AVAS sound playback control methods, equipment, software products and media

Abstract

This invention discloses an AVAS sound playback control method, device, program product, and medium, comprising: acquiring the current volume of the audio to be processed in the current adjustment count and acquiring the target volume of the audio to be processed to be played; determining the current volume error corresponding to the current adjustment count based on the current volume and the target volume in the current adjustment count; acquiring the current proportional gain, wherein the current proportional gain is used to adjust the contribution coefficient of the current volume error in the current adjustment count to the volume adjustment amplitude in the current adjustment count; determining the current adjustment amplitude in the current adjustment count based on the current volume error and the current proportional gain in the current adjustment count; determining the adjusted volume according to the current volume and the current adjustment amplitude in the current adjustment count, updating the adjusted volume to the current volume of the next adjustment count in the current adjustment count, and continuing to determine the current adjustment amplitude of the next adjustment count in the current adjustment count until the adjusted volume reaches the target volume.

Description

Technical Field

[0001] This invention relates to the field of audio control technology, and in particular to an Acoustic Vehicle Alerting System (AVAS) sound playback control method, an AVAS sound playback control method based on multiple audio channels, an AVAS sound playback control device, an autonomous mobile device, a computer program product, and a non-volatile computer storage medium. Background Technology

[0002] With the increasing popularity of new energy vehicles (pure electric and hybrid vehicles), the operating noise of these vehicles at low speeds is significantly lower than that of traditional fuel vehicles, which can easily pose a safety hazard to pedestrians. Therefore, domestic and international regulations and standards have been introduced, requiring new energy vehicles to be equipped with low-speed driving warning systems that actively play warning sounds at low speeds to alert pedestrians. Existing AVAS (Automatic Audio System) sound playback control solutions mostly use a fixed-step adjustment method for volume control. The system pre-sets a fixed volume adjustment step size and adjustment cycle. When the volume needs to transition from the current value to the target value, it increases or decreases step by step according to this fixed step size until the target volume is reached. However, fixed-step adjustment does not consider factors such as the rate of change of vehicle speed, the current volume level, and environmental noise. When operating conditions change drastically, problems such as volume adjustment lag, obvious stepped sounds, and insufficient smoothness can easily occur, making it difficult to balance the warning effect and acoustic quality in different scenarios. Summary of the Invention

[0003] To address the existing technical problems, this invention provides an AVAS sound playback control method, an AVAS sound playback control method based on multiple audio channels, an AVAS sound playback control device, an autonomous mobile device, a computer program product, and a non-volatile computer storage medium. This reduces the problems of stepped jumps and abrupt adjustments caused by fixed step sizes, resulting in smoother and more continuous volume transitions and more accurate and stable approach to the target volume.

[0004] In a first aspect, an AVAS sound playback control method is provided, comprising: acquiring the current volume of an audio to be processed in the current adjustment count and acquiring a target volume for playing the audio to be processed; determining a current volume error corresponding to the current adjustment count based on the current volume of the current adjustment count and the target volume; acquiring a current proportional gain, wherein the current proportional gain is used to adjust the contribution coefficient of the current volume error of the current adjustment count to the volume adjustment amplitude in the current adjustment count; determining the current adjustment amplitude of the current adjustment count based on the current volume error of the current adjustment count and the current proportional gain; determining the adjusted volume according to the current volume of the current adjustment count and the current adjustment amplitude of the current adjustment count; updating the adjusted volume to the current volume of the next adjustment count of the current adjustment count; and continuing to determine the current adjustment amplitude of the next adjustment count based on the current volume of the next adjustment count and the target volume, until the adjusted volume reaches the target volume.

[0005] Secondly, a multi-audio-channel-based AVAS sound playback control method is provided, applied in an AVAS sound playback control device, wherein the AVAS sound playback control device is installed in an autonomous mobile device to provide sound warning information. The method includes: acquiring current status data of the autonomous mobile device; determining digital audio data corresponding to the current status data based on the current status data, and generating multiple audio signals based on the digital audio data; outputting multiple audio signals through multiple signal channels of a digital audio interface connected to a processor in the AVAS sound playback control device, wherein each signal channel is independent of the others; and controlling the playback of each audio signal through its corresponding audio output channel, wherein the volume control of each audio signal is based on the AVAS sound playback control method provided in the first aspect of this application.

[0006] Thirdly, an AVAS sound playback control device is provided, comprising: a processor, a digital-to-analog converter connected to the processor via a digital audio interface, and a power amplifier connected to the digital-to-analog converter, wherein the power amplifier has multiple audio output channels, and each audio output channel is connected to its respective audio playback component;

[0007] The processor is used to acquire the current status data of the autonomous mobile device, determine the corresponding digital audio data based on the current status data, and generate multiple audio signals based on the digital audio data.

[0008] The digital audio interface has multiple signal channels and outputs multiple audio signals to the digital-to-analog converter, where each signal channel is independent of the others.

[0009] A digital-to-analog converter is used to convert various audio signals into analog signals corresponding to each audio signal.

[0010] The power amplifier uses the audio output channels corresponding to each audio signal to perform power amplification processing on each audio signal to obtain the amplified analog signal corresponding to each audio signal;

[0011] The power amplifier drives the sound playback component connected to the audio output channel corresponding to each audio signal to play the amplified analog signal corresponding to each audio signal, and the processor controls the volume corresponding to each audio signal based on the AVAS sound playback control method provided in the first aspect of this application.

[0012] Fourthly, an AVAS sound playback control device is provided, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to execute the AVAS sound playback control method provided in the first aspect and / or the AVAS sound playback control method based on multiple audio channels provided in the second aspect.

[0013] Fifthly, an autonomous mobile device is provided, including the AVAS sound playback control device provided in the third or fourth aspect.

[0014] Sixthly, a computer program product includes a computer program that is executed by a processor as any of the AVAS sound playback control methods of the first aspect and / or the AVAS sound playback control method based on multiple audio channels provided in the second aspect.

[0015] A seventh aspect is a non-volatile computer storage medium comprising a computer program, storing the computer program, wherein when the computer program is executed by a processor, the processor performs the AVAS sound playback control method of any one of the first aspects and / or the AVAS sound playback control method based on multiple audio channels provided in the second aspect.

[0016] This application dynamically determines the adjustment range based on the error between the current volume and the target volume, making volume changes more closely match actual needs and avoiding abrupt, step-like changes. By weighting the current volume error with a proportional gain, the speed of volume approach can be flexibly controlled. Compared with existing fixed-step adjustments, this application calculates the error between the current volume and the target volume in real time during each adjustment process and dynamically determines the adjustment range in each process based on the proportional gain. This allows the volume adjustment process to adapt to the magnitude of the error, reducing the abrupt, step-like changes and harsh adjustments caused by fixed-step adjustments. The volume transition is smoother and more continuous, and the approach to the target volume is more accurate and stable, while also improving the acoustic quality of the AVAS warning sound and the driving experience. Attached Figure Description

[0017] Figure 1 This is a schematic block diagram of the AVAS sound playback control device in one embodiment;

[0018] Figure 2 This is a flowchart of an AVAS sound playback control method in one embodiment;

[0019] Figure 3 This is a schematic diagram of the structure of the AVAS sound playback control device in another embodiment;

[0020] Figure 4 This is a schematic diagram of the structure of the AVAS sound playback control device in another embodiment;

[0021] Figure 5 This is a flowchart of an AVAS sound playback control method based on multiple audio channels in one embodiment;

[0022] Figure 6 This is a schematic diagram of the processing tasks of the AVAS sound playback control method in one embodiment;

[0023] Figure 7 This is a flowchart of an AVAS sound playback control method based on multiple audio channels in another embodiment;

[0024] Figure 8 This is a schematic diagram of an AVAS sound playback control device in one embodiment;

[0025] Figure 9 This is a schematic diagram of an AVAS sound playback control device based on multiple audio channels in one embodiment. Detailed Implementation

[0026] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] In the following description, the expression “some embodiments” refers to a subset of all possible embodiments. However, it should be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0029] See Figure 1This is a schematic block diagram of an AVAS audio playback control device in one embodiment. The AVAS audio playback control method is applied in the AVAS audio playback control device 10. The AVAS audio playback control device 10 is installed in an autonomous mobile device. The AVAS audio playback control device 10 includes a processor 13, a memory 11 and a communication component 12 connected to the processor 13, a digital-to-analog converter 14 (DAC) connected to the processor 13, and a power amplifier 15 connected to the DAC 14. The power amplifier 15 has an audio output channel, and an audio playback component 16 is connected to the audio output channel.

[0030] The autonomous mobile devices include, but are not limited to, at least one of the following: vehicle equipment, robots, aircraft, autonomous bicycles, etc. The digital audio interface can be an Inter-Integrated Circuit (I2S) or a PCM-based audio interface. The audio playback component 16 is a speaker. The number of speakers matches the number of audio output channels and can be arranged according to the acoustic requirements of the autonomous mobile device.

[0031] Communication component 12 is used to establish a communication connection with the controller of the autonomous mobile device and to receive the current status data of the autonomous mobile device, including at least one of the following: driving speed, gear status, and turn signal status. Processor 13 is used to execute the AVAS sound playback control method provided in this embodiment. Digital-to-analog converter 14 is used to convert the audio digital signal output by processor 13 into an analog signal. Power amplifier 15 is used to amplify the analog signal and output it to audio playback component 16 through an audio output channel. Audio playback component 16 is used to play the amplified analog signal.

[0032] like Figure 2 As shown, Figure 2 This is a flowchart of an AVAS sound playback control method in one embodiment. The AVAS sound playback control method is applied in an AVAS sound playback control device and includes the following steps:

[0033] S10. Obtain the current volume of the audio to be processed in the current adjustment count and obtain the target volume of the audio to be processed to be played.

[0034] In this embodiment, the target volume represents the desired volume level for the audio adjustment. Generally, during audio volume adjustment, multiple adjustments are needed to smoothly transition the sound to the target volume. The current volume represents the volume of the audio to be processed in the current adjustment count. The current volume corresponding to the current adjustment count is the adjusted volume corresponding to the previous adjustment count. For example, if the initial volume is 1 unit and the target volume is 10 units, the current volume in the first adjustment count is the initial volume. The adjusted volume after the first adjustment count is the current volume corresponding to the second adjustment count.

[0035] S11. Based on the current volume and target volume of the current adjustment count, determine the current volume error corresponding to the current adjustment count.

[0036] In this embodiment, the current volume error represents the error between the current volume and the target volume corresponding to the current adjustment number. This current volume error needs to be calculated for each adjustment, and is used to subsequently calculate the current adjustment range for the current adjustment number. The current volume error represents the difference between the current volume and the target volume.

[0037] S12, Get the current proportional gain.

[0038] In this embodiment, the current proportional gain is used to adjust the contribution coefficient of the current volume error in the current adjustment count to the volume adjustment amplitude in the current adjustment count. By weighting the current volume error with the proportional gain, the volume approach speed can be flexibly controlled. A larger error results in a larger adjustment amplitude and a faster approach speed, while a smaller error results in a smaller adjustment amplitude and a smoother approach. In this way, the current volume error is dynamically adjusted in each adjustment process. Compared with a fixed step size, this application can achieve a smoother overall transition and reduce abruptness.

[0039] S13. Based on the current volume error and current proportional gain of the current adjustment number, determine the current adjustment amplitude of the current adjustment number.

[0040] In this embodiment, since the current volume error and the current proportional gain need to be dynamically calculated in each adjustment process, the current adjustment range can be dynamically determined in each adjustment process.

[0041] S14. Based on the current volume and the current adjustment range of the current adjustment number, determine the adjusted volume, update the adjusted volume to the current volume of the next adjustment number, and based on the current volume of the next adjustment number and the target volume, continue to determine the current adjustment range of the next adjustment number until the adjusted volume reaches the target volume.

[0042] In this embodiment, the adjusted volume refers to the volume obtained by adjusting the current volume based on the current adjustment range. If the absolute value of the difference between the adjusted volume and the target volume is greater than a preset threshold, it indicates that the adjusted volume has not reached the target volume and further adjustment is needed. The preset threshold can be flexibly set according to actual hardware precision and acoustic requirements; for example, it can be 0 or a number very close to 0. The adjusted volume is equal to the current volume plus the current adjustment range. A negative current adjustment range indicates a decrease in the current volume to the target volume. A positive current adjustment range indicates an increase in the current volume to the target volume.

[0043] First, the current volume of the audio to be processed in the current adjustment count, and the target volume at which the audio is expected to play, are obtained. By comparing the current volume with the target volume, the volume error corresponding to the current adjustment count is determined. This volume error reflects the difference between the current volume and the target volume. Next, the current proportional gain is obtained. This proportional gain is used to adjust the contribution coefficient of the current volume error to the volume adjustment amplitude. By adjusting the proportional gain, the rate and smoothness of the volume approaching the target volume can be flexibly controlled. Based on the current volume error and the current proportional gain, the adjustment amplitude corresponding to the current adjustment count is determined, so that the adjustment amplitude dynamically changes with the magnitude of the volume error. Subsequently, the adjusted volume is calculated based on the current volume and the current adjustment amplitude, and this adjusted volume is updated as the current volume for the next adjustment count. The above steps are repeated, and based on the updated current volume and target volume, the adjustment amplitude for the next adjustment count is determined, iteratively adjusting until the adjusted volume reaches the target volume, completing the entire smooth volume adjustment process.

[0044] In the above embodiments, this application dynamically determines the adjustment range based on the error between the current volume and the target volume, making the volume change more closely match actual needs and avoiding step-like jumps. By weighting the current volume error with a proportional gain, the speed of volume approach can be flexibly controlled. Compared with existing fixed-step adjustment, this application calculates the error between the current volume and the target volume in real time during each adjustment process and dynamically determines the adjustment range in each adjustment process in combination with the proportional gain. This makes the volume adjustment process adaptively change with the magnitude of the error, reducing the step-like jumps and abrupt adjustments caused by fixed step sizes. The volume transition is smoother and more continuous, and the approach to the target volume is more accurate and stable, while improving the acoustic quality of the AVAS warning sound and the driving experience.

[0045] In some embodiments, determining the current adjustment amplitude for the current adjustment cycle based on the current volume error and the current proportional gain for the current adjustment cycle includes:

[0046] The product of the current volume error of the current adjustment count and the current proportional gain of the current adjustment count is determined as the current adjustment amplitude of the current adjustment count.

[0047] Obtain the sum of the previous volume error from the previous adjustment count and the current integral proportional gain. Based on the sum of the previous volume error and the current volume error of the current adjustment count, determine the sum of the current volume error of the current adjustment count. Based on the current volume error, the current proportional gain, the sum of the current volume error, and the current integral proportional gain of the current adjustment count, determine the current adjustment amplitude of the current adjustment count.

[0048] In some embodiments, the product of the current volume error and the current proportional gain can be directly used as the current adjustment amplitude. The product of the current volume error and the current proportional gain reflects the instantaneous deviation between the current volume and the target volume. The larger the error between the current volume and the target volume, the larger the product of the current volume error and the current proportional gain; the smaller the error between the current volume and the target volume, the smaller the product of the current volume error and the current proportional gain, resulting in a smoother adjustment. The function of the product of the current volume error and the current proportional gain is to provide a fast response, allowing the current volume to quickly approach the target volume, thus solving the problems of volume adjustment lag and slow response. The product of the current volume error and the current proportional gain is used to quickly respond to the deviation between the current volume and the target volume; the larger the deviation, the stronger the adjustment effect, enabling the current volume to quickly approach the target volume and improving the response speed of volume adjustment.

[0049] In some embodiments, determining the current adjustment amplitude for the current adjustment count based on the current volume error, the current proportional gain, and the current volume error and current proportional gain based on the current adjustment count includes:

[0050] The product of the current volume error of the current adjustment count and the current proportional gain is determined as the current first volume adjustment value of the current adjustment count.

[0051] The sum of the current volume error for the current number of adjustments and the product of the current integral proportional gain are used to determine the current second volume adjustment value for the current number of adjustments.

[0052] The sum of the current first volume adjustment value and the current second volume adjustment value of the current adjustment count is determined as the current adjustment range of the current adjustment count.

[0053] The current volume error sum represents the total sum of volume errors accumulated from the start of the adjustment to the current adjustment. The current integral proportional gain is a coefficient used to control the strength of the influence of the current volume error sum on the final adjustment amount. Current adjustment amplitude = current first volume adjustment value + current second volume adjustment value. The core function of the current second volume adjustment value is to eliminate steady-state error, ensuring the volume reaches the target volume accurately and stably, reducing residual deviation. The current volume error sum is the cumulative value of instantaneous errors during each volume adjustment, reflecting the long-term deviation of the volume relative to the target volume. The current integral proportional gain is a preset coefficient used to control the degree of influence of the current volume error sum on the current adjustment amplitude. Calculating the current adjustment amplitude using the current second volume adjustment value can reduce oscillations or inaccurate convergence of the current volume near the target volume when the current volume approaches the target volume, ensuring the volume ultimately reaches the target value stably, improving the stability and control accuracy of AVAS warning tone volume adjustment.

[0054] Optionally, obtaining the current scaling gain includes:

[0055] Obtain the previous error from the last adjustment; calculate the error rate of change based on the current volume error and the previous error from the current adjustment; determine the current proportional gain based on the current volume error and the error rate of change from the current adjustment; or

[0056] Obtaining the current proportional gain includes: determining the current proportional gain and the current integral proportional gain based on the current volume error and error change rate of the current adjustment count.

[0057] In this embodiment, the previous error represents the error between the current volume and the target volume in the previous adjustment cycle. The error change rate represents the difference between the current volume error and the previous error. Optionally, the current proportional gain or the current integral proportional gain can be determined according to a pre-configured mapping relationship. In this mapping relationship, the current volume error and the error change rate are independent variables, and the current proportional gain or the current integral proportional gain is the dependent variable. This mapping relationship can be a formula calculated based on historical data, or a mapping table configured based on historical data, etc. Wherein, the larger the current volume error, the farther the current volume is from the target volume; here, the current proportional gain is increased to quickly approach the target volume. When the current volume error is small, it means the current volume is close to the target volume; therefore, the current proportional gain is decreased to prevent oscillation. That is, the larger the current volume error, the larger the current proportional gain; the smaller the current volume error, the smaller the current proportional gain. When the current volume error is close to 0, the current integral proportional gain is increased to eliminate steady-state error; when the current volume error changes rapidly, the current integral proportional gain is decreased to prevent integral overshoot. That is, the closer the current integral proportional gain is to 0, the larger the current integral proportional gain.

[0058] In the above embodiments, the adjustment range is determined by the current volume error and the current proportional gain. The control logic is simple, the computational load is small, and it can quickly respond to volume deviations, achieving rapid volume tracking. It is suitable for scenarios with high real-time control requirements and limited hardware resources. The second method introduces the cumulative sum of volume errors and the integral proportional gain on the basis of proportional adjustment. By accumulating and correcting historical errors, it effectively compensates for the static errors existing in pure proportional adjustment, enabling the current volume to converge to the target volume more accurately and stably, reducing the volume from hovering around the target value or always having a slight deviation. The previous volume error and the current proportional gain ensure the adjustment response speed, while the current volume error cumulative sum and the current integral proportional gain improve the steady-state accuracy of adjustment. The combination of the two makes the volume adjustment process both fast and smooth, with a smoother and more natural transition.

[0059] In some embodiments, the audio to be processed includes at least one of the following: audio to be adjusted with volume smoothing during speed change of the autonomous mobile device, audio to be played as indicated by an audio switching instruction, and current audio that is being played and requires volume adjustment.

[0060] In this embodiment, the AVAS sound playback control method provided in this application can dynamically adjust the volume of the audio to be processed, enabling a fade-in or fade-out process. Precise control of volume changes is achieved through feedback adjustment, ensuring a smooth and continuous audio switching process. During speed change, the audio to be adjusted represents the currently playing audio. The audio to be played represents the prompt audio data corresponding to the current target operating condition, i.e., the prompt audio data that needs to be played. The current audio represents the audio that is currently playing.

[0061] In some embodiments, obtaining the target volume of the audio to be processed for playback includes:

[0062] Get the target volume configured via the volume configuration control, or

[0063] Get the current vehicle speed, and determine the target volume corresponding to the current vehicle speed based on the vehicle speed-volume mapping relationship.

[0064] In this embodiment, the target volume can be configured through a user interface, which can be a voice interface, a user interface, etc. When the volume adjustment process involves adjusting the volume of the audio to be adjusted during speed changes, the target volume is the volume corresponding to the current vehicle speed of the autonomous mobile device. This can be determined through a speed-volume mapping relationship. This mapping relationship can be a formula or a table, for example, one vehicle speed corresponding to one volume level.

[0065] By acquiring the current vehicle speed and determining the corresponding target volume based on the preset vehicle speed-volume mapping relationship, the AVAS warning sound volume can be matched with the vehicle's driving status in real time. The higher the vehicle speed, the louder the warning sound, and the lower the vehicle speed, the lower the volume. This satisfies the pedestrian safety warning requirements while avoiding the problems of excessively loud volume causing noise pollution or excessively low volume causing insufficient warning.

[0066] Building upon this foundation, the current proportional gain can be adaptively determined based on the current volume error and its rate of change, or simultaneously, the current proportional gain and the current integral proportional gain can be adaptively determined. This allows the volume adjustment strategy to be dynamically optimized according to operating conditions. When the vehicle speed changes rapidly and the volume deviation is large, the current proportional gain is adaptively increased to improve the adjustment response speed and ensure that the volume quickly follows the target volume. When the vehicle speed tends to stabilize and the volume approaches the target value, the current proportional gain is adaptively decreased to reduce the adjustment amplitude and reduce volume overshoot. Alternatively, the current integral proportional gain can be increased to ensure precise matching between the volume and vehicle speed.

[0067] In the above embodiments, compared with the traditional adjustment method with fixed gain and fixed step size, this method can simultaneously take into account the response speed and smoothness of volume adjustment under different vehicle speed change scenarios, achieve a smoother and more natural volume fade-in and fade-out effect, and improve the overall acoustic quality and driving experience of the AVAS system.

[0068] Existing AVAS audio control technologies are mostly derived from mature solutions from traditional OEMs or audio system suppliers, and their main shortcomings are as follows:

[0069] 1. Limited Functionality: Existing systems primarily provide audio prompts for forward and reverse driving, lacking audible alerts for steering, such as right turns. Even when some solutions incorporate steering prompts, limitations in the audio architecture restrict the playback to only one audio source at a time, preventing the parallel or independent playback of steering prompts and forward / reverse prompts.

[0070] 2. Poor audio playback flexibility: Existing systems typically rely on a single audio channel or a single speaker, making it impossible to play multiple sounds simultaneously or provide directional cues, resulting in limited cues.

[0071] 3. Unsmooth audio switching: Audio switching between different operating conditions is usually a direct switch, lacking volume transition mechanisms such as gradual in and out, which can easily produce abrupt sound changes and affect listening comfort and effectiveness.

[0072] 4. Inadequate response to changes in vehicle speed: Traditional solutions are prone to sudden changes or loss of sound when the vehicle speed changes abruptly, especially when the vehicle speed changes rapidly, the sound playback may be discontinuous, affecting the clarity of the prompts.

[0073] 5. Audio stream processing issues: Breakpoints or popping sounds often occur during audio stream processing. This is usually caused by unsmooth audio switching or untimely processing of the audio buffer, resulting in unnatural interruptions or abrupt sound effects during playback.

[0074] To address the shortcomings of the prior art, this application provides an AVAS sound playback control method based on multiple audio channels in at least one embodiment.

[0075] like Figure 3 The diagram shown is a structural block diagram of an AVAS audio playback control device in another embodiment. The AVAS audio playback control device 10 includes a processor 13, a memory 11 and a communication component 12 connected to the processor 13, a digital-to-analog converter 14 connected to the processor 13 via a digital audio interface with multiple signal channels, and a power amplifier 15 connected to the digital-to-analog converter 14. The power amplifier 15 has multiple audio output channels, each connected to a different audio playback component 16.

[0076] Communication component 12 establishes a communication connection with the controller of the autonomous mobile device and receives current status data of the autonomous mobile device, including at least one of the following: driving speed, gear status, and turn signal status. The parsed current status data is transmitted to processor 13. Processor 13 identifies vehicle operating conditions based on the received current status data, at least identifying forward / reverse and turning operating conditions, where turning includes at least one of the following: left turn and right turn. When the operating condition changes, corresponding audio playback control commands are generated; based on the audio playback control commands, prompt audio data corresponding to various operating conditions is read from locally stored audio data, and multiple audio signals are generated. Processor 13 outputs audio signals from each signal channel through the various signal channels of the digital audio interface. Each signal channel is independent and does not interfere with the others.

[0077] Each audio signal is input to a digital-to-analog converter 14, which converts it into an analog signal. After conversion by the converter 14, each audio signal is assigned to its own independent audio output channel and input to a power amplifier 15. The power amplifier 15 amplifies each analog signal to obtain an amplified analog signal corresponding to each audio signal, and outputs the amplified analog signal through its respective audio output channel. The power amplifier 15 drives the sound playback component 16 connected to the audio output channel corresponding to each audio signal to play the amplified analog signal.

[0078] See Figure 4This is a schematic block diagram of the AVAS audio playback control device in another embodiment. The AVAS audio playback control device 10 also includes a power module 17, which provides operating power to the communication component 12, processor 13, digital-to-analog converter 14, and power amplifier 15, and performs voltage regulation, filtering, and protection processing on the power supply of the autonomous mobile device to ensure stable operation of the AVAS audio playback control device in the working environment of the autonomous mobile device. The communication component 12 can be a Controller Area Network (CAN) transceiver. The input and output pins of the communication component 12 are connected to the CAN bus of the autonomous mobile device to obtain the current status data of the autonomous mobile device in real time through the CAN bus.

[0079] like Figure 4 In this circuit, processor 13 is connected to digital-to-analog converter 14 via I2C. The I2C communication interface includes two signal channels: a serial data channel and a serial clock channel. These two signal channels provide two audio signals respectively. For example, the first signal channel is used for outputting forward or reverse prompt audio, and the second signal channel is used for outputting turn prompt audio. At least two independent audio signals are simultaneously output based on the digital audio interface. The first signal channel is used to transmit the first audio signal, which is generated based on the forward or reverse prompt audio. The second audio signal is generated based on the turn prompt audio. After the first audio signal is converted by digital-to-analog converter 14, an analog signal corresponding to the first audio signal is obtained. This analog signal is then amplified by the first audio output channel of power amplifier 15 to obtain the amplified analog signal corresponding to the first audio signal. Finally, power amplifier 15 drives the first sound playback component connected to the first audio output channel to play the amplified analog signal corresponding to the first audio signal. The second audio signal is converted by the digital-to-analog converter 14 to obtain the corresponding analog signal. This analog signal then passes through the second audio output channel of the power amplifier 15, undergoes power amplification, and yields the amplified analog signal. Finally, the power amplifier 15 drives the second sound playback component connected to the second audio output channel to play the amplified analog signal. This allows for the synchronized playback of vehicle forward / reverse alert sounds and vehicle turn signal sounds, achieving independent and parallel output of low-speed alert sounds under multiple operating conditions without the need for an additional independent audio device. This also allows for independent control of the forward / reverse alert sounds and turn signal sounds, integrating two independent systems into one, greatly simplifying hardware configuration, reducing costs, and improving system stability and scalability.

[0080] It should be noted that low-speed warning sounds include forward and reverse warning sounds to meet the acoustic warning requirements for low-speed vehicle operation, and turn warning sounds to meet the safety requirements for vehicle turning. The functions and technical requirements of the forward and reverse warning sounds comply with the relevant provisions of the People's Republic of China National Standard GB / T37153, while the functions and technical requirements of the turn warning sounds comply with the relevant provisions of GB / T38694. The specific acoustic parameters and generation rules of the above warning sounds can utilize existing technologies and will not be elaborated upon here.

[0081] Understandably, similar digital audio channel technologies can be used to achieve this. Besides existing audio channel solutions, other digital audio channels, such as I2S and PCM, can also be used to simultaneously process forward, reverse, and turn prompts. By optimizing the selection and processing of audio channels, parallel playback of audio prompts can be achieved, meeting the audio needs of different operating conditions while maintaining flexibility and high quality in audio playback.

[0082] Please see Figure 5 This is a flowchart illustrating an AVAS sound playback control method based on multiple audio channels according to an embodiment of this application. The AVAS sound playback control method based on multiple audio channels is applied to an AVAS sound playback control device and includes the following steps:

[0083] S51. Obtain the current status data of the autonomous mobile device.

[0084] In this embodiment, the current state data of the autonomous mobile device during its movement is acquired through a communication unit. The current state data represents the current operating state of the autonomous mobile device. The current state data includes at least one of the following: driving speed, gear status, and turn signal status. By comparing the current state data with the state data of the previous frame, it is possible to determine whether the operating condition of the autonomous mobile device has changed. For example, whether it has changed from a stationary state to a forward state, from a forward state to a reverse state, etc., or from a stationary state to a forward state and a turning state, etc.

[0085] S52. Based on the current state data, determine the digital audio data corresponding to the current state data, and generate multiple audio signals based on the digital audio data.

[0086] In this embodiment, the operating condition state in the current state data that changes is the current target operating condition, which may be one or more. The digital audio data corresponding to the current state data may include one or more prompt audio data corresponding to the current target operating condition. For example, changing from a stationary operating condition to a forward operating condition and a right-turn operating condition, etc. At this time, there are two current target operating conditions, namely a forward operating condition and a right-turn operating condition. When there are multiple current target operating conditions, this application can simultaneously output the prompt audio data corresponding to these multiple operating conditions. For example, changing from a forward operating condition to a reverse operating condition, the reverse operating condition is the current target operating condition.

[0087] S53. Through the multiple signal channels of the digital audio interface connected to the processor in the AVAS sound playback control device, multiple audio signals are output, wherein each signal channel is independent of the other.

[0088] In this embodiment, the digital audio interface has multiple signal channels. The processor sends multiple audio data streams to their respective signal channels of the digital audio interface, and outputs multiple audio signals synchronously through these channels. Each signal channel is independent of the others, their signal transmission paths are isolated, and data processing and timing control do not affect each other. This enables independent output and parallel transmission of multiple audio signals, avoiding interference, crosstalk, or timing discrepancies between the audio signals and ensuring the stability and reliability of different prompt tone outputs.

[0089] S54. Control the playback of each audio signal through its corresponding audio output channel.

[0090] In this embodiment, the audio output channel of the power amplifier refers to an independent signal path within the power amplifier used to receive, amplify, and output a single analog audio signal. Each audio output channel is independent of the others; signal amplification, power driving, and output timing do not interfere with each other, and each can drive its corresponding audio playback component (such as a speaker), thereby achieving independent, synchronous, and crosstalk-free playback of multiple prompt tones. The volume control of each audio signal is based on the AVAS sound playback control method provided in this application embodiment.

[0091] For example, the first signal channel is used for outputting forward or reverse alert audio, and the second signal channel is used for outputting turn alert audio. The processor in the AVAS sound playback control device provided in this application processes the two types of audio data independently. The processor has two independent task branches. The first task branch processes the first type of audio data, i.e., forward / reverse alert audio; the second task branch processes the second type of audio data, i.e., turn alert audio. For the first task branch, different alert audio data is selected according to the current target operating condition. When both types of alert audio need to be output, the two task branches work independently and do not interfere with each other. By introducing a dedicated turn alert sound mechanism, a turn alert sound is added to the traditional forward and reverse alert sounds, and playback control is achieved through an independent audio channel to avoid interference with the forward / reverse alert sounds. By enhancing the safety alert capability under turn conditions, and by introducing a dedicated turn alert sound and using an independent audio channel for playback control, the acoustic alerts under turn conditions are made clearer and more directional, effectively improving the perception of the vehicle's turning intention by pedestrians and non-motorized vehicles on the right. By processing forward / reverse alert sounds and turn alert sounds simultaneously, parallel playback of the two types of alert sounds is achieved.

[0092] In the above embodiments, multiple audio signals are generated based on the digital audio data corresponding to the current state data. This eliminates the need for a separate audio source or storage chip for each prompt tone, simplifying the hardware structure and reducing system cost and complexity. Each audio signal is output through multiple independent signal channels of the digital audio interface. These channels are isolated from each other and do not interfere with each other, avoiding crosstalk, timing discrepancies, and mutual interference between multiple audio signals, thus ensuring audio signal transmission quality. Each audio signal is played independently through its corresponding audio output channel, enabling simultaneous, independent, and interference-free playback of various operational prompt tones. This eliminates the need for multiple independent sound playback devices, simplifying the system structure while significantly improving the playback capability and system integration of prompt tones in various scenarios.

[0093] In some embodiments, determining the digital audio data corresponding to the current state data based on the current state data includes:

[0094] Based on the current status data, determine the various current target operating conditions after the operating conditions change;

[0095] Read the prompt audio data corresponding to various current target operating conditions from the memory of the AVAS sound playback control device;

[0096] The prompt audio data corresponding to various current target operating conditions is processed to obtain digital audio data corresponding to various current target operating conditions, and the digital audio data corresponding to various operating conditions is written into the buffer corresponding to various operating conditions.

[0097] In this embodiment, each type of prompt audio data corresponds to its own buffer. That is, each audio signal corresponds to its own buffer. The first audio signal corresponds to the first buffer, and the second audio signal corresponds to the second buffer. Optionally, this buffer is a circular buffer. For example, forward / reverse prompt audio is one type of prompt audio data, and turn prompt sound is another type of prompt audio data; these two types of prompt audio data are placed in different buffers. The digital audio data corresponding to the current state data represents the digital audio data corresponding to various current target operating conditions after the operating conditions change. For each type of prompt audio data, the process from reading to final output corresponds to an independent task branch. For each task branch, the processor independently operates the corresponding buffer to ensure continuous output of audio data.

[0098] Optionally, for a buffer, when the amount of audio prompts stored in the buffer is lower than a data volume threshold after the data in the buffer has been read, a supplementary reading operation for the audio prompts is automatically triggered, continuing to read at least a portion of the remaining audio prompts from memory. Generally, various types of audio prompts are stored in flash memory. Since audio prompts are typically large, not all of them can be read into the processor. Therefore, various types of audio prompts from memory are first read into their respective buffers. The data in the buffers is processed and played, and the amount of data decreases gradually. When the amount in the buffers falls below the data volume threshold, data is then read from memory to fill the buffers. In this way, the larger audio prompts in memory are processed step by step to ensure audio continuity. The data volume threshold can be set based on the total capacity of the buffers, for example, 1 / 3 of the total capacity.

[0099] In some other embodiments, besides the audio streaming strategies described above, other similar audio streaming frameworks can also be used to address audio interruptions and pop-up issues. For example, frameworks based on circular buffers or audio stream management can be employed, utilizing streaming, audio data preloading, and synchronization mechanisms to ensure the continuity of audio playback. By introducing these frameworks, interruptions and unnatural sound effect changes during audio playback can be effectively avoided, improving the smoothness of audio transitions.

[0100] Optionally, the prompt audio data corresponding to various current target operating conditions is processed to obtain digital audio data corresponding to various current target operating conditions, including at least one of the following:

[0101] When the prompt audio data indicates the forward prompt audio, based on the forward prompt audio, resampling processing, mixing processing, gain adjustment and filtering processing are performed to obtain the digital audio data of the forward prompt audio;

[0102] When the audio prompt data indicates the reversing prompt audio, the digital audio data of the reversing prompt audio or the turning prompt audio is obtained after performing gain adjustment and filtering based on the reversing prompt audio.

[0103] When the prompt audio data indicates the direction prompt audio, the digital audio data of the direction prompt audio is obtained after performing gain adjustment and filtering based on the direction prompt audio.

[0104] In this embodiment, the first task branch processes forward / reverse warning audio. After determining the digital audio data corresponding to the current target operating condition, resampling, mixing, gain adjustment, filtering, or further mixing are performed to obtain the digital audio data of the first task branch. This digital audio data is then written to the first signal channel. The second task branch processes turn warning audio. After gain adjustment and filtering, the digital audio data of the second task branch is obtained and then written to the second signal channel. The forward sound processed by the first task branch needs to change in frequency and volume with speed. The mixing process combines a low-frequency sound with a constant frequency with an audio sound whose frequency changes with speed. This prevents all low-frequency components from being shifted to high frequencies during frequency shifting, which would result in the played audio lacking low-frequency components and failing to meet regulatory requirements. However, the frequency does not need to change during the playback of the reversing and turn warning audio, so this resampling and mixing processing is unnecessary.

[0105] In the above embodiments, each type of prompt audio data corresponds to its own buffer, and the processor operates the corresponding buffer independently to ensure continuous output of audio data. By designing a complete audio data flow control mechanism and utilizing buffer management and continuous output strategies, the audio is ensured to be continuous and stable during playback and switching, reducing issues such as audio dropouts, abrupt changes, and plosive sounds.

[0106] In some embodiments, generating multiple audio signals based on digital audio data includes at least one of the following:

[0107] Based on digital audio data, the audio signal normally fills the target channel, where the target channel indicates the channel into which the digital audio data is input; or

[0108] For audio signals that do not output digital audio data in a multi-channel audio signal, fill them with 0s to ensure the continuity of the signal channel;

[0109] Or the method also includes:

[0110] When the current status data indicates that no prompt tone is required, turn off the output of all signal channels.

[0111] In this embodiment, the digital audio data corresponding to the current state data may include one or more prompt audio data corresponding to the current target operating condition. When certain operating conditions do not require the output of corresponding digital audio data, there may be a type of prompt audio data that does not need to be output. For prompt audio data that is not output, the audio signal of that type of prompt audio data is filled with 0 to ensure the continuity of the signal channel. For example, when the second type of prompt audio data does not need to be output, the second audio signal corresponding to the second signal channel is filled with 0, so the corresponding output of the second audio output channel is silent, to ensure the continuous output of the second audio output channel. When both prompt audio data need to be output, the two task branches work independently and do not interfere with each other.

[0112] If the current status data indicates that there has been no change in the operating condition and no prompt tone is required, then turn off the output of all signal channels.

[0113] In the above embodiments, filling audio signals that do not output digital audio data with 0 can maintain the timing stability and data frame continuity of the digital audio interface and subsequent signal channels, prevent popping sounds, noise, channel synchronization loss or playback stuttering caused by data interruption, ensure that the system always works in a stable state, and shut down all signal channel outputs when no prompt tone is needed. This can reduce the invalid work of digital interfaces, power amplifiers and back-end circuits, reduce overall power consumption, and is especially suitable for power-sensitive scenarios such as vehicle-mounted and battery-powered systems.

[0114] In some embodiments, controlling the playback of each audio signal through its corresponding audio output channel includes:

[0115] Each audio signal is input to a digital-to-analog converter connected to a digital audio interface. The digital-to-analog converter converts each audio signal into an analog signal corresponding to each audio signal.

[0116] The analog signals corresponding to each audio signal are distributed to the audio output channels of the power amplifier connected to the digital-to-analog converter, and power amplification is performed to obtain the amplified analog signals corresponding to each audio signal.

[0117] The power amplifier drives the sound playback components connected to the audio output channels corresponding to each audio signal to play the amplified analog signals corresponding to each audio signal.

[0118] In this embodiment, each type of audio prompt corresponds to its own task branch. Therefore, each task branch independently controls the conversion of its audio signal into a corresponding analog signal. This analog signal is then amplified through the audio output channel of that task branch to obtain the amplified analog signal, which drives the corresponding sound playback component to play the amplified analog signal. Each task branch operates independently without interference.

[0119] In the above embodiments, each audio signal is converted into a corresponding analog signal by a digital-to-analog converter, ensuring that multiple digital audio signals independently complete the digital-to-analog conversion without interfering with each other, thus avoiding signal confusion and crosstalk. Each analog signal is assigned to its corresponding audio output channel in the power amplifier for dedicated channel power amplification. Each audio signal has an independent amplification link, ensuring the integrity, synchronization, and driving capability of the amplified signal. Each audio output channel of the power amplifier drives its corresponding sound playback component, enabling multiple prompt tones to play simultaneously, independently, and without interference, meeting the need for parallel output of prompt tones under different operating conditions. From digital signal input, digital-to-analog conversion, power amplification to sound playback, a hierarchical processing and channel-independent architecture is adopted, with a clear signal transmission path, strong anti-interference capability, and stable and reliable sound quality, making it suitable for scenarios with high safety and stability requirements, such as in-vehicle AVAS.

[0120] Optionally, the AVAS sound playback control method based on multiple audio channels also includes at least one of the following:

[0121] When an audio switching command is received and there is no current audio, the audio to be played is gradually introduced so that the amplitude of the audio signal of the audio to be played gradually increases from low to high.

[0122] When an audio switching command is received and the current audio exists, the current audio is first faded out so that the amplitude of the current audio signal gradually decreases from high to low; then the audio to be played is faded in so that the amplitude of the audio signal to be played gradually increases from low to high.

[0123] When the autonomous mobile device is detected to be decelerating, the audio to be adjusted is gradually emitted so that the amplitude of the audio signal to be adjusted gradually decreases from high to low.

[0124] When the autonomous mobile device is detected to be accelerating, the audio to be adjusted is gradually introduced so that the amplitude of the audio signal to be adjusted gradually increases from low to high.

[0125] When a pause playback command is received, the current audio is faded out so that the amplitude of the current audio signal gradually decreases from high to low.

[0126] In this embodiment, when an audio switching command is received, it is first determined whether there is currently any audio being played. If there is, the current audio is faded out first, and then the audio to be played is faded in. If there is no current audio being played, the audio to be played is faded in directly. When a pause playback command is received, the current audio is faded out first, and then the playback channel is closed.

[0127] The aforementioned fade-in / fade-out control is used not only for audio switching but also for volume adjustment during speed changes. The difference lies in the fact that the speed change process requires a lookup table to first convert the current speed to the corresponding target volume. For example, if the current speed is 1 km / h, it may become 10 km / h in the next moment. Traditional solutions interpolate the speed and insert speed values ​​between 1 and 10 to make the sound playback continuous, which is very inflexible. This application uses error calculation to make the current volume gradually track the target volume, which is a continuous change process. The advantage of this approach is its flexibility; any acceleration or deceleration will not result in abrupt changes in sound.

[0128] This solution can also be adapted to other closed-loop control algorithms such as fuzzy control. The specific implementation can be designed according to actual needs. For example, in addition to using Proportional-Integral Control (PI) algorithms, fuzzy control algorithms can also be used to implement volume gradual in and out. Fuzzy control can handle uncertainties in the system and is more flexible in adjusting volume changes. Through fuzzy logic, volume transitions can be dynamically adjusted according to real-time operating conditions without precise modeling, ensuring smooth and natural audio switching and adapting to different environments and vehicle speed changes.

[0129] In the above embodiments, when switching audio or changing operating conditions, the amplitude is gradually increased from low to high during the induction phase and decreased from high to low during the outduction phase. This avoids the impact, popping, and harsh abrupt changes caused by sudden on / off of the audio signal, resulting in a smooth and natural switching of the alert tone and improving sound quality and user experience. When a current audio signal is present, an orderly switching method of first out and then induction avoids mixing, overlapping, and confusion caused by multiple audio signals emitting simultaneously, making the switching between different operating condition alert tones smooth and logically clear. By gradually induction during acceleration and gradually outduction during deceleration, the volume change of the alert tone dynamically matches the vehicle's movement state, more closely resembling actual driving scenarios, making the alert effect more intuitive and safer. The gradual change method avoids sudden amplitude changes causing instantaneous impact on components such as power amplifiers and speakers, reducing the risk of component damage and improving system reliability and lifespan. Smooth and controllable sound output meets the warning requirements of the acoustic alarm system while avoiding noise pollution, balancing the warning function with the experience of drivers, passengers, and pedestrians.

[0130] In some embodiments, such as Figure 6 As shown, Figure 6This is a schematic diagram of the processing tasks of the AVAS audio playback control method in one embodiment. The processing tasks of the AVAS audio playback control method include control tasks and algorithm processing tasks. The control task is responsible for receiving status signals from the vehicle, including vehicle speed, gear status, and turn signal status, generating audio playback control commands according to different vehicle operating conditions, and smoothly adjusting the volume through the fade-in / fade-out control module to achieve a smooth transition in the audio switching process. The audio switching process in the control task is as follows: When an audio switching command is received, it first determines whether there is currently playing audio; if there is currently playing audio, it fades out the current audio first, and then fades in the audio to be played; if there is no currently playing audio, it directly fades in the audio to be played. When a pause playback command is received, it fades out the current audio first, and then closes the playback channel. The algorithm processing task includes two independent task branches. The first task branch processes forward / reverse prompt audio, and the second task branch processes turn prompt audio. The two independent task branches correspond to their respective buffers. The first task branch processes the forward prompt audio, performing resampling, mixing, gain adjustment, and real-time filtering before writing it into the first signal channel; the reverse prompt audio is processed by gain adjustment and real-time filtering before being written into the first signal channel; the second task branch processes the turn prompt audio, processes it by gain adjustment and real-time filtering before writing it into the second signal channel. When both audio channels need to be output, the two branches work independently without interfering with each other.

[0131] Figure 7 Here is a flowchart of an AVAS sound playback control method based on multiple audio channels in another embodiment. The flowchart includes the following steps:

[0132] S71. Read the forward / reverse prompt audio from the memory into the first buffer, and at the same time read the turn prompt audio into the second buffer.

[0133] In this embodiment, the forward / reverse prompt audio is placed in the first buffer, and the turn prompt audio is placed in the second buffer.

[0134] S72. Extract the forward / reverse prompt audio from the first buffer, and perform resampling, mixing, gain adjustment and filtering in sequence, or gain adjustment and filtering. Extract the turn prompt audio from the second buffer and perform gain adjustment and filtering.

[0135] S73. Write the processed forward / reverse prompt audio to the odd-numbered index position of the output buffer, and write the processed turn prompt audio to the even-numbered index position of the output buffer. The processor synchronously transmits the dual-channel data of the output buffer to their respective signal channels through the direct memory access mechanism, so as to realize the independent playback of the forward / reverse prompt audio and the right turn audio.

[0136] In this embodiment, odd-numbered index positions correspond to the first signal channel, and even-numbered index positions correspond to the second signal channel. This embodiment improves the standard AVAS module by adding a steering condition prompt tone to the traditional forward and reverse prompt tones. This prompt tone is controlled via an independent audio channel, avoiding interference with the forward / reverse prompt tones and thus saving hardware costs. Simultaneously, it achieves independent playback of the steering prompt tone and coordinated output of the dual-channel control logic.

[0137] In some embodiments, this application provides an AVAS sound playback control device, including a processor, a digital-to-analog converter connected to the processor via a digital audio interface, and a power amplifier connected to the digital-to-analog converter. The power amplifier has multiple audio output channels, and each audio output channel is connected to its respective audio playback component.

[0138] The processor is used to acquire the current status data of the autonomous mobile device, determine the corresponding digital audio data based on the current status data, and generate multiple audio signals based on the digital audio data.

[0139] The digital audio interface has multiple signal channels and outputs multiple audio signals to the digital-to-analog converter, where each signal channel is independent of the others.

[0140] A digital-to-analog converter is used to convert various audio signals into analog signals corresponding to each audio signal.

[0141] The power amplifier uses the audio output channels corresponding to each audio signal to perform power amplification processing on each audio signal to obtain the amplified analog signal corresponding to each audio signal;

[0142] The power amplifier drives the sound playback component connected to the audio output channel corresponding to each audio signal to play the amplified analog signal corresponding to each audio signal, wherein the processor controls the volume corresponding to each audio signal based on the AVAS sound playback control method provided in the embodiments of this application.

[0143] The above-mentioned components have been described in one or more embodiments and will not be repeated here.

[0144] In another aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the AVAS sound playback control method and / or the AVAS sound playback control method based on multiple audio channels provided in any embodiment of this application.

[0145] In the computer program product, the optional implementation form of the program module architecture of the computer program implementing each step of the AVAS sound playback control method can be an AVAS sound playback control device. The optional implementation form of the program module architecture of the computer program implementing each step of the multi-audio channel-based AVAS sound playback control method can be an AVAS sound playback control device.

[0146] Please see Figure 8 One embodiment of this application provides an AVAS sound playback control device based on multiple audio channels, including: a volume acquisition module 81, used to acquire the current volume of the audio to be processed in the current adjustment count and acquire the target volume of the audio to be processed to be played; a determination module 82, used to determine the current volume error corresponding to the current adjustment count based on the current volume and the target volume in the current adjustment count; a gain acquisition module 83, used to acquire the current proportional gain, the current proportional gain being used to adjust the contribution coefficient of the current volume error in the current adjustment count to the volume adjustment amplitude in the current adjustment count; the determination module 82 is also used to determine the current adjustment amplitude in the current adjustment count based on the current volume error and the current proportional gain in the current adjustment count; and an adjustment module 84, used to determine the adjusted volume according to the current volume and the current adjustment amplitude in the current adjustment count, update the adjusted volume to the current volume of the next adjustment count in the current adjustment count, and continue to determine the current adjustment amplitude of the next adjustment count based on the current volume and the target volume in the next adjustment count, until the adjusted volume reaches the target volume.

[0147] It will be understood by those skilled in the art that Figure 8 The structure of the AVAS sound playback control device does not constitute a limitation on the AVAS sound playback control device. Each module can be implemented entirely or partially through software, hardware, or a combination thereof. The functions of each module can be found in the AVAS sound playback control method embodiments, and will not be repeated here. The aforementioned modules can be embedded in or independent of the processor in the device in hardware form, or stored in the device's memory in software form, to facilitate the processing and execution of the operations corresponding to each module. In other embodiments, the AVAS sound playback control device may include more or fewer modules than shown in the figures.

[0148] Please see Figure 9One embodiment of this application provides an AVAS sound playback control device based on multiple audio channels, including: an acquisition module 91, used to acquire current status data of an autonomous mobile device; a processing module 92, used to determine digital audio data corresponding to the current status data based on the current status data, and generate multiple audio signals based on the digital audio data; the processing module 92 is also used to output multiple audio signals through multiple signal channels of the digital audio interface connected to the processor in the AVAS sound playback control device, wherein each signal channel is independent of each other; the processing module 92 is also used to control the playback of each audio signal through the audio output channel corresponding to each audio signal.

[0149] It will be understood by those skilled in the art that Figure 9 The structure of the AVAS sound playback control device based on multiple audio channels does not constitute a limitation on the AVAS sound playback control device based on multiple audio channels. Each module can be implemented entirely or partially through software, hardware, or a combination thereof. The functions of each module can be found in the embodiments of the AVAS sound playback control method based on multiple audio channels, and will not be repeated here. The above modules can be embedded in the processor of the device in hardware form or independently of it, or they can be stored in the memory of the device in software form to facilitate the processing and execution of the operations corresponding to each module. In other embodiments, the AVAS sound playback control device based on multiple audio channels may include more or fewer modules than shown in the figures.

[0150] In another aspect of the embodiments of this application, an AVAS sound playback control device is provided, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor causes the processor to execute the AVAS sound playback control method provided in the embodiments of this application, and / or the AVAS sound playback control method based on multiple audio channels provided in the embodiments of this application.

[0151] In another aspect of the embodiments of this application, an autonomous mobile device is also provided, including the AVAS sound playback control device provided in the above embodiments.

[0152] In another aspect, this application also provides a storage medium storing a computer program. When the computer program is executed by a processor, the processor performs the steps of the AVAS sound playback control method and / or the steps of the AVAS sound playback control method based on multiple audio channels provided in any of the above embodiments of this application.

[0153] Those skilled in the art will understand that all or part of the processes in the methods provided in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0154] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An AVAS sound play control method, characterized by, The method includes: Get the current volume of the audio to be processed in the current adjustment count and get the target volume of the audio to be processed to be played. Based on the current volume of the current adjustment count and the target volume, determine the current volume error corresponding to the current adjustment count; Obtain the current proportional gain, which is used to adjust the contribution coefficient of the current volume error of the current adjustment number to the volume adjustment amplitude in the current adjustment number; Based on the current volume error of the current adjustment count and the current proportional gain, determine the current adjustment range of the current adjustment count; Based on the current volume of the current adjustment number and the current adjustment range of the current adjustment number, determine the adjusted volume, update the adjusted volume to the current volume of the next adjustment number, and based on the current volume of the next adjustment number and the target volume, continue to determine the current adjustment range of the next adjustment number until the adjusted volume reaches the target volume.

2. The AVAS sound play control method of claim 1, wherein, Determining the current adjustment amplitude for the current adjustment number based on the current volume error and the current proportional gain includes: The product of the current volume error of the current adjustment count and the current proportional gain of the current adjustment count is determined as the current adjustment amplitude of the current adjustment count. Obtain the sum of the previous volume error in the previous adjustment count of the current adjustment count and obtain the current integral ratio gain. Based on the sum of the previous volume error and the current volume error of the current adjustment count, determine the current volume error sum of the current adjustment count. Based on the current volume error of the current adjustment count, the current ratio gain, the sum of the current volume error and the current integral ratio gain, determine the current adjustment amplitude of the current adjustment count.

3. The AVAS sound play control method of claim 2, wherein, The process of obtaining the current scaling gain includes: Obtain the previous error from the last adjustment count; calculate the error change rate based on the current volume error of the current adjustment count and the previous error; determine the current proportional gain based on the current volume error of the current adjustment count and the error change rate; or The process of obtaining the current proportional gain includes: determining the current proportional gain and the current integral proportional gain based on the current volume error of the current adjustment count and the error change rate.

4. The AVAS sound play control method of claim 2, wherein, The step of determining the current adjustment amplitude for the current adjustment count based on the current volume error, the current proportional gain, the current volume error based on the current adjustment count, and the current proportional gain includes: The product of the current volume error of the current adjustment count and the current proportional gain is determined as the current first volume adjustment value of the current adjustment count. The sum of the current volume error of the current adjustment number and the product of the current integral ratio gain are determined as the current second volume adjustment value of the current adjustment number. The sum of the current first volume adjustment value and the current second volume adjustment value of the current adjustment number is determined as the current adjustment amplitude of the current adjustment number.

5. The AVAS sound playback control method as described in claim 1, characterized in that, The audio to be processed includes at least one of the following: audio to be adjusted with volume smoothing during speed change of the autonomous mobile device, audio to be played as indicated by the audio switching command, and current audio that is being played and requires volume adjustment.

6. The AVAS sound playback control method as described in claim 1, characterized in that, The step of obtaining the target volume for playing the audio to be processed includes: Get the target volume configured via the volume configuration control, or Obtain the current vehicle speed, and determine the target volume corresponding to the current vehicle speed based on the vehicle speed-volume mapping relationship.

7. A method for controlling AVAS sound playback based on multiple audio channels, characterized in that, The method, applied in an AVAS sound playback control device, wherein the AVAS sound playback control device is located in an autonomous mobile device to provide sound alert information, includes: Obtain the current status data of autonomous mobile devices; Based on the current state data, determine the digital audio data corresponding to the current state data, and generate multiple audio signals based on the digital audio data; Multiple audio signals are output through the multiple signal channels of the digital audio interface connected to the processor in the AVAS sound playback control device, wherein each signal channel is independent of the other. The playback of each audio signal is controlled by the corresponding audio output channel of each audio signal, wherein the volume control of each audio signal is based on the AVAS sound playback control method according to any one of claims 1 to 6.

8. The AVAS sound playback control method based on multiple audio channels as described in claim 7, characterized in that, The step of determining the digital audio data corresponding to the current state data based on the current state data includes: Based on the current status data, determine the various current target operating conditions after the operating conditions change; Read the prompt audio data corresponding to various current target operating conditions from the memory of the AVAS sound playback control device; The prompt audio data corresponding to various current target operating conditions is processed to obtain digital audio data corresponding to various current target operating conditions, and the digital audio data corresponding to various operating conditions is written into the buffer corresponding to various operating conditions.

9. The AVAS sound playback control method based on multiple audio channels as described in claim 8, characterized in that, The process of processing the prompt audio data corresponding to various current target operating conditions to obtain digital audio data corresponding to various current target operating conditions includes at least one of the following: When the prompt audio data indicates a forward prompt audio, based on the forward prompt audio, resampling processing, mixing processing, gain adjustment, and filtering processing are performed to obtain the digital audio data of the forward prompt audio; When the prompt audio data indicates a reversing prompt audio, based on the reversing prompt audio, gain adjustment and filtering are performed to obtain the digital audio data of the reversing prompt audio or the turning prompt audio; When the prompt audio data indicates a turn prompt audio, the digital audio data of the turn prompt audio is obtained after performing gain adjustment and filtering based on the turn prompt audio.

10. The AVAS sound playback control method based on multiple audio channels as described in claim 7, characterized in that, Generating multiple audio signals based on the digital audio data includes at least one of the following: Based on the digital audio data, the audio signal is normally filled into the target channel, where the target channel indicates the channel into which the digital audio data is input; or For audio signals that do not output the digital audio data in the multi-channel audio signals, fill them with 0s to ensure the continuity of the signal channels; Or the method may further include: When the current status data indicates that no prompt tone is required, turn off the output of all signal channels.

11. The AVAS sound playback control method based on multiple audio channels as described in claim 7, characterized in that, The control of playback of each audio signal through its corresponding audio output channel includes: Each audio signal is input to a digital-to-analog converter connected to a digital audio interface, and the digital-to-analog converter converts each audio signal into an analog signal corresponding to each audio signal. The analog signals corresponding to each audio signal are assigned to the audio output channels of the power amplifier connected to the digital-to-analog converter, and power amplification is performed to obtain the amplified analog signals corresponding to each audio signal. The power amplifier drives the sound playback components connected to the audio output channels corresponding to each audio signal to play the amplified analog signals corresponding to each audio signal.

12. The AVAS sound playback control method based on multiple audio channels as described in any one of claims 7 to 11, characterized in that, The multi-channel signal is a two-channel signal. The first channel is used for outputting forward or reverse prompt audio, and the second channel is used for outputting turn prompt audio.

13. An AVAS sound playback control device, characterized in that, The device includes a processor, a digital-to-analog converter connected to the processor via a digital audio interface, and a power amplifier connected to the digital-to-analog converter. The power amplifier has multiple audio output channels, each of which is connected to its own audio playback component. The processor is used to acquire the current status data of the autonomous mobile device, determine the digital audio data corresponding to the current status data based on the current status data, and generate multiple audio signals based on the digital audio data. The digital audio interface has multiple signal channels and outputs multiple audio signals to the digital-to-analog converter, wherein each signal channel is independent of the others. The digital-to-analog converter is used to convert each audio signal into an analog signal corresponding to each audio signal. The power amplifier uses the audio output channels corresponding to each audio signal to perform power amplification processing on each audio signal to obtain the amplified analog signal corresponding to each audio signal. The power amplifier drives the sound playback component connected to the audio output channel corresponding to each audio signal to play the amplified analog signal corresponding to each audio signal. The processor controls the volume of each audio signal based on the AVAS sound playback control method according to any one of claims 1 to 6.

14. An AVAS sound playback control device, characterized in that, The system includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the AVAS sound playback control method as described in any one of claims 1 to 6, and / or the AVAS sound playback control method based on multiple audio channels as described in any one of claims 7 to 12.

15. An autonomous mobile device, characterized in that, Includes the AVAS sound playback control device as described in claim 13 or 14.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the AVAS sound playback control method as described in any one of claims 1 to 6, and / or the AVAS sound playback control method based on multiple audio channels as described in any one of claims 7 to 12.

17. A non-volatile computer storage medium comprising a computer program, characterized in that, The device stores a computer program, which, when executed by a processor, causes the processor to perform the AVAS sound playback control method as described in any one of claims 1 to 6, and / or the AVAS sound playback control method based on multiple audio channels as described in any one of claims 7 to 12.

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