Vehicle control method, device, apparatus, and storage medium
By sending detection audio to multiple vehicles, collecting data, and generating compensation information, the problem of multiple vehicles not being able to play synchronously was solved, achieving a unified stereo sound effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- DONGFENG MOTOR CO LTD DONGFENG NISSAN PASSENGER VEHICLE CO
- Filing Date
- 2026-04-29
- Publication Date
- 2026-07-31
AI Technical Summary
In outdoor scenarios, multiple vehicles cannot effectively coordinate to play the same audio, resulting in latency and audio pressure asynchrony, which affects the stereo sound effect.
By sending detection audio to each vehicle in the platoon, collecting playback data, generating platoon compensation information, including delay and energy compensation, and controlling the vehicles to play synchronously.
It enables synchronized audio playback across multiple vehicles, eliminating positional differences and ensuring uniformity of stereo sound effects.
Smart Images
Figure CN122496770A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and in particular to vehicle control methods, devices, equipment and storage media. Background Technology
[0002] More and more vehicles are now equipped with external speakers, which can provide a good atmosphere for playing music outdoors. However, a single car usually only has 1-2 external speakers, which cannot provide an effective stereo sound effect outside the car. When multiple cars equipped with external speakers are parked together and want to play music together, the following problems will be encountered: Without a sharing strategy, it is difficult to control the coordinated playback of the same audio by various vehicles; The different distances and positions of each vehicle from the crowd, along with variations in delay and sound pressure levels, create a sense of asynchrony that is perceptible to the human ear. Summary of the Invention
[0003] The main purpose of this application is to provide a vehicle control method, device, equipment and storage medium, which aims to solve the technical problem that it is difficult to control multiple vehicles to play audio in a group in related technologies.
[0004] To achieve the above objectives, this application proposes a vehicle control method, the method comprising: Send detection audio to each vehicle in the platoon so that each vehicle in the platoon can play the detection audio based on the corresponding test frequency. Audio is captured during playback to obtain team playback data; Based on the team playback data, determine the team compensation information corresponding to each team vehicle; The system controls the playback of team audio for each vehicle in a given team based on the team compensation information corresponding to each team.
[0005] Optionally, the team compensation information includes delay compensation information; The process of determining the team compensation information corresponding to each team vehicle based on the team playback data includes: The team playback data is processed into frames to obtain multi-frame playback audio data; Energy analysis is performed on the multi-frame audio data to generate a total energy spectrum; The target frequency for each vehicle in the platoon is determined based on the total energy spectrum and the test frequency corresponding to each vehicle in the platoon. The delay time for each vehicle in the platoon is determined based on the frame number corresponding to the target frequency. The maximum value of the delay time corresponding to each group of vehicles is used as the compensation benchmark value; The delay compensation information for each vehicle in the platoon is determined based on the delay time and the compensation benchmark value.
[0006] Optionally, the step of performing energy analysis on the multi-frame playback audio data to generate an energy spectrum includes: Energy analysis was performed on each frame of audio data to determine the energy spectrum data corresponding to each frame of audio data. The energy spectrum data corresponding to each frame of audio playback data is spliced together to form the total energy spectrum.
[0007] Optionally, determining the target frequency point corresponding to each platoon vehicle based on the total energy spectrum and the test frequency corresponding to each platoon vehicle includes: Based on the test frequency of each vehicle in the platoon, the corresponding energy data is found in the total energy spectrum to obtain the energy value sequence of each vehicle in the platoon. Calculate the maximum value in the energy value sequence to determine the target frequency point corresponding to each group of vehicles.
[0008] Optionally, the team compensation information may also include energy compensation information; After determining the target frequency for each platoon vehicle based on the total energy spectrum and the test frequency corresponding to each platoon vehicle, the process further includes: The energy value corresponding to each vehicle in the platoon is determined based on the energy value corresponding to the target frequency point. The maximum energy value among the energy values of the vehicles in each group is used as the energy baseline value; The energy compensation information for each vehicle in the platoon is determined based on the energy value and the energy benchmark value.
[0009] Optionally, before sending the detection audio to each platoon of vehicles so that each platoon of vehicles plays the detection audio based on the corresponding test frequency, the method further includes: Perform target recognition on scene images to determine the vehicle identifiers corresponding to each team of vehicles; Sort the vehicle identifiers corresponding to each team of vehicles and generate a sorting result; Based on the sorting results and the preset frequency interval, a corresponding test frequency is assigned to each team of vehicles.
[0010] Optionally, after performing target recognition on the scene image and determining the vehicle identifiers corresponding to each convoy of vehicles, the method further includes: Obtain the location information of the vehicle identifiers corresponding to each platoon in the scene image; The location information is compared to generate a relative location matrix; The audio channels for each vehicle in the platoon are set based on the relative position matrix. Accordingly, controlling the playback of platoon audio for each platoon vehicle based on the platoon compensation information corresponding to each platoon vehicle includes: Based on the team compensation information corresponding to each team vehicle and the audio channel control, each team vehicle plays team audio.
[0011] Furthermore, to achieve the above objectives, this application also proposes a vehicle control device, the vehicle control device comprising: The detection module is used to send detection audio to each vehicle in the platoon, so that each vehicle in the platoon can play the detection audio based on the corresponding test frequency. The acquisition module is used to acquire audio during playback to obtain team playback data; The determination module is used to determine the team compensation information corresponding to each team vehicle based on the team playback data; The control module is used to control the playback of team audio for each team vehicle based on the team compensation information corresponding to each team vehicle.
[0012] In addition, to achieve the above objectives, this application also proposes a vehicle control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle control method as described above.
[0013] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and which, when executed by a processor, implements the steps of the vehicle control method described above.
[0014] One or more technical solutions proposed in this application have at least the following technical effects: By playing the detection audio, the differences between the vehicles in each group due to their different positions were determined, and corresponding group compensation information was generated to quantify these differences. This ensures that the differences can be eliminated by playing the audio in a group based on the group compensation information, thus ensuring that multiple vehicles can play the audio in a group. Attached Figure Description
[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a flowchart illustrating an embodiment of the vehicle control method of this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the vehicle control method of this application; Figure 3 This is a flowchart illustrating Embodiment 2 of the vehicle control method of this application; Figure 4 This is a schematic diagram of the module structure of the vehicle control device according to an embodiment of this application; Figure 5 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the vehicle control method in the embodiments of this application.
[0018] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0019] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.
[0020] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.
[0021] Based on this, embodiments of this application provide a vehicle control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the vehicle control method of this application.
[0022] In this embodiment, the vehicle control method includes steps S10 to S40: Step S10: Send the detection audio to each vehicle in the platoon so that each vehicle in the platoon can play the detection audio based on the corresponding test frequency.
[0023] Step S20: During playback, audio is captured to obtain team playback data.
[0024] It should be noted that the execution subject of this embodiment can be the vehicle control device, which can be a mobile device held by the user, such as a smartphone, tablet computer, or laptop computer. Of course, it can also be other devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the vehicle control device is used as an example to illustrate the vehicle control method of this application.
[0025] It should be noted that the vehicles in a group can be those that the user specifies need to play audio together.
[0026] To ensure the effectiveness of audio playback in a vehicle platoon, it is necessary to determine the differences in audio playback caused by the different relative positions of each vehicle to the crowd. Therefore, detection audio can be sent to the vehicles in the platoon to facilitate detection.
[0027] To ensure the detection effect, the detection audio should contain at least one accent that is significantly different from the other parts, so that the accent can be used as a reference point in subsequent analysis.
[0028] To ensure that multiple vehicles in a platoon can be tested simultaneously, a corresponding test frequency can be pre-assigned to each vehicle in the platoon. This will create a certain difference in the specific frequencies at which they play audio, ensuring that the audio data played by different vehicles in the platoon can be distinguished during analysis.
[0029] In actual use, during the playback of the test audio by each vehicle in the platoon based on the corresponding test frequency, the vehicle control equipment can collect the audio to obtain the platoon playback data.
[0030] In practical applications, to ensure the actual playback effect, the vehicle control device can capture audio at the location of the group during subsequent group audio playback. Specifically, if the group's location is a defined area, the audio capture point can be the center of that area.
[0031] In practical applications, in order to ensure the effectiveness of subsequent audio analysis, the audio data during the entire audio playback period can be collected and used as the team playback data. Of course, depending on actual needs, only a portion can be collected. For example, if the detected audio playback duration is 30 seconds, but the vehicle control equipment testing personnel determine that only 20 seconds is sufficient for analysis, then only 20 seconds of audio data can be collected during playback and used as the team playback data.
[0032] Step S30: Determine the team compensation information corresponding to each team vehicle based on the team playback data.
[0033] In practical use, the vehicle control equipment can analyze and detect the group playback data, determine the differences between the delay and / or sound pressure corresponding to each frequency, and set corresponding group compensation information for each group of vehicles based on these differences.
[0034] Step S40: Control each vehicle in the team to play team audio according to the team compensation information corresponding to each team vehicle.
[0035] Understandably, after determining the team compensation information, the vehicle control equipment can control each team vehicle to play the user-specified audio based on the team compensation information, thereby achieving team audio playback.
[0036] For example: The user-specified audio is sent synchronously to each vehicle in the team, and they are instructed to wait for the duration corresponding to the delay value in the team compensation information before playing the user-specified audio.
[0037] This embodiment provides a vehicle control method that determines the differences in the positions of vehicles in a platoon by playing detection audio, and generates corresponding platoon compensation information to quantify these differences. This ensures that the differences can be eliminated by playing audio in a platoon based on the platoon compensation information, thus ensuring that multiple vehicles can play audio in a platoon.
[0038] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 Step S30 includes steps S301 to S306: Step S301: Perform frame-by-frame processing on the group playback data to obtain multi-frame playback audio data.
[0039] In practical use, to facilitate analysis, the group playback data can be processed by dividing it into frames, breaking it down into the smallest calculation unit, thereby obtaining multi-frame playback audio data.
[0040] For example: using a preset sampling rate f s The audio data is divided into n frames for playback, with each frame having a length of N. frame If the frame shift is hop, then the audio data played in the nth frame can be represented as Xn[t].
[0041] Step S302: Perform energy analysis on the multi-frame playback audio data to generate an energy spectrum.
[0042] In practical applications, energy analysis can be performed on multiple frames of audio data to determine the energy of each frame and thus construct an overall energy spectrum.
[0043] The total energy spectrum can be represented by a matrix. For example, each column of the matrix represents the energy value corresponding to a certain frequency n frames, and each row represents the energy value corresponding to each frequency in the nth frame.
[0044] In a specific implementation, to ensure a reasonable construction of the total energy spectrum, step S302 in this embodiment may include: Energy analysis was performed on each frame of audio data to determine the energy spectrum data corresponding to each frame of audio data. The energy spectrum data corresponding to each frame of audio playback data is spliced together to form the total energy spectrum.
[0045] It should be noted that, in order to facilitate the construction of the total energy spectrum, each frame of audio data can be processed by Fast Fourier Transform (fft) to convert its spectrum, and then the energy value corresponding to each frequency in the spectrum can be calculated to obtain the energy spectrum data corresponding to a single frame of audio data.
[0046] Then, the energy spectrum data corresponding to each frame of audio playback can be assembled into a matrix to obtain the total energy spectrum.
[0047] For example, by performing FFT processing on the audio data played in the i-th frame, the amplitude X can be obtained. i (f k )=fft(X i (t)), corresponding to the frequency f k The corresponding energy can be represented as E i (f k )=|X i (f k )| 2 Where k=1, 2, ..., m, i=1, 2, ..., n, n is the total number of frames of audio data played, and m is the number of vehicles in the platoon. Thus, the energy corresponding to the m vehicles in the i-th frame of audio data can be obtained, which is the energy spectrum data. Then, the energy spectrum data of the n frames of audio playback are assembled into a matrix to obtain the total energy spectrum.
[0048] Step S303: Determine the target frequency point corresponding to each group of vehicles based on the total energy spectrum and the test frequency corresponding to each group of vehicles.
[0049] In practical use, since the higher the energy value, the stronger the reference value of the audio at that moment, the maximum energy value corresponding to the test frequency of the convoy vehicle can be found in the energy spectrum, and the maximum energy value can be used as the target frequency point corresponding to the convoy vehicle.
[0050] In a specific implementation, to improve detection efficiency, step S303 in this embodiment may include: Based on the test frequency of each vehicle in the platoon, the corresponding energy data is found in the total energy spectrum to obtain the energy value sequence of each vehicle in the platoon. Calculate the maximum value in the energy value sequence to determine the target frequency point corresponding to each group of vehicles.
[0051] It should be noted that the total energy spectrum contains energy data from multiple different test frequencies, while a single vehicle in a platoon corresponds to only one test frequency. If the target frequency is determined by searching directly in the entire total energy spectrum, it would require processing too much unnecessary data. Therefore, the corresponding energy data can be found in the total energy spectrum based on the test frequency of the platoon vehicle to obtain the energy value sequence corresponding to the platoon vehicle. Next, the maximum value in the energy value sequence is calculated, and this maximum value is used as the target frequency point corresponding to the platooned vehicles.
[0052] Step S304: Determine the delay time corresponding to each vehicle in the platoon based on the frame number corresponding to the target frequency point.
[0053] In practical use, the target frequency point is the reference point corresponding to the convoy vehicles. The time when the data at this point is collected is actually the time when the audio corresponding to the reference point emitted by the convoy vehicles reaches the vehicle control equipment. Based on this, the time corresponding to the target frequency point can be used as the delay time corresponding to the convoy vehicles.
[0054] For example, if the test frequency for a certain group of vehicles is fk, then its corresponding energy value sequence can be represented as ES(fk). k )=[E1(f k ), E2(f k ), ......, E n (f k At this point, the target frequency can be represented as E. max (f k )=max(E S (f k If the frame number corresponding to the target frequency is i, then the delay time t corresponding to the platooned vehicles at this time is... fk =i*hop / f s Where hop is the frame shift during framing, and f s The sampling rate is used during frame division.
[0055] Step S305: Use the maximum value of the delay time corresponding to each vehicle in the platoon as the compensation benchmark value.
[0056] Step S306: Determine the delay compensation information corresponding to each platoon vehicle based on the delay time and the compensation benchmark value.
[0057] In practical use, the greater the delay time of the vehicles in a platoon, the later the reference point audio emitted by the vehicles in the platoon arrives at the vehicle control device. If it is necessary for the audio emitted by each vehicle in the platoon to arrive at the vehicle control device as close as possible, delay control can be used to make the audio of other vehicles in the platoon arrive at the vehicle control device at the same time as the latest arrival. Therefore, the maximum value of the delay time of each vehicle in the platoon can be used as the compensation benchmark value.
[0058] Therefore, the difference between the compensation benchmark value and the delay time corresponding to each vehicle in the platoon can be used as the delay compensation information for each vehicle in the platoon.
[0059] For example: Suppose there are m vehicles in a platoon, and the delay time corresponding to the m vehicles in a platoon can be represented as tf. i If i = 1, 2, ..., m, then the compensation benchmark value can be represented as max(t) fi If the delay compensation information CD corresponding to the s-th platoon vehicle is obtained, then at this time... s =max(t fi )-t fs .
[0060] In practical implementation, group playback also needs to ensure that the sound pressure of the audio emitted by each group of vehicles reaching the vehicle control device is as consistent as possible. At this time, the group compensation information can also include energy compensation information. Therefore, after step S303, it can also include: The energy value corresponding to each vehicle in the platoon is determined based on the energy value corresponding to the target frequency point. The maximum energy value among the energy values of the vehicles in each group is used as the energy baseline value; The energy compensation information for each vehicle in the platoon is determined based on the energy value and the energy benchmark value.
[0061] It should be noted that the target frequency is actually the most reliable reference point. Therefore, the energy value corresponding to the target frequency can be used as the energy value corresponding to the vehicles in the convoy.
[0062] Similarly, when adjusting the sound pressure level, it is necessary to ensure that the energy of the audio played by the vehicles in the convoy is as consistent as possible when it reaches the vehicle control device. Therefore, the maximum energy value of the vehicles in the convoy can be used as the energy reference value. Then, the energy reference value is subtracted from the energy value of the vehicles in the convoy to obtain the energy compensation information of the vehicles in the convoy.
[0063] For example: Suppose there are m vehicles in a platoon, and the energy value corresponding to the m vehicles in the platoon can be represented as E. max f i If i = 1, 2, ..., m, then the energy baseline value can be characterized as max(E maxf i If the energy compensation information (CE) for the s-th platoon vehicle is obtained, then the energy compensation information (CE) for that platoon vehicle is obtained. s =max(E max f i )-E max f s .
[0064] This embodiment provides a vehicle control method. This embodiment performs specific analysis and processing on the group playback data to ensure that group compensation information can be reasonably generated, thereby ensuring that the actual playback effect of subsequent vehicle group playback audio can be improved.
[0065] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 Before step S10, steps S01 to S03 are also included: Step S01: Perform target recognition on the scene image to determine the vehicle identifiers corresponding to each team of vehicles.
[0066] It should be noted that the vehicle identification can be the vehicle's license plate number, while the scene image can be an image containing the vehicles in each group. To ensure the detection effect, it is necessary to ensure that the complete vehicle identification of each group of vehicles exists in the scene image.
[0067] The scene images can be provided by the user or collected on-site by the vehicle control equipment after receiving user instructions.
[0068] In practical use, target recognition algorithms or models can be used to identify targets in scene images and determine the vehicle identifiers of each group of vehicles.
[0069] The target recognition algorithm or target recognition model can be pre-set by the vehicle control equipment administrator. For example, a deep learning algorithm (such as the YOLO + CRNN combination algorithm) or a deep learning model trained based on the deep learning algorithm can be used for target recognition.
[0070] In a specific implementation, the vehicle identifier can also be the vehicle identification code, such as the VIN code. In this case, the vehicle identifier corresponding to the convoy vehicles can not be obtained directly through target recognition. Instead, the corresponding vehicle VIN code can be found based on the license plate number and other information obtained from target recognition. This embodiment does not impose any restrictions on this.
[0071] Step S02: Sort the vehicle identifiers corresponding to each team of vehicles and generate a sorting result.
[0072] In practical use, in order to allocate frequencies, the vehicle identifiers of each group of vehicles can be sorted first to generate sorting results.
[0073] The sorting criteria can be based on the time when the vehicle identifier is detected, the order in which the corresponding target recognition algorithm outputs the vehicle identifiers, or the specific numerical values of the vehicle identifiers, such as sorting by the first letter of the characters in the vehicle identifier.
[0074] Step S03: Based on the sorting results and the preset frequency interval, assign the corresponding test frequency to each team of vehicles.
[0075] It should be noted that the preset frequency interval can be set in advance by the vehicle control equipment administrator, for example, setting the preset frequency interval to 100Hz.
[0076] Understandably, in order to ensure that there is a clear distinction between the various frequencies during subsequent testing, it is necessary to ensure that there is at least a certain difference interval between the test frequencies. Therefore, the corresponding test frequencies can be assigned to each group of vehicles based on the sorting results and the preset frequency interval.
[0077] In practical applications, in order to ensure that all vehicles in the convoy can play the test audio normally, the test frequency can be set according to the intersection of the frequency ranges supported by the speakers of each vehicle in the convoy.
[0078] For example: Suppose there are 3 vehicles in a team, with a preset frequency interval of 100Hz, named A, B, and C, and the sorting result is BAC. The playback range supported by each vehicle in the team is 500Hz-1500Hz, 600Hz-1600Hz, and 400Hz-1400Hz, respectively. Then the intersection frequency is 600Hz-1400Hz. Therefore, the test frequencies of each vehicle in the team can be: B corresponds to 600Hz, A corresponds to 700Hz, and C corresponds to 800Hz.
[0079] In a specific implementation, to ensure that the vehicle platoon can simulate spatial stereo sound effects, corresponding audio channels can be assigned to each vehicle in the platoon. In this case, after step S01 described in this embodiment, the following may also be included: Obtain the location information of the vehicle identifiers corresponding to each platoon in the scene image; The location information is compared to generate a relative location matrix; The audio channels for each vehicle in the platoon are set based on the relative position matrix. Accordingly, step S40 may include: Based on the team compensation information corresponding to each team vehicle and the audio channel control, each team vehicle plays team audio.
[0080] It should be noted that the position information of the vehicle identifiers corresponding to each group of vehicles in the scene image can be extracted from the target recognition results. Then, the position information of the vehicle identifiers corresponding to each group of vehicles is compared to generate a relative position matrix.
[0081] For example, if the vehicle identifier is a license plate, the license plate bounding box can be extracted from the target recognition results and the center coordinates can be calculated. D i,center,x =(D i,left +D i,right ) / 2 D i,center,y =(D i,up +D i,down ) / 2 In the formula, D i,left : Obtain the horizontal distance (in pixels) from the left edge of the i-th license plate to the left edge of the photo using an object detection algorithm; D i,right : Obtain the horizontal distance (in pixels) from the right edge of the i-th license plate to the left edge of the photo using an object detection algorithm; D i,up : Obtain the vertical distance (in pixels) from the upper edge of the i-th license plate to the lower edge of the photo using an object detection algorithm; D i,down : Obtain the vertical distance (in pixels) from the lower boundary of the i-th license plate to the lower edge of the photo using an object detection algorithm; D i,center,x Let x be the x-coordinate of the center position of the i-th license plate (with the edge of the photo as the coordinate system); D i,center,y Let y be the ordinate of the center position of the i-th license plate (with the edge of the photo as the coordinate system); Next, the center coordinates of each vehicle's license plate can be compared to determine the left-right relationship, thereby generating a position matrix, such as: If D i,center,x >D j,center,x Then the i-th vehicle in the platoon is to the right of the j-th vehicle in the platoon. If D i,center,y >D j,center,y Then the i-th vehicle in the platoon is behind the j-th vehicle in the platoon. D in sequence i,center,x and D i,center,y Compare and output the positional relationship P uv matrix.
[0082] Among them, P uv Characterizing positional relationships: u represents the left-right relationship, u=1, 2, 3..., the smaller the number, the more to the left; v represents the relationship between the preceding and following numbers, where v = 1, 2, 3, ..., and the smaller the number, the earlier it appears.
[0083] In practical use, the correspondence between relative position type and audio channel can be shown in the table below:
[0084] The above descriptions and tables are for illustrative purposes only and do not constitute a specific limitation on this solution.
[0085] Understandably, after setting the corresponding audio channels for each vehicle in a group based on the relative position matrix, the audio playback of each vehicle in a group can be controlled according to the group compensation information and audio channels.
[0086] In practical use, when conducting tests and controlling each vehicle to play the test audio, it is also possible to control each vehicle in the platoon to play the test audio based on the corresponding test frequency and channel. This can be selected according to actual needs, and this embodiment does not impose any restrictions on this.
[0087] This embodiment provides a vehicle control method that can automatically identify vehicle identifiers in an image, eliminating the need for users to manually input information about each vehicle, thus reducing the complexity of user operations and improving the user's actual experience.
[0088] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the vehicle control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.
[0089] This application also provides a vehicle control device, please refer to... Figure 4 The vehicle control device includes: The detection module 10 is used to send detection audio to each vehicle in the platoon, so that each vehicle in the platoon can play the detection audio based on the corresponding test frequency. The acquisition module 20 is used to acquire audio during playback to obtain team playback data; The determining module 30 is used to determine the team compensation information corresponding to each team vehicle based on the team playback data; The control module 40 is used to control the team audio playback of each team vehicle according to the team compensation information corresponding to each team vehicle.
[0090] The vehicle control device provided in this application, employing the vehicle control method described in the above embodiments, can solve the technical problem of difficulty in controlling multiple vehicles to play audio in a convoy, which is difficult in related technologies. Compared with the prior art, the beneficial effects of the vehicle control device provided in this application are the same as those of the vehicle control method provided in the above embodiments, and other technical features in the vehicle control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.
[0091] This application provides a vehicle control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the vehicle control method in Embodiment 1 above.
[0092] The following is for reference. Figure 5 The diagram illustrates a structural schematic suitable for implementing vehicle control devices according to embodiments of this application. Vehicle control devices in embodiments of this application may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The vehicle control device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.
[0093] like Figure 5As shown, the vehicle control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the vehicle control device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the vehicle control equipment to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show vehicle control equipment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.
[0094] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.
[0095] The vehicle control device provided in this application, employing the vehicle control method described in the above embodiments, can solve the technical problem of difficulty in controlling multiple vehicles to play audio in a convoy, which is difficult in related technologies. Compared with the prior art, the beneficial effects of the vehicle control device provided in this application are the same as those of the vehicle control method provided in the above embodiments, and other technical features of the vehicle control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.
[0096] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.
[0097] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
[0098] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the vehicle control method in the above embodiments.
[0099] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.
[0100] The aforementioned computer-readable storage medium may be included in the vehicle control equipment; or it may exist independently and not be installed in the vehicle control equipment.
[0101] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a vehicle control device, cause the vehicle control device to: send detection audio to each platoon of vehicles, so that each platoon of vehicles plays the detection audio based on a corresponding test frequency; collect audio during playback to obtain platoon playback data; determine platoon compensation information corresponding to each platoon of vehicles based on the platoon playback data; and control each platoon of vehicles to play platoon audio according to the platoon compensation information corresponding to each platoon of vehicles.
[0102] Computer program code for performing the operations of this application can be written in one or more programming languages or a combination thereof. These programming languages include object-oriented programming languages—such as Python, Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0103] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0104] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.
[0105] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described vehicle control method, thereby solving the technical problem of difficulty in controlling multiple vehicles to play audio in a convoy in related technologies. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle control method provided in the above embodiments, and will not be repeated here.
[0106] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle control method described above.
[0107] The computer program product provided in this application can solve the technical problem that it is difficult to control multiple vehicles to play audio in a group in related technologies. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the vehicle control method provided in the above embodiments, and will not be repeated here.
[0108] All user-related data involved in this application (such as user privacy data, user behavior data, etc.) were obtained with the user's permission or consent; that is to say, when this application is used in a specific product or technology, user permission is required to obtain and process the relevant data, and the processing of the relevant data must comply with the relevant laws, regulations and regulatory standards of the relevant countries and regions.
[0109] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.
Claims
1. A vehicle control method, characterized in that, The vehicle control method includes: Send detection audio to each vehicle in the platoon so that each vehicle in the platoon can play the detection audio based on the corresponding test frequency. Audio is captured during playback to obtain team playback data; Based on the team playback data, determine the team compensation information corresponding to each team vehicle; The system controls the playback of team audio for each vehicle in a given team based on the team compensation information corresponding to each team.
2. The vehicle control method as described in claim 1, characterized in that, The team compensation information includes delay compensation information; The process of determining the team compensation information corresponding to each team vehicle based on the team playback data includes: The team playback data is processed into frames to obtain multi-frame playback audio data; Energy analysis is performed on the multi-frame audio data to generate a total energy spectrum; The target frequency for each vehicle in the platoon is determined based on the total energy spectrum and the test frequency corresponding to each vehicle in the platoon. The delay time for each vehicle in the platoon is determined based on the frame number corresponding to the target frequency. The maximum value of the delay time corresponding to each group of vehicles is used as the compensation benchmark value; The delay compensation information for each vehicle in the platoon is determined based on the delay time and the compensation benchmark value.
3. The vehicle control method as described in claim 2, characterized in that, The step of performing energy analysis on the multi-frame playback audio data to generate a total energy spectrum includes: Energy analysis was performed on each frame of audio data to determine the energy spectrum data corresponding to each frame of audio data. The energy spectrum data corresponding to each frame of audio playback data is spliced together to form the total energy spectrum.
4. The vehicle control method as described in claim 2, characterized in that, The step of determining the target frequency point for each platoon vehicle based on the total energy spectrum and the test frequency corresponding to each platoon vehicle includes: Based on the test frequency of each vehicle in the platoon, the corresponding energy data is found in the total energy spectrum to obtain the energy value sequence of each vehicle in the platoon. Calculate the maximum value in the energy value sequence to determine the target frequency point corresponding to each group of vehicles.
5. The vehicle control method as described in claim 2, characterized in that, The team compensation information also includes energy compensation information; After determining the target frequency for each platoon vehicle based on the total energy spectrum and the test frequency corresponding to each platoon vehicle, the process further includes: The energy value corresponding to each vehicle in the platoon is determined based on the energy value corresponding to the target frequency point. The maximum energy value among the energy values of the vehicles in each group is used as the energy baseline value; The energy compensation information for each vehicle in the platoon is determined based on the energy value and the energy benchmark value.
6. The vehicle control method as described in claim 1, characterized in that, Before sending the detection audio to each platoon of vehicles, so that each platoon of vehicles can play the detection audio based on the corresponding test frequency, the method further includes: Perform target recognition on scene images to determine the vehicle identifiers corresponding to each team of vehicles; Sort the vehicle identifiers corresponding to each team of vehicles and generate a sorting result; Based on the sorting results and the preset frequency interval, a corresponding test frequency is assigned to each team of vehicles.
7. The vehicle control method as described in claim 6, characterized in that, After performing target recognition on the scene image and determining the vehicle identifiers corresponding to each convoy of vehicles, the process further includes: Obtain the location information of the vehicle identifiers corresponding to each platoon in the scene image; The location information is compared to generate a relative location matrix; The audio channels for each vehicle in the platoon are set based on the relative position matrix. Accordingly, controlling the playback of platoon audio for each platoon vehicle based on the platoon compensation information corresponding to each platoon vehicle includes: Based on the team compensation information corresponding to each team vehicle and the audio channel control, each team vehicle plays team audio.
8. A vehicle control device, characterized in that, The vehicle control device includes: The detection module is used to send detection audio to each vehicle in the platoon, so that each vehicle in the platoon can play the detection audio based on the corresponding test frequency. The acquisition module is used to acquire audio during playback to obtain team playback data; The determination module is used to determine the team compensation information corresponding to each team vehicle based on the team playback data; The control module is used to control the playback of team audio for each team vehicle based on the team compensation information corresponding to each team vehicle.
9. A vehicle control device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle control method as described in any one of claims 1 to 7.
10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the vehicle control method as described in any one of claims 1 to 7.