby improving the control effect of vehicle sound effects and enhancing the user experience.

[0047] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0050] Figure 1 This application provides a schematic diagram illustrating the effect of different sound field regions within a vehicle space, as part of an embodiment of the present application.

[0051] Figure 2 A schematic flowchart illustrating the steps of a vehicle sound effect control method provided in an embodiment of this application;

[0052] Figure 3a A flowchart illustrating the steps for pre-constructing a set of acoustic transfer functions is provided in this application embodiment.

[0053] Figure 3bA schematic diagram illustrating the effect of a vehicle cabin speaker array arrangement and its corresponding acoustic transfer function provided in an embodiment of this application;

[0054] Figure 4 This application provides a flowchart illustrating the steps of processing target acoustic transfer functions corresponding to multiple head pose information to obtain filter parameters.

[0055] Figure 5 A flowchart illustrating the steps of selecting filter parameters based on audio type to process target audio output by a sound output device, as provided in this application embodiment;

[0056] Figure 6 This is a schematic diagram of a vehicle sound effect control method provided in an embodiment of this application;

[0057] Figure 7 This is a block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0059] To facilitate understanding of the implementation schemes provided in this application, a background description of vehicle sound effect control is first given. Specifically, vehicle sound effect control refers to the differentiated impact on users achieved through the rational control of automotive audio signals, such as music, navigation prompts, turn signals, and alarm sounds. For example, a common method is sound field zoning. Specifically, by rationally configuring the sound output devices within the vehicle, such as speaker arrays, different sound field regions are formed inside the vehicle. For example, please refer to... Figure 1 , Figure 1This illustration shows the effect of different sound field areas within a vehicle space, as provided in an embodiment of this application. Specifically, the vehicle interior space is divided into a bright area (B) and a dark area (D). For example, when the front cabin, where the driver usually resides, is designated as bright area B, and the rear cabin, where passengers usually reside, is designated as dark area D, the prompts emitted by the speaker array, such as navigation prompts and turn signals, can ensure the driver's listening experience while minimizing the impact on passengers. Conversely, when the front cabin is designated as dark area and the rear cabin as bright area, multimedia sound effects, such as music and video sounds, emitted by the speaker array can ensure the passengers' listening experience without affecting the driver's driving. In other words, this sound field zoning design allows passengers to have a relatively independent sound environment, improving the user experience.

[0060] Most current sound field zoning methods use parametric speaker arrays to directionally emit sound within the vehicle. Because the internal sound direction is fixed by the vehicle's structure, the sound field zoning within the cabin is relatively fixed; for example, the front and rear cabins are often chosen as separate sound field zones. However, in practical applications, it has been found that when user head posture information varies, such as different user heights causing their heads to be at different heights, the sound field zoning effect is not ideal, thus affecting the user's riding experience to some extent.

[0061] To address the aforementioned issues, this application provides a vehicle sound effect control method, device, equipment, storage medium, program product, and vehicle. This method involves acquiring the head posture information of a target user within the vehicle and extracting the target acoustic transfer function corresponding to that head posture information from multiple acoustic transfer functions within the vehicle space based on the posture information. The filter parameters of each sound output device in the vehicle are then determined based on the target acoustic transfer function, thereby forming a preset sound field partition in the target user's head region. This allows for flexible and dynamic sound field partitioning control of the vehicle's interior space based on the user's head posture information. Specifically, the vehicle sound effect control method is typically implemented as a computer program on the vehicle sound effect control device, which is typically implemented as a processor within an electronic device. This electronic device can be a vehicle infotainment system or a cloud server platform built by a service provider that communicates with the vehicle infotainment system. The electronic device executes the computer program corresponding to the vehicle sound effect control method through the vehicle sound effect control device to perform the vehicle sound effect control method provided in this application.

[0062] For details, please refer to Figure 2 , Figure 2This is a flowchart illustrating the steps of a vehicle sound effect control method provided in an embodiment of this application, specifically including steps S210 to S230:

[0063] S210, Obtain the head position information of the target user inside the vehicle.

[0064] In this embodiment, obtaining the head position and pose information of the target user inside the vehicle can be achieved by periodically scanning the user inside the vehicle using an image acquisition device already installed in the vehicle, such as an in-vehicle camera or in-vehicle camera, after the vehicle has started running. Of course, considering that the driver's position is relatively fixed, the target user here can generally be understood as a passenger. However, including the driver as the target user is also feasible and will not affect the vehicle sound effect control method provided in this embodiment; therefore, it will not be elaborated upon here.

[0065] After periodically scanning the vehicle interior with cameras, and combining this with a facial recognition system, it's possible to further determine the number of passengers, their locations, and especially head pose information. Specifically, head pose information can reflect the location of the user's ears to some extent. For example, based on head pose information and preset physiological parameters of the human head, the location of the user's ears can be estimated and converted into a grid coordinate system within the vehicle space for subsequent calculations.

[0066] Of course, it should be noted that when the vehicle sound effect control method is running in the vehicle's infotainment system, the head pose information obtained by scanning and calculating through the camera can be reported to the vehicle's infotainment system through internal communication for subsequent calculations. However, when the vehicle sound effect control method is running on the platform cloud server, the head pose information is usually collected by the vehicle's infotainment system in the aforementioned way and then uploaded to the platform cloud server through remote communication for subsequent calculations.

[0067] S220, extract the target acoustic transfer function corresponding to the head pose information from a preset acoustic transfer function set based on the head pose information.

[0068] To achieve real-time dynamic sound field zoning of the vehicle space based on changes in the user's head posture information, this embodiment extracts a target acoustic transfer function corresponding to the head posture information from a preset set of acoustic transfer functions. Specifically, this set of acoustic transfer functions typically includes multiple acoustic transfer functions of various sound output devices within the vehicle space. For example, it commonly includes the acoustic transfer functions of each speaker in a speaker array at different coordinates within the vehicle space. Therefore, the target acoustic transfer function at the passenger's ears can be extracted based on the head posture information. This includes the acoustic transfer function of each speaker in the speaker array at that location, describing the sound pressure signal generated when the audio signals output by different speakers reach that location.

[0069] Furthermore, based on the foregoing explanations, head posture information can reflect the location of a user's ears to a certain extent. Therefore, the head posture information can be appropriately processed to obtain more accurate ear position information. For example, as a common and feasible approach, considering that the direction of the ears differs depending on the head posture, i.e., the physiological characteristic parameters of the ears within the head are different, the position information in the head posture information can be corrected based on the physiological characteristic parameters corresponding to the posture information to obtain the ear position information of the target user. This allows for a more accurate extraction of the target acoustic transfer function corresponding to the ear position information from the acoustic transfer function set. In other words, extracting the target acoustic transfer function corresponding to the head posture information from a preset acoustic transfer function set based on the head posture information specifically includes:

[0070] The position information in the head pose information is corrected based on the physiological feature parameters corresponding to the pose information in the head pose information to obtain the ear position information of the target user;

[0071] Based on the ear position information, a target acoustic transfer function corresponding to the ear position information is extracted from a preset set of acoustic transfer functions.

[0072] Of course, it should be noted that the implementation of the above solution relies on multiple acoustic transfer functions of multiple sound output devices within the vehicle space, which have been collected in advance. Therefore, as another feasible embodiment of this application, please refer to... Figure 3a It also provides a flowchart illustrating the steps for pre-constructing a set of acoustic transfer functions, specifically including steps S310 to S330:

[0073] S310, for each sound output device, the sound pressure signal of the sound output device is acquired through the sound input devices of at least two grid spaces within the vehicle space.

[0074] In this embodiment, the vehicle cabin space can be divided into multiple preset grid spaces according to a preset grid space division method. For example, as a common and feasible implementation, the vehicle cabin space area can first be coordinated, and then the coordinate origin can be determined, for example, the center point of the vehicle body can be selected as the coordinate origin of the cabin space area. Then, the vehicle cabin space can be divided into equally spaced grids, where the interval can be dynamically adjusted based on actual needs, thereby recording the coordinates of each grid.

[0075] Furthermore, by configuring sound input devices, such as microphones, in at least two grid spaces within the vehicle space, and then controlling each sound output device, such as each speaker in a speaker array, to sequentially output a preset audio signal, such as a white noise signal, the sound pressure level signal of the sound output device when outputting the preset audio signal can be collected through the sound input devices configured in each grid space. Of course, to reduce interference, it is usually required that the sound signal collection be carried out in a clean and noise-free environment. Therefore, when the vehicle is stationary and there is no engine or road noise, a white noise signal can be output by computer software and played through each speaker. Then, the corresponding sound pressure level signal can be recorded separately by the microphones at each grid.

[0076] S320, Based on the sound pressure signal and the reference audio signal of the sound pressure signal, generate the acoustic transfer function of the sound output device in the grid space.

[0077] Building upon the aforementioned, for each grid space, since the sound pressure signals of the preset audio signals played by different speakers can be collected by the microphones within that grid space, and the microphones can also collect the changing sound pressure signals when the preset audio signals change, then LMS (Least Mean Squares) adaptive filtering calculation can be performed on the sound pressure signals. Thus, based on the sound pressure signals and the reference audio signals of the sound pressure signals, i.e., the preset audio signals played by the aforementioned speakers, the acoustic transfer function of each speaker in the speaker array within that grid space can be obtained, which describes the degree of influence of each speaker on the grid space when outputting different audio signals.

[0078] S330, associating the grid space with its corresponding acoustic transfer function to obtain the preset acoustic transfer function set of the vehicle.

[0079] In this embodiment, in conjunction with the foregoing description, by processing the information collected by the microphones configured in each grid space, the acoustic transfer function between each grid space and different speakers can be obtained. Then, by associating the grid space with its corresponding acoustic transfer function, the final set of acoustic transfer functions for the vehicle can be obtained, which includes the acoustic sensing function of each speaker in each vehicle grid space. For details, please refer to [link to relevant documentation]. Figure 3b , Figure 3b This is a schematic diagram illustrating the effect of a speaker array arrangement in a vehicle cabin and its corresponding acoustic transfer function, provided in an embodiment of this application. It can be seen that the speaker array arrangement will have different acoustic transfer effects on different grid points within the vehicle cabin space. Specifically, the acoustic transfer function can be further determined as to why different speakers have different acoustic transfer effects on different grid points.

[0080] Of course, it should be noted that, for the convenience of subsequent sound effect control, the preset acoustic transfer function set obtained in advance is usually stored in a preset database for later retrieval. For example, it can be stored in the database of the vehicle's infotainment system or in the database of a cloud service platform. However, it should be noted that, since the sound effect control method provided in this application embodiment still relies on a large amount of data computation, the performance requirements of the equipment are high. Due to the limitations of equipment cost, conventional vehicle infotainment systems can usually only meet simple storage and computation requirements, and under normal circumstances, they may not be able to achieve good control of vehicle sound effects. Therefore, as another feasible embodiment of this application, the obtained acoustic transfer function set can usually be uploaded and stored in the database of a service provider, such as the cloud service platform built on the vehicle. Of course, the above description is only one feasible alternative implementation scheme. As technology develops, when vehicle infotainment systems can also meet the high storage and computation performance requirements, storing the preset acoustic transfer function set in the local vehicle infotainment system database is also feasible, and this application embodiment will not elaborate on it here.

[0081] In the aforementioned process of uploading the vehicle's preset acoustic transfer function set to the cloud service platform's database, to enable the cloud service platform to more effectively control vehicle sound effects, as a further implementation of this application, considering that different vehicles have different vehicle parameters or speaker array arrangements, it is generally necessary to associate the vehicle's preset acoustic transfer function set with the vehicle's identification information and store it in a preset database. That is, the step of associating and storing the acoustic transfer functions corresponding to each grid space to obtain the vehicle's preset acoustic transfer function set specifically includes:

[0082] The preset acoustic transfer function set of the vehicle is associated with the vehicle's identification information and stored in a preset database.

[0083] At this point, the preset database, i.e., the database of the cloud service platform, typically stores multiple sets of acoustic transfer functions for different vehicles. To better manage these sets, the acoustic transfer function sets for different vehicles can usually be associated with vehicle identification information, such as license plates or other unique identifiers. Therefore, in the subsequent process of extracting the target acoustic transfer function corresponding to the head posture information from the preset acoustic transfer function set, it is necessary to first obtain the vehicle's identification information in response to the sound field zoning control command for the vehicle, and then obtain the target acoustic transfer function corresponding to that vehicle based on the identification information. This is used for the subsequent extraction of the target acoustic transfer function corresponding to the head posture information. Specifically, before the step of extracting the target acoustic transfer function corresponding to the head posture information from the preset acoustic transfer function set, the following steps are required:

[0084] When responding to a sound field zoning control command for the vehicle, the vehicle's identification information is obtained;

[0085] The preset database is queried to obtain the preset acoustic transfer function set corresponding to the vehicle's identification information.

[0086] Among them, the sound field zoning control command for the vehicle refers to the command input by the user, such as the driver or passenger, to activate the sound field zoning through a preset device, such as the sound field zoning control command input through the human-machine interaction of the vehicle system. Of course, it is also feasible to input the sound field zoning control command in other ways. At this time, the vehicle will upload the identification information and the collected head posture information to the cloud server, so that the cloud server can first determine the target acoustic transfer function set corresponding to the vehicle based on the identification information, and then further combine the head posture information to extract the corresponding target acoustic transfer function.

[0087] S230, determine the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head area of ​​the target user.

[0088] After extracting the target acoustic transfer function related to the user's head posture information, the target acoustic transfer function is processed according to a preset sound field zoning control method. This allows for the control and determination of the filter parameters of each sound output device, i.e., each speaker in the speaker array, such as phase or sound intensity correction parameters. Thus, after the audio signal is output through the sound output device, the filter adjustment can create a specified sound field zoning effect, such as a bright zone or a dark zone, in the target user's head area, i.e., the spatial grid area corresponding to the head posture information.

[0089] Specifically, this involves determining the filter parameters of each sound output device based on the target acoustic transfer function to create a preset sound field zone in the target user's head region. This includes:

[0090] Based on the target user's status information and / or input sound field partitioning instructions, the target sound field partition selected by the target user is determined; the target sound field partition includes at least one of a bright zone and a dark zone;

[0091] The target acoustic transfer function is processed according to a preset sound field zoning control method to obtain filter parameters for each sound output device, so as to form the target sound field zoning in the head region of the target user. The preset sound field zoning control method includes at least one of sound contrast method and sound pressure matching method.

[0092] In this embodiment, the target user's state can be further classified and identified using the user images captured by the aforementioned camera. For example, when the target user is in a resting state, such as when the user's eyes are detected to be closed, it can be assumed that the target user wants to be in a quiet space, and the target sound field partition selected by the target user is determined to be the dark zone. Alternatively, when the target user is in an active state, such as when the user's eyes are detected looking at a mobile phone or other device to watch multimedia resources, the target sound field partition selected by the target user can be determined to be the bright zone. Of course, in addition to the target user's state, the selected target sound field partition can also be determined based on the sound field partition command input by the target user. For example, the user can also select the target sound field partition, such as choosing the bright zone or the dark zone, through a rear-seat in-vehicle infotainment system.

[0093] After the user selects the bright or dark zone, the target acoustic transfer function is processed according to the preset sound field zoning control method to further determine the filter parameters of each sound output device, thereby forming a corresponding target sound field zone in the head area of ​​the target user to ensure user experience.

[0094] Specifically, the preset sound field zoning control method here can adopt the conventional acoustic contrast control (ACC) or pressure matching (PM) method. The acoustic contrast control method aims to maximize the ratio (or difference) of sound energy between the bright and dark areas, while the pressure matching method aims to reconstruct the sound field of the bright area. In specific applications, the filter parameters of each sound output device can be determined based on the target acoustic transfer function according to actual needs. The specific implementation steps of the acoustic contrast control method or the pressure matching method are not described in detail in this embodiment of the application.

[0095] Furthermore, as a further feasible implementation of this application, there may be multiple target users inside the vehicle. For example, when multiple users are included, the aforementioned extraction of target acoustic transfer functions corresponding to the head posture information from a preset acoustic transfer function set based on head posture information also includes multiple functions. That is, when there are multiple target users, multiple target acoustic transfer functions corresponding to the head posture information are extracted from a preset acoustic transfer function set based on head posture information. Each target acoustic transfer function includes at least a first acoustic transfer function and a second acoustic transfer function, where the first and second acoustic transfer functions are the acoustic transfer functions corresponding to the head posture information of different users, respectively. In this case, during the final determination of the filter parameters for the sound output device, it is necessary to first determine the corresponding filter parameters for each acoustic transfer function, and finally weight the filter parameters corresponding to different acoustic transfer functions. For details, please refer to [link to relevant documentation]. Figure 4 , Figure 4 This application provides a flowchart illustrating the steps for processing target acoustic transfer functions corresponding to multiple head pose information to obtain filter parameters. Specifically, it includes steps S410 to S430:

[0096] S410, determine the first filter parameters of each sound output device in the vehicle based on the first target acoustic transfer function.

[0097] S420, determine the second filter parameters of each sound output device in the vehicle based on the second target acoustic transfer function.

[0098] In this embodiment of the application, the specific implementation scheme for determining the filter parameters of the sound output device using the first target acoustic transfer function and the second target acoustic transfer function can be found in the aforementioned implementation content. For example, it can be obtained by processing through the acoustic contrast method or the sound pressure matching method. Of course, in the specific application process, the sound field partitions selected by different users, such as bright areas or dark areas, can also be further considered to determine the filter parameters of the sound output device.

[0099] S430, the first filter parameters and the second filter parameters are weighted according to preset weighting coefficients to obtain the target filter parameters for each of the sound output devices.

[0100] In this embodiment, the acoustic transfer function determined based on the head pose information of different users determines different filter parameters for the sound output device. The first and second filter parameters are further weighted according to preset weighting coefficients to obtain the target filter parameters for the sound output device. This ensures the formation of preset sound field zones in the head regions of different target users, thereby guaranteeing a better user experience. The weighting coefficients can be set based on design requirements or dynamically adjusted to maximize the user experience.

[0101] Of course, the above description assumes that there are multiple target users. In fact, when there is only one target user, that is, only a driver, the number of speakers in the sound field partition can be reduced while ensuring the sound field partitioning effect in the area where the driver's ears are located. This can reduce the power consumption of the speaker array while maintaining the sound field partitioning effect. Specifically, the step of determining the filter parameters of each sound output device according to the target acoustic transfer function to form a preset sound field partition in the head area of ​​the target user includes:

[0102] When the number of target users is a single user, control to shut down part of the sound output devices, and determine the filter parameters of the remaining sound output devices according to the target acoustic transfer function, so as to form a preset sound field partition in the head region of the target user.

[0103] Furthermore, based on the aforementioned application scenarios, it is clear that for different automotive audio signals, the desired sound field zoning effect for the user varies depending on the scenario. For example, prompts such as navigation and turn signals emitted by a speaker array are expected to achieve a bright sound field zoning for the driver and a dark sound field zoning for the passenger. Conversely, multimedia sound effects such as music and video sounds emitted by a speaker array are expected to achieve a dark sound field zoning for the driver and a bright sound field zoning for the passenger. In other words, the filter parameters of the sound output device include a third filter parameter for forming a preset first sound field zoning in the target user's head region and a fourth filter parameter for forming the preset first sound field zoning in the target user's head region. Typically, the third and fourth filter parameters have relative parameters to achieve different sound field zoning in the target user's head region. After forming the preset sound field zoning in the target user's head region, when outputting the target audio through the sound output device, the filter parameters can be dynamically selected based on the audio type of the target audio. For details, please refer to [link to relevant documentation]. Figure 5 , Figure 5 This application provides a flowchart illustrating a process for selecting filter parameters based on audio type to process target audio output from a sound output device, specifically including steps S510 to S520:

[0104] S510, when the target audio is a first type of audio, the target audio output by the sound output device is processed by a filter corresponding to the third filter parameters.

[0105] In this embodiment of the application, the first type of audio is at least one of prompt audio and navigation audio. That is, when the target audio is the first type of audio, that is, when the target audio is prompt audio or navigation audio, the target audio output by the sound output device can be processed by the filter corresponding to the third filter parameter so that the driver user is in the bright area of ​​the sound field partition and the passenger user is in the dark area of ​​the sound field partition, so as to reduce the impact of the prompt or navigation audio on the passenger while ensuring the driver's listening effect.

[0106] S520, when the target audio is a second type of audio, the target audio output by the sound output device is processed by a filter corresponding to the fourth filter parameter.

[0107] In this embodiment of the application, the second type of audio is multimedia audio. That is, when the target audio is the second type of audio, that is, when the target audio is multimedia audio such as music or video audio, the target audio output by the sound output device can be processed by the filter corresponding to the fourth filter parameter so that the driver user is in the dark zone of the sound field partition and the passenger user is in the bright zone of the sound field partition, so as to reduce the impact of the multimedia audio on the driver while ensuring the listening effect of the passenger.

[0108] Furthermore, the aforementioned vehicle sound effect control method can also be used for real-time vehicle sound effect control. Specifically, during the process of forming a preset sound field partition in the target user's head region and outputting audio, it also detects in real-time whether the target user's head posture information has shifted. That is, after determining the filter parameters of each sound output device based on the target acoustic transfer function to form the preset sound field partition in the target user's head region, the vehicle sound effect control method further includes:

[0109] When a change in the head position information of the target user is detected, the filter parameters of each of the sound output devices are adjusted according to the adjusted head position information to form a preset sound field partition in the head region of the target user.

[0110] In this embodiment, the head position information of the target user is detected in real time. When the head position information of the target user changes, the aforementioned steps are re-executed based on the adjusted head position information. For example, the updated target acoustic transfer function corresponding to the adjusted head position information is re-extracted from the acoustic transfer function set. The target acoustic transfer function is then processed again using the sound contrast method or sound pressure matching method to determine the filter parameters of the sound output device, so as to re-form the preset sound field partitioning effect in the adjusted area.

[0111] This application embodiment acquires the head posture information of a target user inside the vehicle and extracts a target acoustic transfer function corresponding to the head posture information from multiple acoustic transfer functions of multiple sound output devices within the vehicle space based on the head posture information. The filter parameters of each sound output device are then determined based on the target acoustic transfer function, thereby achieving the effect of forming a preset sound field partition in the head region of the target user. Through the method provided by this application embodiment, even when the head posture information changes, the acoustic transfer function corresponding to that head posture information can still be extracted. Subsequently, the filter parameters of the sound output devices can be adjusted in real time based on the dynamically changing target acoustic transfer function, achieving the same effect of forming a preset sound field partition in the head region even when the head posture information changes. This improves the control effect of vehicle sound effects and enhances the user experience.

[0112] To better understand the vehicle sound effect control method provided in the embodiments of this application, the following will be combined with the foregoing. Figures 1-5 The document, along with related explanations, provides a complete implementation process for a vehicle sound effect control method, specifically including the following steps:

[0113] 1. Coordinate the vehicle cabin space area and determine the coordinate origin. For example, take the center point of the vehicle body as the coordinate origin of the cabin space area. Then divide the cabin area into equally spaced grids with adjustable intervals. Then install a microphone in each grid and record the coordinates of each grid.

[0114] 2. Acoustic transfer function measurement is performed when the vehicle is stationary and there is no engine or road noise. Specifically, white noise signal is output using calculation software, and then white noise is played through each speaker. The sound pressure signal is recorded by the microphone at each grid in the previous step. Then, the acoustic transfer function of the speaker array in the cabin space is obtained through LMS adaptive calculation.

[0115] 3. Mark the vehicle information, such as vehicle identification number and other identifying information, along with all grid coordinates of the recorded cabin space and all measured acoustic transfer functions of the cabin space, as the sound field partition metadata of the vehicle, and store this metadata in the vehicle network cloud.

[0116] 4. After the vehicle starts running, the in-vehicle camera scans the passengers at regular intervals. The facial recognition system calculates the number of passengers and their locations. As is well known, the location of a passenger's ears can be estimated by combining facial position with physiological parameters of the head. Based on the cabin space grid coordinates recorded in step 1, the passenger's ear position information is converted into cabin space grid coordinates. Then, via remote communication, the passenger's ear coordinates are sent to the vehicle network cloud. The cloud server extracts the acoustic transfer function corresponding to the passenger's ear coordinates from the sound field partition metadata information based on the vehicle information and the passenger's ear coordinates. Then, based on sound field partition control methods, such as sound contrast ratio or sound pressure matching, the acoustic transfer function is used to calculate the loudspeaker filters for the vehicle's sound field partition. Finally, the vehicle network cloud sends the calculated loudspeaker filter parameters to the vehicle's local terminal via remote communication to control the vehicle, thereby achieving adaptive sound field partitioning of the vehicle cabin.

[0117] 5. If the cabin acoustic zoning cannot adapt to changes in passenger seating posture or height variations, the effectiveness of the acoustic zoning will be reduced. In this case, the aforementioned steps will be further executed: when the in-vehicle camera detects changes in passenger information, it will perform binaural localization and upload the data to the vehicle cloud. The vehicle cloud will then extract the changed acoustic transfer function from the vehicle acoustic zoning metadata based on the new binaural coordinates, calculate new speaker filter parameters based on the changed acoustic transfer function, and then download the data to the vehicle's infotainment system. This completes the adaptive adaptation of the cabin acoustic zoning, thereby improving the acoustic quality of the passenger acoustic zoning.

[0118] In addition, by communicating with the vehicle network cloud, the vehicle can adapt the cabin sound field zoning in different locations and at different times.

[0119] Based on the aforementioned vehicle sound effect control method, this application also provides a vehicle sound effect control device. For details, please refer to [link to specific details]. Figure 6 , Figure 6 A schematic diagram of a vehicle sound effect control method provided in this application embodiment includes:

[0120] The acquisition module 610 is used to acquire the head position and posture information of the target user inside the vehicle.

[0121] The extraction module 620 is used to extract the target acoustic transfer function corresponding to the head pose information from a preset acoustic transfer function set based on the head pose information.

[0122] The determining module 630 is used to determine the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head region of the target user.

[0123] As a feasible embodiment of this application, the extraction module is further configured to, for each sound output device, acquire the sound pressure signal of the sound output device through the sound input devices of at least two grid spaces within the vehicle space; generate the acoustic transfer function of the sound output device in the grid space based on the sound pressure signal and the reference audio signal of the sound pressure signal; and associate the grid space with its corresponding acoustic transfer function to obtain a preset acoustic transfer function set for the vehicle.

[0124] As a feasible embodiment of this application, the extraction module is further configured to associate the preset acoustic transfer function set of the vehicle with the vehicle's identification information and store it in a preset database; query the preset database to obtain the preset acoustic transfer function set corresponding to the vehicle's identification information.

[0125] As a feasible embodiment of this application, the extraction module is further configured to correct the position information in the head pose information according to the physiological feature parameters corresponding to the posture information in the head pose information to obtain the ear position information of the target user; and extract the target acoustic transfer function corresponding to the ear position information from a preset acoustic transfer function set according to the ear position information.

[0126] As a feasible embodiment of this application, the determining module is further configured to determine the target sound field partition selected by the target user based on the target user's status information and / or the input sound field partitioning instruction; the target sound field partition includes at least one of a bright area and a dark area; the target acoustic transfer function is processed according to a preset sound field partitioning control method to obtain the filter parameters of each of the sound output devices, so as to form the target sound field partition in the head region of the target user.

[0127] As a feasible embodiment of this application, the extraction module is further configured to, when there are multiple target users, extract multiple target acoustic transfer functions corresponding to the head posture information from a preset acoustic transfer function set based on the head posture information; the target acoustic transfer functions include at least a first acoustic transfer function and a second acoustic transfer function; the determining module is further configured to determine a first filter parameter of each sound output device in the vehicle based on the first target acoustic transfer function, and determine a second filter parameter of each sound output device in the vehicle based on the second target acoustic transfer function; and weight the first filter parameter and the second filter parameter according to a preset weighting coefficient to obtain the target filter parameter of each sound output device.

[0128] As a feasible embodiment of this application, the determining module is further configured to control the shutdown of some of the sound output devices when the number of target users is a single one, and determine the target filter parameters of the remaining sound output devices according to the target acoustic transfer function, so as to form a preset sound field partition in the head region of the target user.

[0129] As a feasible embodiment of this application, the determining module is further configured to process the target audio output by the sound output device through a filter corresponding to the third filter parameter when the target audio is a first type of audio; the first type of audio is at least one of prompt audio and navigation audio; when the target audio is a second type of audio, the target audio output by the sound output device is processed through a filter corresponding to the fourth filter parameter; the second type of audio is multimedia audio.

[0130] As a feasible embodiment of this application, the determining module is further configured to adjust the filter parameters of each of the sound output devices according to the adjusted head position information when the head position information of the target user is detected to change, so as to form a preset sound field partition in the head region of the target user.

[0131] This application embodiment acquires the head posture information of a target user inside a vehicle, and extracts a target acoustic transfer function corresponding to the head posture information from multiple acoustic transfer functions within the vehicle space based on the head posture information. The filter parameters of each sound output device inside the vehicle are then determined based on this target acoustic transfer function, thereby achieving the effect of forming a preset sound field partition in the head region of the target user. Through the method provided by this application embodiment, even when the head posture information changes, the acoustic transfer function corresponding to that head posture information can still be extracted. Subsequently, the filter parameters of the sound output device can be adjusted in real time based on the dynamically changing target acoustic transfer function, so that a preset sound field partition can still be formed in the head region even when the head posture information changes, thereby improving the control effect of vehicle sound effects and enhancing the user experience.

[0132] Figure 7 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) component 704, and a communication component 705. In this embodiment, the electronic device 700 may be a device integrated into a vehicle or installed on a cloud service platform to communicate and interact with the vehicle's infotainment system to implement the vehicle sound effect control method provided in this embodiment.

[0133] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the aforementioned vehicle sound effect control method. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage 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. Multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O component 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0134] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle sound effect control method described above.

[0135] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the above-described vehicle-mounted satellite communication method. For example, the computer-readable storage medium may be the memory 702 including program instructions, which may be executed by the processor 701 of the electronic device 700 to complete the following steps:

[0136] Obtain the head position and pose information of the target user inside the vehicle;

[0137] Based on the head position information, a target acoustic transfer function corresponding to the head position information is extracted from a preset set of acoustic transfer functions; based on the target acoustic transfer function, the filter parameters of each sound output device in the vehicle are determined to form a preset sound field partition in the head region of the target user.

[0138] This application also provides a computer program product storing instructions that, when executed by a computer, cause execution to complete the following steps:

[0139] Obtain the head position and pose information of the target user inside the vehicle;

[0140] Based on the head pose information, the target acoustic transfer function corresponding to the head pose information is extracted from a preset set of acoustic transfer functions;

[0141] The filter parameters of each sound output device in the vehicle are determined based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user.

[0142] This application also provides a vehicle, including a vehicle controller, a processor, and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor performs the following steps:

[0143] Obtain the head position and pose information of the target user inside the vehicle;

[0144] Based on the head pose information, the target acoustic transfer function corresponding to the head pose information is extracted from a preset set of acoustic transfer functions;

[0145] The filter parameters of each sound output device in the vehicle are determined based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user.

[0146] In one embodiment, the vehicle can be configured for fully or partially autonomous driving. For example, the vehicle can control itself while in autonomous driving mode, and can determine the current state of the vehicle and its surrounding environment through human intervention, determine the possible behaviors of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the probability of that other vehicle performing a possible behavior, and control the vehicle based on the determined information. When the vehicle is in autonomous driving mode, it can be configured to operate without human interaction.

[0147] The vehicle may also include various subsystems, such as a driving system, sensor system control system, one or more peripheral devices, as well as power supply, computer system, and user interface. Optionally, the vehicle may include more or fewer subsystems, and each subsystem may include multiple components, such as multiple ECUs (electronic control units, i.e., vehicle computers) per subsystem.

[0148] In addition, each subsystem and component of the vehicle can be interconnected via wired or wireless means.

[0149] A propulsion system may include components that provide powered motion to the vehicle. In one embodiment, the propulsion system may include an engine, an energy source, a transmission, and wheels / tires. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts energy into mechanical energy.

[0150] Examples of energy sources include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy sources can also power other systems in the vehicle.

[0151] A transmission system can transmit mechanical power from an engine to the wheels. The transmission system may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission system may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels.

[0152] A sensor system may include several sensors that sense information about the vehicle's surrounding environment. For example, a sensor system may include a positioning system (which could be GPS, BeiDou, or another positioning system), an inertial measurement unit (IMU), radar, a laser rangefinder, and cameras. The sensor system may also include sensors from the vehicle's internal systems being monitored (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a critical function for the safe operation of autonomous vehicles.

[0153] A positioning system can be used to estimate a vehicle's geographical location. An IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope.

[0154] Radar can use radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or direction of travel of objects.

[0155] A laser rangefinder can use lasers to sense objects in the environment in which a vehicle is located. In some embodiments, a laser rangefinder may include one or more laser sources, a laser scanner, one or more processing modules, and other system components.

[0156] The camera can be used to capture multiple images of the vehicle's surroundings. The camera can be a still camera or a video camera.

[0157] A control system controls the operation of a vehicle and its components. Control systems can include various elements, including steering systems, throttles, braking units, computer vision systems, route control systems, and obstacle avoidance systems.

[0158] The steering system is operable to adjust the vehicle's direction of travel. For example, in one embodiment, it can be a steering wheel system.

[0159] The throttle is used to control the engine's operating speed and, consequently, the vehicle's speed.

[0160] The braking unit is used to control the deceleration of the vehicle. The braking unit uses friction to slow down the wheels.

[0161] In other embodiments, the braking unit can convert the kinetic energy of the wheels into electrical current. The braking unit may also take other forms to slow down the wheel rotation speed, thereby controlling the vehicle speed.

[0162] Computer vision systems can be operated to process and analyze images captured by cameras to identify objects and / or features in the environment surrounding a vehicle. These objects and / or features may include traffic signals, road boundaries, and obstacles. Computer vision systems may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, computer vision systems may be used to map the environment, track objects, estimate object velocities, and so on.

[0163] A route control system is used to determine the driving route of a vehicle. In some embodiments, the route control system may combine data from GPS and one or more predetermined maps to determine the driving route for the vehicle.

[0164] Obstacle avoidance systems are used to identify, assess, and avoid or otherwise traverse potential obstacles in the environment in which a vehicle is located.

[0165] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0166] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0167] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0168] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although the descriptions of each embodiment in this application have different focuses, and the parts not described in detail in a certain embodiment can be referred to the relevant embodiments of other embodiments, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A method for controlling vehicle sound effects, characterized in that, include: Obtain the head position and pose information of the target user inside the vehicle; Based on the head position information, a target acoustic transfer function corresponding to the head position information is extracted from a preset set of acoustic transfer functions; the target acoustic transfer function includes the acoustic transfer functions of multiple sound output devices at the positions corresponding to the head position information; The filter parameters of each sound output device in the vehicle are determined based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user.

2. The method according to claim 1, characterized in that, Before the step of extracting the target acoustic transfer function corresponding to the head pose information from a preset set of acoustic transfer functions based on the head pose information, the method further includes: For each sound output device, the sound pressure signal of the sound output device is collected through the sound input devices of at least two grid spaces within the vehicle space; Based on the sound pressure signal and a reference audio signal of the sound pressure signal, the acoustic transfer function of the sound output device in the grid space is generated; By associating the grid space with its corresponding acoustic transfer function, a preset set of acoustic transfer functions for the vehicle is obtained.

3. The method according to claim 2, characterized in that, The step of associating the grid space with its corresponding acoustic transfer function to obtain the preset acoustic transfer function set of the vehicle includes: The preset acoustic transfer function set of the vehicle is associated with the vehicle's identification information and stored in a preset database.

4. The method according to claim 1, characterized in that, Before extracting the target acoustic transfer function corresponding to the head pose information from the preset acoustic transfer function set, the method includes: Query the preset database to obtain the preset acoustic transfer function set corresponding to the vehicle's identification information.

5. The method according to claim 1, characterized in that, The step of extracting the target acoustic transfer function corresponding to the head pose information from a preset set of acoustic transfer functions based on the head pose information includes: The position information in the head pose information is corrected based on the physiological feature parameters corresponding to the pose information in the head pose information to obtain the ear position information of the target user; Based on the ear position information, a target acoustic transfer function corresponding to the ear position information is extracted from a preset set of acoustic transfer functions.

6. The method according to claim 1, characterized in that, The step of determining the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user includes: Based on the target user's status information and / or input sound field partitioning instructions, the target sound field partition selected by the target user is determined; the target sound field partition includes at least one of a bright zone and a dark zone; The target acoustic transfer function is processed according to a preset sound field zoning control method to obtain the filter parameters of each sound output device in the vehicle, so as to form the target sound field zoning in the head region of the target user.

7. The method according to claim 6, characterized in that, The preset sound field zoning control method includes at least one of the sound contrast method and the sound pressure matching method.

8. The method according to claim 1, characterized in that, The step of extracting the target acoustic transfer function corresponding to the head pose information from a preset set of acoustic transfer functions based on the head pose information further includes: When there are multiple target users, multiple target acoustic transfer functions corresponding to the head pose information are extracted from a preset acoustic transfer function set based on the head pose information; the target acoustic transfer functions include at least a first acoustic transfer function and a second acoustic transfer function; Determining the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function includes: The first filter parameters of each sound output device in the vehicle are determined according to the first acoustic transfer function, and the second filter parameters of each sound output device in the vehicle are determined according to the second acoustic transfer function. The first filter parameter and the second filter parameter are weighted according to preset weighting coefficients to obtain the target filter parameters for each sound output device.

9. The method according to claim 1, characterized in that, The method further includes: When the number of target users is a single user, control to shut down part of the sound output devices and determine the target filter parameters of the remaining sound output devices to form a sound field partition in the head region of the target user.

10. The method according to claim 1, characterized in that, The filter parameters of the sound output device include a third filter parameter that forms a preset first sound field partition in the head region of the target user and a fourth filter parameter that forms a preset second sound field partition in the head region of the target user. After the step of determining the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user, the method further includes: When the target audio is of the first type, the target audio output by the sound output device is processed by a filter corresponding to the third filter parameters; the first type of audio is at least one of prompt audio and navigation audio. When the target audio is of the second type, the target audio output by the sound output device is processed by a filter corresponding to the fourth filter parameter; the second type of audio is at least one of multimedia audio.

11. The method according to any one of claims 1 to 10, characterized in that, After the step of determining the filter parameters of each sound output device in the vehicle based on the target acoustic transfer function to form a preset sound field partition in the head region of the target user, the method further includes: If a change in the head position information of the target user is detected, the filter parameters of each sound output device in the vehicle are adjusted according to the adjusted head position information.

12. A vehicle sound effect control device, characterized in that, include: The acquisition module is used to acquire the head position and pose information of the target user inside the vehicle; An extraction module is used to determine a target acoustic transfer function corresponding to the head posture information from a preset set of acoustic transfer functions based on the head posture information; the target acoustic transfer function includes the acoustic transfer functions of multiple sound output devices at the positions corresponding to the head posture information; The determination module is used to determine the filter parameters of each sound output device in the vehicle according to the target acoustic transfer function, so as to form a preset sound field partition in the head region of the target user.

13. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program; the processor is configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 11.

14. A computer storage medium, characterized in that, The computer storage medium stores instructions that, when executed by the computer, cause the computer to perform the method according to any one of claims 1 to 11.

15. A computer program product, characterized in that, The computer program product stores instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 11.

16. A vehicle, characterized in that, The system includes a vehicle controller, a processor, and a memory, the memory storing a computer program; when the computer program is executed by the processor, the processor causes the processor to perform the method according to any one of claims 1 to 11.

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