Vehicle alarm prompting system, method and equipment based on dynamic trajectory sound effect

Abstract

The invention discloses a vehicle alarm prompting system, method and device based on a dynamic trajectory sound effect, and belongs to the technical field of vehicle safety early warning. The system comprises an environment sensing module, a data processing module, a sound effect adjusting module and a sound production module. The environment sensing module collects spatial data of a target outside a vehicle and the vehicle, the data processing module preprocesses the spatial data, establishes a mapping relation between the spatial data and auditory sensing parameters in the vehicle and generates a sound effect dynamic adjusting instruction, and the sound effect adjusting module processes a basic audio signal according to the parameters and the instruction to generate a dynamic track audio signal. And the sound production module outputs the signal through loudspeakers at different positions in the vehicle. According to the method, through cooperative work of the modules, real-time synchronous updating of alarm prompt and the state of the target space outside the vehicle is achieved. The spatial data of the target outside the vehicle is converted into the dynamic track sound effect which can be sensed in the vehicle, a driver can accurately judge the position and the motion state of the target through auditory sense, the driving safety is improved, and the method is suitable for various driving scenes.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety early warning technology, specifically to a vehicle alarm prompting system, method, and device based on dynamic trajectory sound effects. Background Technology

[0002] Vehicle warning and alert systems are an important component of vehicle active safety systems. They are mainly used to provide drivers with information about potential hazards from obstacles outside the vehicle during driving, reminding them to take timely evasive action. They play a crucial role in complex low-speed road conditions such as passing other vehicles in parking lots, navigating narrow roads, and reversing into parking spaces.

[0003] Currently, most vehicle warning systems use single-frequency, fixed-volume, and fixed-location sound signals for alerts. These systems can only convey simple information about potential danger to the driver, failing to provide spatial location information such as the specific distance and relative angle between the obstacle and the vehicle, let alone indicate the obstacle's movement. While some improved vehicle warning systems can differentiate the distance between the obstacle and the vehicle through changes in volume, they still lack spatial positioning capabilities. Drivers struggle to quickly and accurately determine whether an obstacle is located in front, behind, to the left, or to the right of the vehicle, which can easily lead to traffic accidents in complex road conditions due to delayed assessment of hazard information.

[0004] Furthermore, existing vehicle alarm sound sources have significant drawbacks in their output methods. Most use only a single speaker or a few fixed-channel speakers for sound output, failing to locate the target position of obstacles based on acoustic imaging. They also lack a continuous acoustic expression mechanism for the movement of obstacles, such as their approach, departure, and lateral displacement. Drivers cannot establish a stable spatial reference frame inside the vehicle through hearing, making it difficult to perceive the dynamic changes of obstacles. When multiple obstacles exist outside the vehicle or when obstacles are continuously moving, the alarm sounds are prone to confusion, leading to misjudgment by the driver and significantly reducing the warning effectiveness of the alarm system.

[0005] To address the aforementioned technical challenges, there is an urgent need to develop a vehicle alarm system and method capable of spatially locating obstacles and continuously sensing their movement. Through optimization of acoustic technology, this system would enable drivers to quickly and accurately obtain information about the spatial location and dynamic trajectory of targets outside the vehicle via hearing, thereby improving vehicle safety. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention proposes a vehicle alarm notification system, method, and device based on dynamic trajectory sound effects. This solves the technical issues of existing vehicle alarm notification systems being unable to spatially locate obstacles, unable to allow drivers to continuously perceive the movement of obstacles through hearing, and prone to confusion and misjudgment of alarm sounds in complex scenarios. It achieves accurate mapping between external target spatial data and internal auditory perception, allowing drivers to quickly determine the target's location and movement trend through dynamic trajectory sound effects, shortening hazard avoidance response time and improving driving safety.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a vehicle alarm notification system based on dynamic trajectory sound effects, comprising:

[0009] An environmental perception module is used to acquire spatial information of targets outside the vehicle relative to the vehicle. The spatial information includes at least the real-time distance between the target and the vehicle, the azimuth angle of the target relative to the vehicle, the rate of change of the real-time distance, and the rate of change of the azimuth angle.

[0010] The data processing module, which is communicatively connected to the environmental perception module, is used to filter and calibrate the spatial information, and generate auditory perception distance parameters and dynamic sound effect adjustment instructions based on the processed spatial information; the dynamic sound effect adjustment instructions include delay adjustment parameters and gain adjustment parameters.

[0011] The sound effect adjustment module is communicatively connected to the data processing module. It is used to determine the corresponding in-vehicle speaker based on the auditory perception distance parameter, and to dynamically adjust the basic audio signal of the alarm prompt tone according to the delay adjustment parameter and the gain adjustment parameter to generate an audio signal with a dynamic trajectory.

[0012] The sound-generating module, which is communicatively connected to the sound effect adjustment module, includes multiple speakers located in different positions inside the vehicle for outputting the audio signal with a dynamic trajectory.

[0013] Optionally, the environmental perception module includes a data acquisition component; the data acquisition component includes an ultrasonic radar, a millimeter-wave radar, and a camera;

[0014] The data collection components are located at the front, rear, and / or sides of the vehicle.

[0015] The plurality of speakers includes at least speakers located to the left front, right front, left rear, and right rear of the driver.

[0016] Optionally, the data processing module includes: a first processing unit, configured to map the azimuth angle to the azimuth index of the in-vehicle speaker, and to map the real-time distance to the auditory perception distance parameter; the auditory perception distance parameter and the real-time distance have a monotonic correspondence.

[0017] The second processing unit is used to generate a speaker switching command based on the rate of change of the azimuth angle, and the sound effect adjustment module controls the sound image transition between adjacent speakers based on the speaker switching command.

[0018] The third processing unit is used to generate an alarm switching command when the rate of change of the real-time distance and / or the rate of change of the azimuth angle meet preset conditions, and the sound effect adjustment module switches the basic audio signal to an intermittent high-frequency alarm sound based on the alarm switching command.

[0019] Optionally, the sound effect adjustment module adjusts the gain adjustment parameter and the delay adjustment parameter according to the rate of change of the real-time distance, increasing the output intensity of the corresponding speaker and reducing the delay when the target approaches the vehicle, and decreasing the output intensity of the corresponding speaker and increasing the delay when the target moves away from the vehicle.

[0020] Secondly, the present invention provides a vehicle alarm notification method based on dynamic trajectory sound effects, the method comprising:

[0021] Acquire spatial information of an external target relative to the vehicle, wherein the spatial information includes at least the real-time distance between the target and the vehicle, the azimuth angle of the target relative to the vehicle, the rate of change of the real-time distance, and the rate of change of the azimuth angle;

[0022] The spatial information is then filtered and calibrated.

[0023] Based on the processed spatial information, auditory perception distance parameters and dynamic sound effect adjustment instructions are generated, including delay adjustment parameters and gain adjustment parameters.

[0024] The corresponding in-vehicle speaker is determined based on the auditory perception distance parameter, and the basic audio signal of the alarm prompt tone is dynamically adjusted according to the delay adjustment parameter and the gain adjustment parameter to generate an audio signal with a dynamic trajectory.

[0025] The audio signal with a dynamic trajectory is output through the corresponding in-vehicle speaker.

[0026] Optionally, the filtering and calibration of the spatial information includes: filtering the spatial information using Kalman filtering, moving average filtering, and / or median filtering, and then calibrating the filtered spatial information.

[0027] Optionally, the method of generating dynamic sound effect adjustment instructions based on the processed spatial information includes: adjusting the gain adjustment parameter and the delay adjustment parameter according to the rate of change of the real-time distance; increasing the gain adjustment parameter and decreasing the delay adjustment parameter when the target approaches the vehicle; and decreasing the gain adjustment parameter and increasing the delay adjustment parameter when the target moves away from the vehicle.

[0028] Optionally, the method of generating dynamic sound effect adjustment instructions based on the processed spatial information further includes: generating speaker switching instructions according to the rate of change of the azimuth angle, and controlling the output intensity between adjacent speakers to switch according to a preset transition rule based on the speaker switching instructions when the target moves laterally.

[0029] Optionally, it further includes: when the rate of change of the real-time distance and / or the rate of change of the azimuth angle meet the preset warning conditions, switching the basic audio signal to an intermittent high-frequency warning sound and outputting it.

[0030] Thirdly, the present invention provides an electronic device, the electronic device comprising:

[0031] At least one processor; and a memory communicatively connected to said at least one processor; wherein,

[0032] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method described in any one of the second aspects.

[0033] Compared with the closest prior art, the present invention has the following beneficial effects:

[0034] This invention proposes a vehicle alarm notification system, method, and device based on dynamic trajectory sound effects. Through the coordinated work of environmental perception, data processing, sound effect adjustment, and sound generation modules, it accurately maps spatial data such as real-time distance, azimuth, distance change rate, and angle change rate of external targets with in-vehicle auditory perception parameters, realizing the auditory spatial positioning of obstacles. This solves the problem of alarms but inability to locate targets in existing technologies. Drivers can directly determine the specific location of the target within the vehicle by the direction of the sound, significantly improving the efficiency of danger information transmission.

[0035] This invention generates dynamic adjustment commands based on the target's distance and angle change rates. Through the linkage adjustment of delay and gain, it achieves smooth switching of the speaker, forming a continuous and smooth trajectory sound effect. This allows the driver to continuously perceive the target's approach, distance, and lateral displacement through hearing, establishing a stable spatial reference system inside the vehicle and solving the problem that the movement of obstacles cannot be continuously perceived by hearing.

[0036] This invention employs a multi-speaker collaborative sound generation method to create a four-quadrant sound field centered on the driver inside the vehicle. It matches corresponding speaker channels to targets in different directions, and combines risk level frequency band switching with a high-priority intermittent high-frequency warning mode to effectively avoid the mixing of alarm sounds from multiple targets in complex scenarios. This solves the problem of easy misjudgment of alarm sounds and improves the recognition stability of warning information.

[0037] The system structure of this invention is simple, the communication connection between each module is stable, the method steps are logically clear, and the sampling period takes into account both real-time performance and stability. It can realize real-time synchronous updates of alarm prompts and the status of the target space outside the vehicle. The driver can quickly identify the position and movement trajectory of the target by hearing without turning his head, which shortens the avoidance response time and improves the avoidance accuracy.

[0038] The system and method of this invention are applicable to various vehicle driving scenarios such as parking, meeting oncoming traffic, blind spot warning, and low-speed obstacle avoidance. The environmental perception module can achieve all-round target acquisition, adapt to different types of sensor combinations, has strong compatibility, and can be widely used in the upgrade and transformation of safety warning systems for various types of vehicles. Attached Figure Description

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0040] Figure 1 This is a structural block diagram of a vehicle alarm notification system based on dynamic trajectory sound effects provided in an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the in-vehicle speaker layout provided in an embodiment of the present invention;

[0042] Figure 3 This is a flowchart of a vehicle alarm notification method based on dynamic trajectory sound effects provided in an embodiment of the present invention;

[0043] Figure 4 This is an internal structure diagram of the electronic device provided in the embodiments of the present invention;

[0044] In the diagram, 41 is the front left speaker, 42 is the front right speaker, 43 is the rear left speaker, and 44 is the rear right speaker. Detailed Implementation

[0045] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore merely examples, and should not be construed as limiting the scope of protection of the present invention.

[0046] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0047] This invention provides a vehicle alarm notification system, method, and device based on dynamic trajectory sound effects, to solve the problems of insufficient spatial trajectory, weak dynamic directionality, and unintuitive prompts in existing vehicle alarm notifications. Embodiments of this invention are described below with reference to the accompanying drawings.

[0048] Example 1: See Figure 1 This embodiment 1 provides a vehicle alarm notification system based on dynamic trajectory sound effects, including:

[0049] The environmental perception module 1 is used to acquire spatial information of external targets relative to the vehicle. The spatial information includes at least the real-time distance between the target and the vehicle, the azimuth angle of the target relative to the vehicle, the rate of change of the real-time distance, and the rate of change of the azimuth angle.

[0050] Data processing module 2, which is communicatively connected to the environmental perception module, is used to filter and calibrate the spatial information, and generate auditory perception distance parameters and dynamic sound effect adjustment instructions based on the processed spatial information; the dynamic sound effect adjustment instructions include delay adjustment parameters and gain adjustment parameters.

[0051] The sound effect adjustment module 3 is communicatively connected to the data processing module. It is used to determine the corresponding in-vehicle speaker according to the auditory perception distance parameter, and to dynamically adjust the basic audio signal of the alarm prompt tone according to the delay adjustment parameter and the gain adjustment parameter to generate an audio signal with a dynamic trajectory.

[0052] The sound-generating module 4 is communicatively connected to the sound effect adjustment module and includes multiple speakers installed in different locations inside the vehicle for outputting the audio signal with a dynamic trajectory.

[0053] In some implementations, the environmental perception module includes one or more of ultrasonic radar, millimeter-wave radar, and cameras. The data acquisition components of the environmental perception module can be located at the front, rear, and / or sides of the vehicle to cover target perception needs in different areas surrounding the vehicle.

[0054] For example, when a vehicle is reversing, the sensing unit at the rear of the vehicle can be activated first; when a vehicle is driving on a narrow road or at an intersection, the sensing units on both sides of the vehicle and at the front of the vehicle can be activated to achieve more comprehensive spatial information collection.

[0055] In some embodiments, the above data processing module includes: a first processing unit, configured to map the azimuth angle to the azimuth index of the in-vehicle speaker, and to map the real-time distance to the auditory perception distance parameter; the auditory perception distance parameter and the real-time distance have a monotonic correspondence.

[0056] The second processing unit is used to generate a speaker switching command based on the rate of change of the azimuth angle, and the sound effect adjustment module controls the sound image transition between adjacent speakers based on the speaker switching command.

[0057] The third processing unit is used to generate an alarm switching command when the rate of change of the real-time distance and / or the rate of change of the azimuth angle meet preset conditions, and the sound effect adjustment module switches the basic audio signal to an intermittent high-frequency alarm sound based on the alarm switching command.

[0058] For ease of understanding, the parameter mapping relationship in this invention can be implemented in the following ways, but is not limited to these.

[0059] Real-time distance d and auditory perception distance parameter D p The relationship between them can be either monotonically decreasing or monotonically increasing;

[0060] The gain parameter G can be determined based on the distance change rate v. d Adjustments are made such that G increases when the distance decreases and decreases when the distance increases.

[0061] The delay parameter T can be determined based on the azimuth rate of change v. θ Determined jointly with the rate of change of distance;

[0062] The speaker selection can be determined by mapping the azimuth angle θ to the preset region index I.

[0063] The above parameter relationships can be calculated by the controller according to a preset rule table or function model, and the specific implementation does not constitute a limitation on the present invention.

[0064] In some embodiments described above, the sound effect adjustment module adjusts the gain adjustment parameter and the delay adjustment parameter according to the rate of change of real-time distance. When a target approaches the vehicle, the output intensity of the corresponding speaker is increased and the delay is decreased to enhance the sense of urgency; when the target moves away from the vehicle, the output intensity of the corresponding speaker is decreased and the delay is increased to weaken the cues and create a sense of distance.

[0065] In one embodiment, when the real-time distance change rate is higher than a first threshold, indicating that the target is rapidly approaching the vehicle, a stronger alarm mode can be triggered; when the azimuth change rate is higher than a second threshold, indicating that the target is rapidly moving laterally, a more obvious audio-visual switching mode can be triggered.

[0066] Furthermore, when the rate of change of distance and the rate of change of azimuth angle simultaneously meet the preset combination conditions, the basic audio signal can be switched to an intermittent high-frequency warning sound to enhance the driver's concentration.

[0067] In some implementations, the sound effect adjustment module can also control the sound image transition between adjacent speakers based on the speaker switching command, so that the audio signal moves smoothly between multiple speakers, thereby forming a continuous trajectory change effect.

[0068] In a further embodiment, when the rate of change of the real-time distance and / or the rate of change of the azimuth angle meet the preset warning conditions, the sound effect adjustment module can switch the basic audio signal to an intermittent high-frequency warning sound to improve the warning intensity in dangerous scenarios.

[0069] like Figure 1 In some embodiments, the multiple speakers include at least a speaker 41 positioned to the left front of the driver, a speaker 42 to the right front, a speaker 43 to the left rear, and a speaker 44 to the right rear. By coordinating the operation of the speakers in different positions, the driver can more intuitively perceive the approximate direction and movement trend of targets outside the vehicle.

[0070] Specifically, such as Figure 2 As shown, each speaker can be divided into corresponding areas according to its azimuth angle.

[0071] For example: when the target is located in the left front area of ​​the vehicle, the output is given priority by the left front speaker 41;

[0072] When the target is located in the right front area, the output is preferentially delivered by the right front speaker 42;

[0073] As the target moves laterally from left to right, the output of the left rear speaker 43 gradually decreases, while the output of the right rear speaker 44 gradually increases.

[0074] When a target moves from front to back, the sense of movement trajectory can be created through the sound image transition between the front and rear speakers.

[0075] The transition between sound images can be achieved by using methods such as gradual gain, crossfading, and time difference compensation to avoid abrupt changes caused by speaker switching.

[0076] Accordingly, Embodiment 2: Based on the same technical concept, Embodiment 2 also provides a vehicle alarm prompt method with dynamic trajectory sound effects corresponding to Embodiment 1 above, such as... Figure 3As shown, the method includes:

[0077] S101 acquires spatial information of an external target relative to the vehicle, the spatial information including at least the real-time distance between the target and the vehicle, the azimuth angle of the target relative to the vehicle, the rate of change of the real-time distance, and the rate of change of the azimuth angle;

[0078] S102 performs filtering and calibration processing on the spatial information;

[0079] S103 generates auditory perception distance parameters and sound effect dynamic adjustment instructions based on the processed spatial information. The sound effect dynamic adjustment instructions include delay adjustment parameters and gain adjustment parameters.

[0080] S104 determines the corresponding in-vehicle speaker based on the auditory perception distance parameter, and dynamically adjusts the basic audio signal of the alarm prompt tone according to the delay adjustment parameter and the gain adjustment parameter to generate an audio signal with a dynamic trajectory;

[0081] S105 outputs the audio signal with dynamic trajectory through the corresponding in-vehicle speaker.

[0082] In step S102 above, the filtering and calibration of spatial information includes: filtering the spatial information using Kalman filtering, moving average filtering and / or median filtering, and then calibrating the filtered spatial information.

[0083] In step S103 above, generating a dynamic sound effect adjustment command based on the processed spatial information includes: adjusting the gain adjustment parameter and the delay adjustment parameter according to the rate of change of the real-time distance; increasing the gain adjustment parameter and decreasing the delay adjustment parameter when the target approaches the vehicle; and decreasing the gain adjustment parameter and increasing the delay adjustment parameter when the target moves away from the vehicle.

[0084] In the above embodiments, the generation of dynamic sound effect adjustment instructions based on the processed spatial information includes: generating a speaker switching instruction according to the rate of change of the azimuth angle, and controlling the output intensity between adjacent speakers to switch according to a preset transition rule based on the speaker switching instruction when the target moves laterally.

[0085] The above embodiments further include: when the rate of change of the real-time distance and / or the rate of change of the azimuth angle meet the preset warning conditions, the basic audio signal is switched to an intermittent high-frequency warning sound and output.

[0086] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These embodiments are only used to explain the present invention and are not intended to limit the scope of protection of the present invention.

[0087] The vehicle alarm system with dynamic trajectory sound effects of the present invention includes an environmental perception module, a data processing module, a sound effect adjustment module, and a sound generation module. The modules are interconnected and work together to realize vehicle alarm prompts with dynamic trajectory sound effects. The corresponding implementation method achieves real-time synchronization between the alarm prompt sound and the status of the target space outside the vehicle through the cyclic operation of the above modules.

[0088] Example 3: When driving on a narrow road, if a vehicle approaches from the right rear, the vehicle alarm system with dynamic trajectory sound effects of this invention will be activated. The corresponding implementation steps are as follows:

[0089] S1. The environmental perception module uses a combination of ultrasonic radar and millimeter-wave radar to collect spatial data between the vehicle and an external target, a vehicle approaching from the right rear, in real time. The collected data shows that at a certain moment, the real-time distance is 2m, the azimuth angle is 45° (right rear), the distance change rate is -0.1m / s (indicating that the target is approaching the vehicle), and the angle change rate is 5° / s (indicating that the target is moving forward).

[0090] S2. The data processing module receives the above spatial data, uses the Kalman filter algorithm to filter the spatial data, removes interference data caused by environmental noise and sensor jitter, and establishes a mapping relationship between spatial data and in-vehicle auditory perception parameters after data calibration.

[0091] S3. The data processing module determines the position of the speaker in the right rear of the vehicle based on the 45° azimuth angle, maps the real-time distance of 2m to the auditory perception distance parameter corresponding to the mid-distance, and sets the initial gain parameter of the speaker to 50% and the initial delay to 30ms. Based on the distance change rate of -0.1m / s, it generates instructions with a gain adjustment change of 5% / s and a delay adjustment change of -2ms / s. Based on the angle change rate of 5° / s, it generates a speaker switching instruction to gradually transition the sound effect from the right rear speaker to the right front speaker, and sends the above parameters and instructions to the sound effect adjustment module.

[0092] S4. The sound effect adjustment module retrieves the preset buzzer tone basic audio signal. Based on the received initial gain parameters, delay parameters, gain adjustment change amount, and delay adjustment change amount, it dynamically adjusts the basic audio signal. At the same time, according to the speaker switching command, it prepares to perform speaker gain transition adjustment according to the preset smooth transition rules, forming an audio signal with a dynamic trajectory and sending it to the sound generation module.

[0093] S5. The sound module outputs the adjusted dynamic trajectory audio signal through the rear right speaker. The rear right speaker first emits sound with 50% gain and 30ms delay, and gradually reduces the gain and delay as the external target approaches and moves forward. The front right speaker synchronously increases the gain according to the smooth transition rule, so that the driver can perceive the dynamic trajectory sound effect of "moving from the rear right to the front right and gradually increasing".

[0094] The system repeats steps S1 to S5 according to a preset sampling period of 100ms. When the real-time distance between the target and the vehicle decreases to 0.5m, the absolute value of the distance change rate exceeds the preset threshold. The data processing module triggers a high-priority warning mode, and the sound effect adjustment module switches the alarm prompt sound to a 100% gain intermittent high-frequency prompt sound linked by the right front and right rear speakers. When the target moves away from the vehicle and the real-time distance is greater than 50m, the environmental perception module determines that there is no danger, and the system stops emitting sound.

[0095] Example 4: When a target is located to the left front of the vehicle and continuously crosses the front of the vehicle at a lateral speed during the vehicle's operation, the working steps of the vehicle alarm prompt method with dynamic trajectory sound effect of the present invention are as follows:

[0096] S1. The environmental perception module uses a combination of camera and millimeter-wave radar to collect real-time distance, azimuth, distance change rate and angle change rate between the lateral target and the vehicle. The azimuth continuously changes as the target moves laterally.

[0097] S2. The data processing module uses a moving average filtering algorithm to filter and calibrate the collected spatial data, remove outliers, and establish a mapping relationship between the spatial data and the in-vehicle auditory perception parameters.

[0098] S3. The data processing module matches the left front speaker, front speaker and right front speaker in sequence according to the continuously changing azimuth angle, and generates a speaker switching command that emits sound in sequence according to preset weights. At the same time, it dynamically generates delay adjustment parameters and gain adjustment parameters based on the distance change rate and angle change rate, and sends them to the sound effect adjustment module.

[0099] S4. The sound effect adjustment module retrieves the basic audio signal of the composite warning sound. Based on the received parameters and instructions, it dynamically adjusts the delay and gain of the basic audio signal, and controls the left front speaker, front speaker and right front speaker to sound in sequence according to preset weights to form a continuous dynamic trajectory audio signal.

[0100] S5. The sound module outputs audio signals through the corresponding speaker. The driver can quickly identify the lateral crossing trajectory of the target by the direction of sound migration without turning their head. The system updates the parameters and audio signals in real time according to the preset sampling period of 150ms until the target has completed crossing and there is no danger, and then stops emitting sound.

[0101] Example 5: When a vehicle is reversing at low speed in a parking lot, the working steps of the vehicle alarm prompt method with dynamic trajectory sound effect of the present invention are as follows:

[0102] S1. The environmental perception module collects spatial data of the target and the vehicle behind the vehicle through ultrasonic radar. The real-time distance between the target and the vehicle continues to decrease, the angle change rate is small, and there is no obvious lateral displacement.

[0103] S2. The data processing module uses a median filtering algorithm to filter and calibrate the spatial data, and establishes a mapping relationship between the spatial data and the in-vehicle auditory perception parameters.

[0104] S3. The data processing module determines the acoustic zone behind the target vehicle based on the azimuth angle, sets the left and right rear speakers as the main sound channels, and generates dynamic adjustment commands to increase gain and decrease delay based on the continuously decreasing real-time distance, and sends them to the sound effect adjustment module.

[0105] S4. The sound effect adjustment module retrieves the basic audio signal of the single-frequency pulse tone, processes the basic audio signal according to the dynamic adjustment command, and generates a dynamic trajectory audio signal.

[0106] S5. The sound module outputs audio signals through the left and right rear speakers, allowing the driver to perceive the dynamic sound effect of a target continuously approaching from behind. When the target enters the danger threshold, the absolute values ​​of the angle change rate and distance change rate both exceed the preset thresholds. The data processing module triggers a high-priority warning mode, and the sound effect adjustment module automatically increases the duty cycle of the high-frequency pulse to enhance the warning intensity and remind the driver to brake in time. The system updates in real time according to a preset sampling period of 200ms until the reversing operation is completed or the danger is eliminated.

[0107] In practical applications, the present invention also provides an embodiment 6 based on the inventive concept of the above embodiments:

[0108] When a vehicle approaches from the right rear while driving, the vehicle's ultrasonic and millimeter-wave radars collect spatial data in real time, including real-time distance *d*, azimuth angle *θ*, distance change rate *Δd*, and angle change rate *Δθ*. Taking the data of a target outside the vehicle at a distance of *d*=2m, *θ*=45° (right rear), *Δd*=-0.1m / s (approaching), and *Δθ*=5° / s (moving forward) as an example, interference data is removed using a Kalman filter algorithm. Then, a data mapping model maps *d*=2m to *L*=mid-distance (corresponding to gain *g*=50%), and *θ*=45° to the right rear speaker 42. Based on *Δd*=-0.1m / s, a gain adjustment parameter change *Δg*=5% / s (increasing by 5% per second) and a delay adjustment parameter change *Δt*=-2ms / s (decreasing by 2ms per second) are generated. Based on *Δθ*=5° / s, a speaker switching command is generated (gradually transitioning from the right rear speaker to the right front speaker). The system retrieves the basic audio signal, adjusts the initial gain to 50% and the initial delay to 30ms, and then dynamically adjusts the audio signal at a rate of Δg=5% / s and Δt=-2ms / s. Simultaneously, based on the speaker switching command, it gradually decreases the audio signal gain of the right rear speaker and increases the audio signal gain of the right front speaker to achieve a smooth transition of the sound effect. The right rear speaker initially emits sound with 50% gain and a 30ms delay. As the external target approaches and moves forward, the sound gain of the right rear speaker gradually decreases and the delay gradually increases, while the sound gain of the right front speaker gradually increases, forming a dynamic trajectory sound effect of "moving from the right rear to the right front and gradually increasing in intensity." The driver can quickly judge the position and movement status of the external target through this sound effect. This process is repeated every 100ms, updating the spatial data of the external target in real time and synchronously adjusting the sound effect adjustment parameters and speaker sound status. When the external target's distance d decreases to 0.5m (danger threshold), the right front speaker and right rear speaker are controlled to emit intermittent high-frequency warning sounds at 100% gain to remind the driver to take emergency evasive action. When the external target moves away (Δd>0), the corresponding speaker's sound gain is gradually reduced, the delay is gradually increased, and the sound effect gradually weakens until the external target is beyond the perception range (d>50m), at which point the sound stops.

[0109] In one embodiment, the present invention also provides an electronic device, which may be a terminal, and its internal structure diagram may be as follows. Figure 4As shown. The electronic device includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements the vehicle alarm prompt method with dynamic trajectory sound effects as described in any of steps S101 to S105. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0110] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. A vehicle alarm notification system based on dynamic trajectory sound effects, characterized in that, include: An environmental perception module is used to acquire spatial information of targets outside the vehicle relative to the vehicle. The spatial information includes at least the real-time distance between the target and the vehicle, the azimuth angle of the target relative to the vehicle, the rate of change of the real-time distance, and the rate of change of the azimuth angle. The data processing module, which is communicatively connected to the environmental perception module, is used to filter and calibrate the spatial information, and generate auditory perception distance parameters and dynamic sound effect adjustment instructions based on the processed spatial information; the dynamic sound effect adjustment instructions include delay adjustment parameters and gain adjustment parameters. The sound effect adjustment module is communicatively connected to the data processing module. It is used to determine the corresponding in-vehicle speaker based on the auditory perception distance parameter, and to dynamically adjust the basic audio signal of the alarm prompt tone according to the delay adjustment parameter and the gain adjustment parameter to generate an audio signal with a dynamic trajectory. The sound-generating module, which is communicatively connected to the sound effect adjustment module, includes multiple speakers located in different positions inside the vehicle for outputting the audio signal with a dynamic trajectory.

2. The system according to claim 1, characterized in that, The environmental perception module is equipped with a data acquisition component; the data acquisition component includes an ultrasonic radar, a millimeter-wave radar, and a camera. The data collection components are located at the front, rear, and / or sides of the vehicle. The plurality of speakers includes at least speakers located to the left front, right front, left rear, and right rear of the driver.

3. The system according to claim 1, characterized in that, The data processing module includes: a first processing unit, used to map the azimuth angle to the azimuth index of the in-vehicle speaker, and to map the real-time distance to the auditory perception distance parameter; the auditory perception distance parameter and the real-time distance have a monotonic correspondence. The second processing unit is used to generate a speaker switching command based on the rate of change of the azimuth angle, and the sound effect adjustment module controls the sound image transition between adjacent speakers based on the speaker switching command. The third processing unit is used to generate an alarm switching command when the rate of change of the real-time distance and / or the rate of change of the azimuth angle meet preset conditions, and the sound effect adjustment module switches the basic audio signal to an intermittent high-frequency alarm sound based on the alarm switching command.

4. The system according to claim 1, characterized in that, The sound effect adjustment module adjusts the gain adjustment parameter and the delay adjustment parameter according to the rate of change of the real-time distance. When the target approaches the vehicle, the output intensity of the corresponding speaker is increased and the delay is reduced. When the target moves away from the vehicle, the output intensity of the corresponding speaker is decreased and the delay is increased.

5. A method for providing vehicle alarm prompts with dynamic trajectory sound effects, characterized in that, The method includes: Acquire spatial information of an external target relative to the vehicle, wherein the spatial information includes at least the real-time distance between the target and the vehicle, the azimuth angle of the target relative to the vehicle, the rate of change of the real-time distance, and the rate of change of the azimuth angle; The spatial information is then filtered and calibrated. Based on the processed spatial information, auditory perception distance parameters and dynamic sound effect adjustment instructions are generated, including delay adjustment parameters and gain adjustment parameters. The corresponding in-vehicle speaker is determined based on the auditory perception distance parameter, and the basic audio signal of the alarm prompt tone is dynamically adjusted according to the delay adjustment parameter and the gain adjustment parameter to generate an audio signal with a dynamic trajectory. The audio signal with a dynamic trajectory is output through the corresponding in-vehicle speaker.

6. The method according to claim 5, characterized in that, The filtering and calibration of the spatial information includes: filtering the spatial information using Kalman filtering, moving average filtering, and / or median filtering, and then calibrating the filtered spatial information.

7. The method according to claim 5, characterized in that, The dynamic sound effect adjustment command generated based on the processed spatial information includes: adjusting the gain adjustment parameter and the delay adjustment parameter according to the rate of change of the real-time distance; increasing the gain adjustment parameter and decreasing the delay adjustment parameter when the target approaches the vehicle; and decreasing the gain adjustment parameter and increasing the delay adjustment parameter when the target moves away from the vehicle.

8. The method according to claim 7, characterized in that, The method of generating dynamic sound effect adjustment instructions based on processed spatial information further includes: generating speaker switching instructions based on the rate of change of the azimuth angle, and controlling the output intensity between adjacent speakers to switch according to a preset transition rule based on the speaker switching instructions when the target moves laterally.

9. The method according to claim 7, characterized in that, Also includes: When the rate of change of the real-time distance and / or the rate of change of the azimuth angle meet the preset warning conditions, the basic audio signal is switched to an intermittent high-frequency warning sound and output.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 5-9.

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