A method, system, device and medium for generating a simulated sound wave for a vehicle

Abstract

The application discloses a vehicle simulation sound wave generation method, system, device and medium, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring the vehicle speed, road image data and tire state signal under the current driving state of a target vehicle, wherein the tire state signal comprises a tire vibration signal and a tire noise signal; obtaining road information under the current driving state of the target vehicle according to the road image data and the tire state signal under the current driving state of the target vehicle, wherein the road information comprises a road state and a road type; determining a sound wave parameter under the current driving state of the target vehicle according to the vehicle speed and the road information under the current driving state of the target vehicle, and then synthesizing a simulation sound wave according to the sound wave parameter under the current driving state of the target vehicle and outputting the simulation sound wave. The road image data and the tire state signal are fused to obtain the road information and synthesize the simulation sound wave, so that the accuracy of road type identification is improved, and the immersion of driving is enhanced.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, system, device, and medium for generating simulated vehicle sound waves. Background Technology

[0002] With the rapid development of the new energy vehicle industry, electric vehicles are gaining an increasing market share due to their quietness and environmental friendliness. However, the lack of engine noise from traditional internal combustion engines results in a lack of crucial auditory feedback for drivers, leading to insufficient driving immersion and weaker pedestrian warning at low speeds. To address this, existing technologies typically employ simulated sound generation systems that play pre-set audio materials or synthesized sounds through the vehicle's audio system to compensate for the lack of auditory experience.

[0003] However, most existing simulated sound generation strategies rely solely on visual effects. This approach fails to consider actual road conditions in sound generation, resulting in inaccurate sound effects when the vehicle is driving on different road surfaces. This leads to a discrepancy between the road vibration feedback felt by the driver and the sound characteristics heard by the ear, creating a sensory disconnect between hearing and touch. This inconsistency not only reduces the realism and immersion of driving but also prevents drivers from using sound changes to aid in perceiving road adhesion, hindering safe driving in complex road conditions. Summary of the Invention

[0004] This invention provides a method, system, device, and medium for generating simulated vehicle sounds, in order to solve the technical problem that existing methods for generating simulated vehicle sounds rely solely on visual modules to determine the results, which is prone to errors, resulting in inaccurate sound effects and a disconnect between auditory and tactile sensations.

[0005] Firstly, a method for generating simulated vehicle sound is provided, comprising the following steps: The vehicle speed, road surface image data, and tire status signals of the target vehicle under its current driving state are acquired. The tire status signals include tire vibration signals and tire noise signals. The road surface information of the target vehicle under its current driving condition is obtained based on the road surface image data and tire status signal. The road surface information includes the road surface condition and road surface type. The sound parameters of the target vehicle under its current driving state are determined based on the vehicle speed and road surface information. Then, a simulated sound wave is synthesized and output based on the sound parameters of the target vehicle under its current driving state.

[0006] In some embodiments, obtaining the road surface information of the target vehicle's current driving state based on road surface image data and tire state signals includes: The road surface condition of the target vehicle under its current driving condition is obtained based on the tire status signal of the target vehicle under its current driving condition. Then, based on the road surface condition and road image data under the current driving state of the target vehicle, the confidence level of the road surface type is calculated, and the road surface type is obtained according to the confidence level of the road surface type under the current driving state of the target vehicle.

[0007] In some embodiments, obtaining the road surface condition of the target vehicle under its current driving state based on the tire state signal of the target vehicle includes: The spectral characteristics of the road surface condition are determined based on the tire vibration signal of the target vehicle under its current driving condition. The noise characteristics of the road surface are determined based on the tire noise signal of the target vehicle under its current driving condition. The road surface condition is determined based on the spectral and noise characteristics of the road surface under the current driving conditions of the target vehicle. The road surface condition includes smooth, rough, and slippery.

[0008] In some embodiments, the step of calculating the confidence level of the road surface type based on the road surface condition and road surface image data under the current driving state of the target vehicle, and obtaining the road surface type based on the confidence level of the road surface type under the current driving state of the target vehicle, includes: Calculate the probability values ​​of all road types based on the road surface conditions and road image data under the current driving state of the target vehicle, and output the road type with the highest probability value; Obtain the temporal stability coefficient of the target vehicle under its current driving state, and calculate the confidence level of the road type based on the road type with the highest probability value under the current driving state of the target vehicle and the temporal stability coefficient; If the confidence level of the road surface type is greater than the confidence level threshold, then the road surface type is output. The road surface types include asphalt road surface, gravel road surface and waterlogged road surface.

[0009] In some embodiments, the step of determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting a simulated sound wave based on the sound parameters of the target vehicle under its current driving state includes: Based on the vehicle speed and road information of the target vehicle under its current driving condition, a preset sound database is queried to obtain the sound parameters of the target vehicle under its current driving condition. The sound parameters of the target vehicle under its current driving state are input into the audio synthesis engine to synthesize the audio and obtain the simulated sound signal of the target vehicle under its current driving state. The simulated sound wave signal of the target vehicle under its current driving state is enhanced with sound effects to obtain a simulated sound wave, which is then output.

[0010] In some embodiments, the step of determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting a simulated sound wave based on the sound parameters of the target vehicle under its current driving state includes: If the road surface type changes during the current driving state of the target vehicle, and the duration of the changed road surface type reaches a preset time threshold, then the simulated sound output will be switched.

[0011] In some embodiments, after determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting the simulated sound based on the sound parameters of the target vehicle under its current driving state, the method further includes: When the simulated sound output of the target vehicle changes during its current driving state, a fade-out operation is performed on the simulated sound before and after the change, and a transition operation is performed on the sound parameters before and after the change. The fade-out operation includes merging the simulated sound waves before and after the switch and gradually reducing the proportion of the simulated sound waves before the switch according to a preset time period. The transition operation includes gradually transforming the sound wave parameters before the switch to the sound wave parameters after the switch according to a preset interpolation function.

[0012] Secondly, a system for generating simulated vehicle sound is provided, comprising: The acquisition module is used to acquire the vehicle speed, road image data and tire status signals of the target vehicle under the current driving state. The tire status signals include tire vibration signals and tire noise signals. The processing module is used to obtain road information of the target vehicle under its current driving state based on road image data and tire status signals. The road information includes road state and road type. The synthesis module is used to determine the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesize and output the simulated sound based on the sound parameters of the target vehicle under its current driving state.

[0013] Thirdly, a computer device is provided, comprising: a memory and a processor, wherein the memory stores at least one instruction, the at least one instruction being loaded and executed by the processor to implement the aforementioned method for generating simulated vehicle sound.

[0014] Fourthly, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, which, when executed by a computer, cause the computer to perform the aforementioned method for generating a simulated vehicle sound.

[0015] The beneficial effects of the technical solution provided by this invention include: This invention discloses a method, system, device, and medium for generating simulated vehicle sound waves. It acquires vehicle speed, road surface image data, and tire state signals (including tire vibration and noise signals) of a target vehicle under its current driving condition. Based on the road surface image data and tire state signals, it obtains road surface information for the target vehicle's current driving condition, including road surface state and type. It determines sound wave parameters for the target vehicle's current driving condition based on the vehicle speed and road surface information, and then synthesizes and outputs simulated sound waves based on these parameters. This invention improves the accuracy of road surface type identification and enhances the driving immersion experience by fusing road surface image data with tire state signals (including tire vibration and noise signals) to obtain road surface information and synthesize simulated sound waves. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. 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 a method for generating simulated vehicle sound waves according to an embodiment of the present invention.

[0018] Figure 2 Provided for embodiments of the present invention Figure 1 A flowchart illustrating step S2.

[0019] Figure 3 Provided for embodiments of the present invention Figure 1 A flowchart illustrating step S3.

[0020] Figure 4 This is a schematic diagram of a vehicle simulated sound generation system provided in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] This invention provides a method, system, device, and medium for generating simulated vehicle sound waves. It solves the technical problem that the current method for generating simulated vehicle sound waves relies solely on visual modules to determine the results, which is prone to errors, leading to inaccurate sound wave effects and a disconnect between auditory and tactile sensations.

[0024] See Figure 1 As shown, this embodiment of the invention provides a method for generating simulated vehicle sound, including the following steps: S1. Acquire the vehicle speed, road image data and tire status signal of the target vehicle under the current driving state, wherein the tire status signal includes tire vibration signal and tire noise signal.

[0025] In this embodiment, the acquisition of vehicle speed, road surface image data, and tire status signals under the current driving state of the target vehicle, wherein the tire status signals include tire vibration signals and tire noise signals, includes: Road image data is acquired using an onboard vision device, which may be a forward-looking camera or a surround-view camera. The vehicle-mounted sensor group collects tire vibration signals and can be installed on the wheel hub or suspension system. Tire noise signals are acquired using a microphone array, which can be installed in the vehicle chassis or wheel arches.

[0026] S2. Obtain road surface information of the target vehicle under its current driving state based on road surface image data and tire status signals. The road surface information includes road surface state and road surface type.

[0027] See Figure 2 As shown, step S2 includes: S21. Obtain the road surface condition of the target vehicle under its current driving condition based on the tire condition signal of the target vehicle under its current driving condition.

[0028] In this embodiment, obtaining the road surface condition of the target vehicle based on the tire state signal of the target vehicle's current driving state includes: The spectral characteristics of the road surface condition are determined based on the tire vibration signal of the target vehicle under its current driving condition. The noise characteristics of the road surface are determined based on the tire noise signal of the target vehicle under its current driving condition. The road surface condition is determined based on the spectral and noise characteristics of the road surface condition under the current driving state of the target vehicle. The road surface condition includes smooth, rough, and slippery. Specifically, if the road surface is smooth, the spectral characteristics of the tire vibration signal are characterized by the energy of the tire vibration signal being concentrated in the mid-frequency region, which is 1kHz to 3kHz, and the envelope of the tire vibration signal being smooth. The peak amplitude of the signal does not exceed a threshold multiple, which can be 1.8 times the average amplitude of the signal. The signal exhibits no obvious discrete pulse peaks. The noise characteristics of the tire noise signal are characterized by continuous and stable broadband white noise, where the high-frequency energy ratio (HER) is between 18% and 25%, and the spectral flatness (SFM) of the noise signal satisfies SFM≥0.85, the spectral centroid is between 1.8kHz and 3.6kHz, and the spectral standard deviation is greater than or equal to 2.8kHz.

[0029] If the road surface is rough, the spectral characteristics of the tire vibration signal are characterized by the energy of the tire vibration signal being concentrated in the low-frequency region, which is the 300~800Hz range. The tire vibration signal exhibits a pulse shape of rapid rise and slow fall. For example, the pulse rise time of the tire vibration signal is less than 5ms, while the pulse fall time is between 20~50ms. In addition, there are multiple discrete peaks in the low-frequency region, with peak amplitudes reaching 3.5~8 times the average signal amplitude, and exhibiting sharp discrete resonance peak characteristics. The noise characteristics of the tire noise signal are characterized by the high-frequency energy ratio (HER) being in the range of 32%~45%, which is 6~9dB stronger than the smooth state. Furthermore, the tire noise signal has a regularly arranged comb-like structure, with a spectral comb factor (SCF) greater than or equal to 3.0.

[0030] If the road surface is wet and slippery, the spectral characteristics of the tire vibration signal are as follows: compared to the smooth state, the energy of the tire vibration signal in the wet and slippery state is attenuated by 35% in the high-frequency region. The high-frequency region is the region greater than 3kHz. The noise characteristics of the tire noise signal are as follows: the high-frequency energy ratio (HER) is between 8% and 12%, which is attenuated by 8 to 12dB compared to the smooth state. The reason is that in the wet and slippery state, a water film forms a lubricating layer between the tire and the road surface, which prevents the high-frequency vibration energy from being effectively transmitted to the tire structure.

[0031] S22. Then, calculate the confidence level of the road surface type based on the road surface condition and road surface image data under the current driving state of the target vehicle, and obtain the road surface type based on the confidence level of the road surface type under the current driving state of the target vehicle.

[0032] In this embodiment, the step of calculating the confidence level of the road surface type based on the road surface condition and road surface image data under the current driving state of the target vehicle, and obtaining the road surface type based on the confidence level of the road surface type under the current driving state of the target vehicle, includes: Calculate the probability values ​​of all road types based on the road surface conditions and road image data under the current driving state of the target vehicle, and output the road type with the highest probability value; Specifically, the road surface state and road surface image data of the target vehicle under the current driving state are input into a preset convolutional neural network-long short-term memory network (CNN-LSTM) to calculate the score of each road surface type. The scores of all road surface types are then normalized to the probability value of the road surface type through a normalization exponential function, and the road surface type with the highest probability value is determined.

[0033] Obtain the temporal stability coefficient of the target vehicle under its current driving state, and calculate the confidence level of the road type based on the road type with the highest probability value under the current driving state of the target vehicle and the temporal stability coefficient; Specifically, the temporal stability coefficient of the target vehicle under its current driving state is calculated based on the temporal variation coefficient within the most recent 10 frames, and the confidence level of the road type is obtained by multiplying the temporal stability coefficient with the probability value of the road type with the highest probability value.

[0034] If the confidence level of the road surface type is greater than the confidence level threshold, then the road surface type is output. The road surface types include asphalt road surface, gravel road surface and waterlogged road surface. The road surface condition of the asphalt road surface includes a smooth state, the road surface condition of the gravel road surface includes a rough state, and the road surface condition of the waterlogged road surface includes a slippery state.

[0035] S3. Determine the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesize and output the simulated sound based on the sound parameters of the target vehicle under its current driving state.

[0036] See Figure 3 As shown, step S3 includes: S31. Based on the vehicle speed and road surface information of the target vehicle under its current driving state, query the preset sound database to obtain the sound parameters of the target vehicle under its current driving state.

[0037] In this embodiment, the step of querying a preset sound database based on the vehicle speed and road surface information under the current driving state of the target vehicle to obtain the sound parameters under the current driving state of the target vehicle includes: Specifically, the sound parameters in the preset sound database include the primary timbre type, harmonic structure, dynamic envelope curve, bass gain coefficient, and sound image width. If the road surface type is asphalt, the primary timbre type is electronic cruise style. The electronic cruise style is characterized by a waveform that uses a 6:4 ratio of sawtooth wave and square wave. The fundamental frequency of the waveform is calculated based on the vehicle speed. For example, the fundamental frequency can be 0.8 times the vehicle speed. The dynamic envelope curve is characterized by a fast onset, medium attenuation, sustained sustain, and smooth release, and is smoothed by a low-pass filter with a cutoff frequency of 3.5kHz, presenting a smooth, continuous, and frictionless modern electronic sound. The timbre is characterized by even harmonics dominating, with even harmonic energy accounting for 65% to 85% of the total harmonic energy, and odd harmonic energy accounting for 15% to 35%. The bass gain coefficient is set to a medium level, i.e., 0.25 to 0.45, corresponding to a gain of 3 to 6dB in the 60 to 120Hz frequency band, to provide sufficient low-frequency support without making the sound muffled, ensuring the clarity and transparency of the sound when cruising at high speed on asphalt roads. The sound image width is characterized by the cross-correlation coefficient ρ between the left and right channels being in the range of 0.0 to 0.15, with a gain of 6 to 9dB, creating a wide and open stereo sound field, simulating the immersive feeling of the vehicle and the road blending together. If the road surface is gravel, the main sound signature is a booming style. This booming style is characterized by broadband noise in the waveform superimposed on harmonic components at a ratio of -12 to -6 dB of the main signal to simulate the rough background noise of gravel rolling and rubbing against sand. The low-pass filter cutoff frequency is set to 2.0 to 2.8 kHz to retain the mid-to-low frequency booming feel and suppress overly sharp high-frequency components. The dynamic envelope curve is characterized by periodic modulation of the overall amplitude through a low-frequency oscillator, with a modulation depth of 0.15 to 0.30 and a modulation frequency of 3 to 7 Hz. The modulation frequency is positively correlated with vehicle speed and gravel particle size. Simultaneously, the envelope... The onset and release times are subject to random fluctuations in the ranges of 10-30ms and 30-80ms, respectively. The harmonic structure is dominated by odd harmonic energy, which accounts for 50%-70% of the total harmonic energy. The bass gain coefficient is set to a high level, i.e., 0.55-0.75, corresponding to a gain of 8-12dB in the 60-120Hz frequency band. The sound image width is characterized by the cross-correlation coefficient ρ between the left and right channels being in the range of 0.35-0.55, with a gain of 0-3dB. This concentrates the sound image position directly in front of the driver, simulating the psychological perception state of focusing on road conditions when driving on gravel roads. If the road surface is a flooded road, the main timbre type is a melodious style. This melodious style is characterized by broadband noise in the waveform superimposed at a ratio of -24dB to -18dB of the main signal, used to simulate the delicate frictional texture of a sliding water film. A gain boost of 4-7dB is applied in the 1-2kHz mid-frequency band to simulate the suppleness and viscous texture of a cello bow. The low-pass filter cutoff frequency is set to 2.8kHz to suppress high-frequency components, resulting in a warm and resonant tone. The harmonic structure is characterized by even-order harmonics. The system prioritizes harmonic energy, with even-order harmonics accounting for 50% to 65%. The bass gain coefficient is set to a low level, i.e., 0.10 to 0.30, corresponding to a gain of 0 to 3 dB in the 60 to 120 Hz frequency band. The sound image width is represented by the cross-correlation coefficient ρ between the left and right channels being in the range of 0.0 to 0.15, with a gain of 6 to 9 dB. The system extends the reverberation decay time for asphalt roads and extends it for wet roads to create a floating and enveloping feeling when driving on slippery surfaces.

[0038] S32. Input the sound parameters of the target vehicle under its current driving state into the audio synthesis engine to synthesize the audio and obtain the simulated sound signal of the target vehicle under its current driving state.

[0039] In this embodiment, the step of inputting the sound parameters of the target vehicle under its current driving state into the audio synthesis engine for audio synthesis to obtain the simulated sound signal of the target vehicle under its current driving state includes: The audio synthesis engine synthesizes simulated sound wave signals based on sound wave parameters, and adjusts the rise rate and decay time of the simulated sound wave signals according to the depth of the vehicle's accelerator pedal. For example, if the vehicle's accelerator pedal is pressed to its deepest depth, the rise rate of the simulated sound wave signal is reduced by 60%, and if the vehicle's accelerator pedal is being released or released, the decay time of the simulated sound wave signal is extended by 0.5 seconds.

[0040] S33. Enhance the simulated sound wave signal of the target vehicle under its current driving state to obtain a simulated sound wave and output it.

[0041] In this embodiment, the step of determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting a simulated sound wave based on the sound parameters of the target vehicle under its current driving state includes: If the road surface type changes during the current driving state of the target vehicle, and the duration of the changed road surface type reaches a preset time threshold, then the simulated sound output will be switched.

[0042] Specifically, the preset time threshold is 0.3s. For example, if the target vehicle is currently driving on an asphalt road and then switches to a short stretch of waterlogged road, but the duration of the waterlogged road does not reach 0.3s and it switches back to an asphalt road, it is determined that the road type has not changed, and the simulated sound of the asphalt road continues to be maintained. If the duration reaches 0.3s, it is determined that the road type has changed, and the simulated sound output is switched again.

[0043] In this embodiment, after determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting the simulated sound based on the sound parameters of the target vehicle under its current driving state, the method further includes: When the simulated sound output of the target vehicle changes during its current driving state, a fade-out operation is performed on the simulated sound before and after the change, and a transition operation is performed on the sound parameters before and after the change. The fade-out operation includes merging the simulated sound waves before and after the switch and gradually reducing the proportion of the simulated sound waves before the switch according to a preset time period. Specifically, if the road surface type is switched from asphalt road to gravel road, at the switching time point, the simulated sound wave of the asphalt road accounts for 100% and the sound loudness is 1, while the simulated sound wave of the gravel road accounts for 0% and the sound loudness is 0. Based on the preset time period, 0.2 seconds after the switching time point, the simulated sound wave of the asphalt road accounts for 50% and the sound loudness is 0.71, while the simulated sound wave of the gravel road accounts for 50% and the sound loudness is 0.71. 0.4 seconds after the switching time point, the simulated sound wave of the asphalt road accounts for 0% and the sound loudness is 0, while the simulated sound wave of the gravel road accounts for 100% and the sound loudness is 1. The transition operation includes gradually transforming the sound wave parameters before the switch to the sound wave parameters after the switch according to a preset interpolation function. Specifically, if the road surface type is switched from asphalt to gravel, at the switching time point, interpolation calculations are performed on the harmonic structure and bass gain coefficient of the asphalt and gravel roads. For example, based on a preset time period, the proportion of even harmonic energy is gradually reduced from 70% to 30%, and the bass gain coefficient is gradually increased from 0.3 to 0.7.

[0044] In summary, the method for generating simulated vehicle sound in this embodiment of the invention acquires vehicle speed, road surface image data, and tire state signals under the current driving state of the target vehicle. The tire state signals include tire vibration signals and tire noise signals. Based on the road surface image data and tire state signals, road surface information under the current driving state of the target vehicle is obtained. This road surface information includes road surface state and road surface type. Sound parameters under the current driving state of the target vehicle are determined based on the vehicle speed and road surface information. Then, simulated sound is synthesized and output based on these sound parameters. This invention improves the accuracy of road surface type recognition and enhances the driving immersion experience by fusing road surface image data with tire state signals containing tire vibration and tire noise signals to obtain road surface information and synthesize simulated sound.

[0045] See Figure 4 As shown, this embodiment of the invention also provides a vehicle simulated sound generation system, comprising: The acquisition module is used to acquire the vehicle speed, road image data and tire status signals of the target vehicle under the current driving state. The tire status signals include tire vibration signals and tire noise signals. The processing module is used to obtain road information of the target vehicle under its current driving state based on road image data and tire status signals. The road information includes road state and road type. The synthesis module is used to determine the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesize and output the simulated sound based on the sound parameters of the target vehicle under its current driving state.

[0046] This invention also provides a computer device, including: a memory, a processor, and a network interface connected via a system bus, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement all or part of the steps of the aforementioned method for generating simulated vehicle sound.

[0047] The network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0048] A processor can be a CPU, or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor, or any conventional processor. The processor is the control center of a computer device, connecting all parts of the computer device through various interfaces and lines.

[0049] Memory can be used to store computer programs and / or modules. The processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for at least one function (such as video playback, image playback, etc.), etc.; the data storage area can store data created based on the use of the mobile phone (such as video data, image data, etc.). In addition, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SmartMedia Cards (SMC), Secure Digital (SD) cards, Flash Cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0050] In one embodiment of the invention, the processor is used to run a computer program stored in a memory to perform the following steps: The vehicle speed, road surface image data, and tire status signals of the target vehicle under its current driving state are acquired. The tire status signals include tire vibration signals and tire noise signals. The road surface information of the target vehicle under its current driving condition is obtained based on the road surface image data and tire status signal. The road surface information includes the road surface condition and road surface type. The sound parameters of the target vehicle under its current driving state are determined based on the vehicle speed and road surface information. Then, a simulated sound wave is synthesized and output based on the sound parameters of the target vehicle under its current driving state.

[0051] In some embodiments, obtaining the road surface information of the target vehicle's current driving state based on road surface image data and tire state signals includes: The road surface condition of the target vehicle under its current driving condition is obtained based on the tire status signal of the target vehicle under its current driving condition. Then, based on the road surface condition and road surface image data under the current driving state of the target vehicle, the confidence level of the road surface type is calculated, and the road surface type is obtained according to the confidence level of the road surface type under the current driving state of the target vehicle.

[0052] In some embodiments, obtaining the road surface condition of the target vehicle under its current driving state based on the tire state signal of the target vehicle includes: The spectral characteristics of the road surface condition are determined based on the tire vibration signal of the target vehicle under its current driving condition. The noise characteristics of the road surface are determined based on the tire noise signal of the target vehicle under its current driving condition. The road surface condition is determined based on the spectral and noise characteristics of the road surface under the current driving conditions of the target vehicle. The road surface condition includes smooth, rough, and slippery.

[0053] In some embodiments, the step of calculating the confidence level of the road type based on the road surface condition and road surface image data under the current driving state of the target vehicle, and obtaining the road surface type based on the confidence level of the road surface type under the current driving state of the target vehicle, includes: Calculate the probability values ​​of all road types based on the road surface conditions and road image data under the current driving state of the target vehicle, and output the road type with the highest probability value; Obtain the temporal stability coefficient of the target vehicle under its current driving state, and calculate the confidence level of the road type based on the road type with the highest probability value under the current driving state of the target vehicle and the temporal stability coefficient; If the confidence level of the road surface type is greater than the confidence level threshold, then the road surface type is output. The road surface types include asphalt road surface, gravel road surface and waterlogged road surface.

[0054] In some embodiments, the step of determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting a simulated sound wave based on the sound parameters of the target vehicle under its current driving state includes: Based on the vehicle speed and road information of the target vehicle under its current driving condition, a preset sound database is queried to obtain the sound parameters of the target vehicle under its current driving condition. The sound parameters of the target vehicle under its current driving state are input into the audio synthesis engine to synthesize the audio and obtain the simulated sound signal of the target vehicle under its current driving state. The simulated sound wave signal of the target vehicle under its current driving state is enhanced with sound effects to obtain a simulated sound wave, which is then output.

[0055] In some embodiments, the step of determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting a simulated sound wave based on the sound parameters of the target vehicle under its current driving state includes: If the road surface type changes during the current driving state of the target vehicle, and the duration of the changed road surface type reaches a preset time threshold, then the simulated sound output will be switched.

[0056] In some embodiments, after determining the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesizing and outputting the simulated sound based on the sound parameters of the target vehicle under its current driving state, the method further includes: When the simulated sound output of the target vehicle changes during its current driving state, a fade-out operation is performed on the simulated sound before and after the change, and a transition operation is performed on the sound parameters before and after the change. The fade-out operation includes merging the simulated sound waves before and after the switch and gradually reducing the proportion of the simulated sound waves before the switch according to a preset time period. The transition operation includes gradually transforming the sound wave parameters before the switch to the sound wave parameters after the switch according to a preset interpolation function.

[0057] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the steps of the aforementioned method for generating simulated vehicle sound waves.

[0058] The embodiments of the present invention can implement all or part of the aforementioned processes, or they can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various methods described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added to or subtracted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0059] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 and optical storage) containing computer-usable program code.

[0060] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0061] The serial numbers in the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0062] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0063] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A method for generating simulated vehicle sound, characterized in that, Includes the following steps: The vehicle speed, road surface image data, and tire status signals of the target vehicle under its current driving state are acquired. The tire status signals include tire vibration signals and tire noise signals. The road surface information of the target vehicle under its current driving condition is obtained based on the road surface image data and tire status signal. The road surface information includes the road surface condition and road surface type. The sound parameters of the target vehicle under its current driving state are determined based on the vehicle speed and road surface information. Then, a simulated sound wave is synthesized and output based on the sound parameters of the target vehicle under its current driving state.

2. The method for generating simulated vehicle sound waves according to claim 1, characterized in that, The step of obtaining road surface information of the target vehicle's current driving state based on road surface image data and tire status signals includes: The road surface condition of the target vehicle under its current driving condition is obtained based on the tire status signal of the target vehicle under its current driving condition. Then, based on the road surface condition and road image data under the current driving state of the target vehicle, the confidence level of the road surface type is calculated, and the road surface type is obtained according to the confidence level of the road surface type under the current driving state of the target vehicle.

3. The method for generating simulated vehicle sound waves according to claim 2, characterized in that, The step of obtaining the road surface condition of the target vehicle based on the tire condition signal of the target vehicle's current driving state includes: The spectral characteristics of the road surface condition are determined based on the tire vibration signal of the target vehicle under its current driving condition. The noise characteristics of the road surface are determined based on the tire noise signal of the target vehicle under its current driving condition. The road surface condition is determined based on the spectral and noise characteristics of the road surface under the current driving conditions of the target vehicle. The road surface condition includes smooth, rough, and slippery.

4. The method for generating simulated vehicle sound waves according to claim 2, characterized in that, The step of calculating the confidence level of the road type based on the road surface condition and road image data under the current driving state of the target vehicle, and obtaining the road type based on the confidence level of the road surface type under the current driving state of the target vehicle, includes: Calculate the probability values ​​of all road types based on the road surface conditions and road image data under the current driving state of the target vehicle, and output the road type with the highest probability value; Obtain the temporal stability coefficient of the target vehicle under its current driving state, and calculate the confidence level of the road type based on the road type with the highest probability value under the current driving state of the target vehicle and the temporal stability coefficient; If the confidence level of the road surface type is greater than the confidence level threshold, then the road surface type is output. The road surface types include asphalt road surface, gravel road surface and waterlogged road surface.

5. The method for generating simulated vehicle sound waves according to claim 1, characterized in that, The process of determining the sound parameters of the target vehicle under its current driving condition based on its speed and road surface information, and then synthesizing and outputting a simulated sound wave based on these parameters, includes: Based on the vehicle speed and road information of the target vehicle under its current driving condition, a preset sound database is queried to obtain the sound parameters of the target vehicle under its current driving condition. The sound parameters of the target vehicle under its current driving state are input into the audio synthesis engine to synthesize the audio and obtain the simulated sound signal of the target vehicle under its current driving state. The simulated sound wave signal of the target vehicle under its current driving state is enhanced with sound effects to obtain a simulated sound wave, which is then output.

6. The method for generating simulated vehicle sound waves according to claim 5, characterized in that, The process of determining the sound parameters of the target vehicle under its current driving condition based on its speed and road surface information, and then synthesizing and outputting a simulated sound wave based on these parameters, includes: If the road surface type changes during the current driving state of the target vehicle, and the duration of the changed road surface type reaches a preset time threshold, then the simulated sound output will be switched.

7. The method for generating simulated vehicle sound waves according to claim 6, characterized in that, The process of determining the sound parameters of the target vehicle under its current driving state based on its speed and road surface information, and then synthesizing and outputting a simulated sound wave based on these parameters, further includes: When the simulated sound output of the target vehicle changes during its current driving state, a fade-out operation is performed on the simulated sound before and after the change, and a transition operation is performed on the sound parameters before and after the change. The fade-out operation includes merging the simulated sound waves before and after the switch and gradually reducing the proportion of the simulated sound waves before the switch according to a preset time period. The transition operation includes gradually transforming the sound wave parameters before the switch to the sound wave parameters after the switch according to a preset interpolation function.

8. A system for generating simulated vehicle sound waves, characterized in that, include: The acquisition module is used to acquire the vehicle speed, road image data and tire status signals of the target vehicle under the current driving state. The tire status signals include tire vibration signals and tire noise signals. The processing module is used to obtain road information of the target vehicle under its current driving state based on road image data and tire status signals. The road information includes road state and road type. The synthesis module is used to determine the sound parameters of the target vehicle under its current driving state based on the vehicle speed and road surface information, and then synthesize and output the simulated sound based on the sound parameters of the target vehicle under its current driving state.

9. A computer device, characterized in that, include: A memory and a processor, wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement a method for generating a simulated vehicle sound as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions that, when executed by a computer, cause the computer to perform a method for generating a simulated vehicle sound as described in any one of claims 1 to 7.

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