VEHICLE AND METHOD FOR CONTROLLING THE SAME

Abstract

Vehicle (10), comprising: a loudspeaker (140) configured to output a virtual engine sound; a microphone (110) designed to receive external sounds generated outside the vehicle (10); and a controller (130) that is set up: to extract a sound by separating the virtual engine noise from the external noises; to divide the noise into a multitude of frequency-dependent areas and to determine at least one peak sound level in each of the multitude of areas; to determine each peak sound level as the peak point from the multitude of peak sound levels; to determine a multitude of equalizer filters, each with one of the multitude of peak sound levels of the noise as its peak point and a predetermined bandwidth; to create a gain filter by combining a multitude of equalizer filters; and to control the loudspeaker (140) to output the virtual engine noise to which the amplification filter is applied.

Description

TECHNICAL AREA

[0001] The present invention relates to a vehicle and a method for controlling the same to output a virtual engine noise. BACKGROUND

[0002] The statements in this section merely provide background information related to the present invention and are not intended to represent prior art.

[0003] Generally, electric vehicles are powered by an electric motor and produce little noise due to the motor's quiet nature. Because the noise is low even when the electric vehicle is approaching, pedestrians may not notice it, increasing the likelihood of an accident.

[0004] Recently, electric vehicles have been equipped with a Virtual Engine Sound System (VESS) that virtually emits engine sounds, allowing pedestrians to detect the approach of the electric vehicle.

[0005] Similarly, a technology was recently developed to amplify a virtual engine sound based on a frequency average of ambient noise by capturing ambient sounds via a vehicle's microphone. Despite the amplification via the frequency average, however, distortion can occur due to the masking effect.

[0006] The method for generating an amplified equalizer that matches the ambient noise is problematic in terms of computing speed and development costs, as it requires an infinite number of digital filters. With the amplification method for each band, unnecessary sound levels can be amplified, causing distortion of the virtual engine noise.

[0007] From US 2013 / 0 009 768 A1 and US 2015 / 0 139 442 A1, a vehicle is known comprising: a loudspeaker configured to output a virtual engine noise; a microphone configured to receive external noise generated outside the vehicle; and a controller configured to: extract noise by separating the virtual engine noise from the external noise; determine each peak sound level as the peak point from a multitude of peak sound levels; identify a multitude of equalizer filters with a predetermined bandwidth; create a gain filter by combining the multitude of EQ filters; apply the gain filter to the virtual engine noise; and control the loudspeaker to output the virtual engine noise.

[0008] CN 1 09 177 901 A discloses a method for generating adaptable sounds for electric vehicles comprising the following steps: designing a series of bandpass filters based on the sound to be simulated and a current acceleration level of the electric vehicle, as well as a motor speed; filtering the white noise sequence using the series of bandpass filters and obtaining a first audio signal based on a filter result; filtering the first audio signal using a lowpass filter to obtain a second audio signal; the method includes the following steps: capturing ambient noise and performing a gain adjustment of the second audio signal based on the ambient noise to obtain a third audio signal. OVERVIEW

[0009] It is therefore an object of the invention to provide a vehicle and a method for controlling it in order to adjust the sound level of a virtual engine noise based on external noise.

[0010] The problem is solved by a vehicle having the features of claim 1 and a method having the features of claim 10.

[0011] According to one aspect of the invention, a vehicle comprises: a loudspeaker for outputting a virtual engine sound; a microphone for receiving external sounds generated outside the vehicle;and a control system configured to extract a sound by separating the virtual engine noise from the external noise, dividing the noise into a multitude of frequency-dependent ranges and determining at least one peak sound level in each of the multitude of ranges, determining each peak sound level as the peak point from the multitude of peak sound levels, determining a multitude of equalizer filters (equalizers), each with one peak point from the multitude of peak sound levels of the noise and a predetermined bandwidth, generating a gain filter by combining the multitude of equalizer filters, and driving the loudspeaker to output the virtual engine noise to which the gain filter is applied.

[0012] The control system is set up to divide an area corresponding to a frequency range in which the virtual motor noise of the sound is output into a multitude of areas.

[0013] The control system is set up to divide the noise corresponding to the frequency into a multitude of ranges based on a logarithmic scale.

[0014] The control system is designed to determine the peak sound level in such a way that a frequency between peak sound levels in the same range is equal to or greater than a critical bandwidth.

[0015] The equalizer filter is at least one of a masking curve with a frequency corresponding to the peak sound level as the center frequency, an A-weighted filter or a B-weighted filter.

[0016] The vehicle also includes a camera for capturing image data of the front of the vehicle.

[0017] The control system is set up to determine, based on image data, whether a pedestrian is in front of the vehicle.

[0018] The control system is set up to adjust the frequency of the virtual engine noise to which the amplification filter is applied and to amplify it when the pedestrian is in front of the vehicle.

[0019] The control system is set up to drive the loudspeaker to output a virtual engine noise, to which the gain filter is applied and whose frequency is set.

[0020] According to a further aspect of the invention, a method for controlling the vehicle, which includes a loudspeaker for outputting a virtual engine noise and a microphone for receiving external noise generated outside the vehicle, comprises the following: extracting a noise by separating the virtual engine noise from the external noise by a controller; frequency-dependent subdivision of the noise into a plurality of ranges and determination of a peak sound level in each of the plurality of ranges by the controller; determination of each peak sound level as the peak point from the plurality of peak sound levels; determination of a plurality of equalizer filters, each with one of the plurality of peak sound levels of the noise as the peak point and a predetermined bandwidth by the controller; generating a gain filter by combining the plurality of equalizer filters by the controller;Applying the gain filter to the virtual engine noise by the controller; and driving the loudspeaker to output the virtual engine noise to which the gain filter has been applied.

[0021] Dividing the noise into a multitude of areas according to frequency includes: dividing an area corresponding to a frequency range in which the virtual engine noise of the noise is output into a multitude of areas.

[0022] Dividing the noise into a multitude of ranges according to frequency includes: dividing the noise into a multitude of ranges based on a logarithmic scale.

[0023] Determining at least one peak sound level in each of the multitude of areas includes: determining the peak sound level such that a frequency between peak sound levels in the same area is equal to or greater than a critical bandwidth.

[0024] The equalizer filter is at least one of a masking curve with a frequency corresponding to the peak sound level as the center frequency, an A-weighted filter or a B-weighted filter.

[0025] The vehicle includes: a camera for capturing image data of the front of the vehicle.

[0026] The procedure also includes: Determining, based on the image data, whether a pedestrian is in front of the vehicle.

[0027] The procedure further includes: adjusting the frequency of the virtual engine noise to which the amplification filter is applied in order to amplify it when the pedestrian is in front of the vehicle.

[0028] The procedure further includes: controlling the loudspeaker to output a virtual engine noise, to which the amplification filter is applied and whose frequency is set.

[0029] Further areas of application will become apparent from the description given herein. It is understood that the description and the specific examples serve only for illustration and not to limit the scope of protection of the present invention. DRAWING FIGURES

[0030] To make the invention easily understandable, various embodiments of it will now be described by way of example with reference to the accompanying drawings, in which: Fig. Figure 1 is a control block diagram of a vehicle in an embodiment according to the invention. Fig. Figure 2 is a diagram illustrating a case in which a vehicle in an embodiment according to the invention extracts a peak sound level of the noise. Fig. Figure 3 is a diagram illustrating a case in which a vehicle in an embodiment according to the invention generates a gain filter. Fig. Figure 4 is a diagram illustrating a case in which a vehicle in an embodiment according to the invention applies an amplification filter to a virtual engine noise. Fig. Figure 5 is a diagram illustrating a case in which a vehicle in an embodiment according to the invention sets a frequency of a virtual engine noise. Fig. Figure 6 is a flowchart illustrating a case of outputting a virtual engine noise, in which, in an embodiment according to the invention, an amplification filter is used in a method for controlling a vehicle. Fig. Figure 7 is a flowchart illustrating a case in which, in an embodiment according to the invention, a frequency of a virtual engine noise is set in a method for controlling a vehicle.

[0031] The drawing figures described here serve only for illustration and are not intended to limit the scope of protection of the present invention in any way. DETAILED DESCRIPTION

[0032] The following description is merely exemplary and is not intended to limit the present invention or its application or use. It is understood that corresponding reference numerals in the drawings indicate similar or corresponding parts and features.

[0033] It is understood that when an element is described as being “connected” to another element, it may be connected to the other element directly or indirectly, with the indirect connection including a “connection” via a wireless communication network.

[0034] If a part “includes” or “contains” an element, the part may also include other elements without excluding the other elements, unless specifically mentioned.

[0035] As used here, the singular forms “ein”, “eine” and “der / die / das” should also include the plural forms, unless the context indicates otherwise.

[0036] As used here, the terms "part," "unit," "block," "link," "element," and "module" refer to a unit capable of performing at least one function or operation. These terms can refer, for example, to at least one process executed by at least one piece of hardware, such as a field-programmable gate array (FPGA) and an application-specific integrated circuit (ASIC), and by at least one piece of software stored in memory or a processor.

[0037] An identification code serves to clarify the description but is not intended to illustrate the sequence of individual steps. Each step can be performed in a different order than the one illustrated, unless the context clearly indicates otherwise.

[0038] In the following, some embodiments of a vehicle and a method for controlling the vehicle according to one aspect are described in detail with reference to the attached drawing figures.

[0039] Fig. Figure 1 is a control block diagram of a vehicle of embodiments according to the invention.

[0040] With reference to Fig. 1. In embodiments according to the invention, the vehicle 10 may comprise a microphone 110 that receives external noise generated on the outside of the vehicle 10, a camera that captures image data from the front of the vehicle 10, a control unit 130 for adjusting the virtual engine noise based on external noise, a loudspeaker 140 for outputting the virtual engine noise to the outside of the vehicle 10, and a memory 150 that can store various types of information required for controlling the vehicle 10.

[0041] In embodiments according to the invention, the vehicle 10 can comprise a motor (not shown) that is powered by electricity and can be an electric vehicle that obtains power by using an electric motor (not shown).

[0042] In this case, the electric vehicle can include a battery electric vehicle (BEV), a hybrid electric vehicle (HEV), and a plug-in hybrid electric vehicle (HEV). The term "electric vehicle" can be understood without restriction as any vehicle that receives electricity from an electric motor.

[0043] In embodiments according to the invention, the microphone 110 can be provided in a main body (not shown) of the vehicle 10 to receive external noise. The microphone 110 can be provided without restriction as long as it can receive external noise from the outside of the vehicle 10, and the number of installations is also not subject to any limitations.

[0044] In this case, the external noise received by microphone 110 can include noises generated from outside and a virtual engine noise output from the loudspeaker 140 of the vehicle 10.

[0045] In embodiments according to the invention, the camera 120 can be provided in a main body (not shown) of the vehicle 10 to capture image data of the front of the vehicle 10 by photographing the front of the vehicle 10. The camera 120 can be provided without restrictions as long as it can photograph the front of the vehicle 10, and the number of installations is also not subject to any restrictions.

[0046] In embodiments according to the invention, the control unit 130 can extract the noise generated outside the vehicle 10 by separating the virtual engine noise from the external noise received via the microphone 110.

[0047] In embodiments according to the invention, the control unit 130 can adjust the virtual motor noise based on the extracted noise.

[0048] In particular, the controller 130 can adapt the virtual engine noise by determining a multitude of peak sound levels of the noise, determining a multitude of equalizer filters (equalizers) with each of the multitude of peak sound levels as the peak point and a predetermined bandwidth, generating a gain filter by combining the multitude of equalizer filters and applying the generated gain filter to the currently output virtual engine noise.

[0049] The controller 130 can then control the speaker 140 to output the virtual engine noise to which the gain filter is applied. The adjustment of the virtual engine noise based on the extracted noise will be described in detail later.

[0050] In embodiments according to the invention, the control unit 130 can determine, based on the image data captured by the camera 120, whether a pedestrian is present in front of the vehicle 10, and adjust the frequency of the virtual engine noise according to the fact that a pedestrian is present in front of the vehicle 10.

[0051] In particular, if a pedestrian is in front of the vehicle 10, the control unit 130 can adjust the frequency of the virtual engine noise to which the amplification filter is applied in such a way that it is amplified.

[0052] The controller 130 can then activate the loudspeaker 140 to output the virtual engine noise, to which the gain filter is applied and whose frequency is set. The adjustment of the virtual engine noise's frequency depending on whether a pedestrian is present will be described in detail later.

[0053] The controller 130 can include at least one memory in which a program for performing the operation described above and the operation described later is stored, and at least one processor for executing the stored program. With multiple memories and processors, they can be integrated on a single chip or provided at physically separate locations.

[0054] In embodiments according to the invention, the loudspeaker 140 can be provided in a main body (not shown) of the vehicle 10 to output a virtual engine noise to the outside of the vehicle 10. The loudspeaker 140 can be provided without restrictions as long as it can output virtual engine noise to the outside of the vehicle 10, and the number of installations can also be provided without restriction.

[0055] In embodiments according to the invention, the memory 150 can store various pieces of information required for controlling the vehicle 10, such as data on the virtual engine noise, information on the bandwidth according to the types of equalizer filters, a sound processing algorithm for dividing and combining sounds, and an image processing algorithm for extracting pedestrians from the image data.

[0056] The memory 150 can be implemented as at least one non-volatile storage device (e.g. cache, read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) and flash memory), one volatile storage device (e.g. random access memory (RAM)) or one storage medium (e.g. hard disk drive (HDD) and compact disc read only memory (CD-ROM)), but is not limited to these.

[0057] The section above described all configurations of vehicle 10 in detail. The following section describes in detail how to adjust the virtual engine noise based on the noise generated by the control unit 130 of vehicle 10.

[0058] Fig. Figure 2 is a diagram illustrating a case in which a vehicle extracts a peak sound level of the noise in embodiments according to the invention. Fig. Figure 3 is a diagram illustrating a case in which a vehicle in embodiments according to the invention generates a gain filter. Fig. Figure 4 is a diagram illustrating a case in which a vehicle in embodiments according to the invention applies an amplification filter to a virtual engine noise.

[0059] In embodiments according to the invention, the control unit 130 can separate the virtual engine noise emitted via the loudspeaker 140 from the external noise received by the microphone 110 in order to remove the noise generated outside the vehicle 10.

[0060] Fig. Figure 2 illustrates an example of the sound level of noise distributed according to frequency, where the noise may exhibit an irregular sound level depending on the frequency.

[0061] As in Fig. As shown in Figure 2, the controller 130 can determine the peak sound level from the extracted noise.

[0062] In embodiments according to the invention, the peak sound level can correspond to a sound level at a frequency with a higher sound level than that of the ambient frequency.

[0063] Furthermore, in embodiments according to the invention, the peak sound level can correspond to a sound level at a frequency with a higher sound level than that of the ambient frequency in each of the plurality of areas separated according to frequency.

[0064] In detail, the 130 controller can divide the noise into a multitude of areas according to frequency and determine at least one peak sound level in each of the multitude of areas.

[0065] In this case, the controller 130 can subdivide a range corresponding to a frequency range (e.g., 100 Hz to 1600 Hz) in which the virtual engine noise is output into a multitude of sub-ranges. This means that the controller 130 must not take into account any noise outside the frequency range in which the virtual engine noise is output (e.g., less than 100 Hz and more than 1600 Hz).

[0066] In embodiments according to the invention, the control unit 130 can divide the noise in such a way that each of the plurality of areas has the same frequency range, but can also divide the noise in such a way that each of the plurality of areas has a different frequency range.

[0067] Furthermore, in embodiments according to the invention, the controller 130 can divide the noise into a multitude of ranges based on the logarithmic scale. As in Fig. As shown in Figure 2, the controller 130 can, for example, divide noise into a multitude of ranges based on frequencies of 100 Hz, 200 Hz, 400 Hz, 800 Hz, and 1600 Hz. In this way, the controller 130 can subdivide the multitude of ranges according to the octaves and ultimately control the virtual engine noise for each octave, taking into account the hearing abilities of pedestrians.

[0068] Furthermore, in embodiments according to the invention, the control unit 130 can determine the peak sound level such that a frequency between peak sound levels in the same range is equal to or greater than a critical bandwidth.

[0069] In general, the human ear has a threshold band for each specific frequency, like a combination of filters for each frequency band. That is, the human ear processes sound signals for a specific frequency range all at once, as if it consisted of multiple auditory filters. In this case, the bandwidth corresponding to the specific frequency range is defined as the threshold bandwidth, and memory 150 stores the threshold bandwidth of the channels corresponding to the auditory filter according to the bandwidth characteristics of the human auditory filter.

[0070] This means that the Controller 130 can provide a virtual engine noise that exhibits no difference in sound quality, while ultimately reducing the computational effort by determining the peak sound level such that the frequency between the peak sound levels in the same range is greater than or equal to the threshold bandwidth in the noise, which is divided into the multitude of ranges. In other words, the Controller 130 can obtain a gain filter that most closely resembles the noise by using a small number of equalizer filters, by determining the interval between the peak sound levels above the threshold bandwidth.

[0071] Since the critical bandwidth between 100 Hz and 400 Hz is 100 Hz, the controller 130, for example, can be used as shown in Fig. Figure 3 shows the system determining the first peak sound level at 110 Hz, based on a frequency of 100 Hz, within a range of 50 Hz to the left and right. Taking the threshold bandwidth into account, the system can determine the second peak sound level at 170 Hz, based on a frequency of 200 Hz, within a range of 50 Hz to the left and right.

[0072] After determining the multitude of peak sound levels of the noise, the controller 130 can determine a multitude of EQ (equalizer) filters with each of the multitude of peak sound levels of the noise as the peak point and a predetermined bandwidth.

[0073] In this case, the equalizer filter can be any masking curve with a center frequency corresponding to the peak sound pressure level, an A-weighting filter, or a B-weighting filter. Furthermore, memory 150 can store information about the correlation between the type of equalizer filter and the quality factor (Q-factor). That is, memory 150 can store the quality factor according to the type of equalizer filter, and controller 130 can determine the bandwidth corresponding to the type of equalizer filter based on the quality factor.

[0074] For example, as in Fig. 3 shown, the control 130 determines a masking curve with a first peak sound level as the peak point and a frequency corresponding to the first peak sound level as the center frequency as the first equalizer filter corresponding to the first peak sound level.

[0075] The controller 130 can determine a masking curve with a second peak sound level as the peak point and a frequency corresponding to the second peak sound level as the center frequency as the first equalizer filter corresponding to the second peak sound level.

[0076] In embodiments according to the invention, the controller 130 can generate a gain filter by combining a specific plurality of equalizer filters.

[0077] For example, as in Fig. Figure 3 shows that the controller 130 creates a gain filter by combining the first equalizer filter according to the first peak sound level and the second equalizer filter according to the second peak sound level.

[0078] In this case, the gain filter is a filter that is applied to the virtual engine noise output via the loudspeaker 140, and the controller 130 can apply the gain filter to the virtual engine noise output via the loudspeaker 140.

[0079] For example, in Fig. As shown in Figure 4, the controller 130 can amplify a frequency range of a virtual engine noise that is masked by noise by adding an amplification filter to the virtual engine noise output at frequencies between 100 Hz and 1600 Hz.

[0080] Afterwards, the controller 130 can control the loudspeaker 140 to output the virtual engine noise to which the amplification filter has been applied.

[0081] The adjustment of the virtual engine noise based on the noise produced by the control unit 130 of vehicle 10 has been described in detail above. The adjustment of the frequency of the virtual engine noise according to the presence of a pedestrian by the control unit 130 of vehicle 10 is described in detail below.

[0082] Fig. Figure 5 is a diagram illustrating a case in which, in embodiments according to the invention, a vehicle sets the frequency of a virtual engine noise.

[0083] In embodiments according to the invention, the control unit 130 can determine, based on the image data captured by the camera 120, whether a pedestrian is present in front of the vehicle 10 and adjust the frequency of the virtual engine noise accordingly, whether a pedestrian is present in front of the vehicle 10.

[0084] In particular, if a pedestrian is in front of vehicle 10, the control unit 130 can adjust the frequency of the virtual engine noise to which the amplification filter is applied in order to amplify it.

[0085] As in Fig. As shown in Figure 5, if a pedestrian is in front of the vehicle 10, the controller 130 can adjust the frequency of the virtual engine noise to which the gain filter is applied by shifting it by 300 Hz of the total frequency of the virtual engine noise to which the gain filter is applied.

[0086] The control unit 130 can then activate the loudspeaker to output a virtual engine noise, to which the amplification filter is applied and whose frequency is adjusted. This can improve the cognitive performance of the pedestrian in front of the vehicle 10 with regard to the vehicle.

[0087] The following describes a method for controlling the vehicle 10 in embodiments according to the invention. The vehicle 10 in embodiments according to the invention can be used in the description of the method for controlling the vehicle 10. Therefore, the content described above can be applied to Fig. 1 to Fig. 5 shall be applied equally to the procedure for controlling the vehicle 10.

[0088] Fig. Figure 6 is a flowchart illustrating a case of outputting a virtual engine noise where an amplification filter is used in a method for controlling a vehicle in embodiments according to the invention.

[0089] With reference to Fig. 6 In embodiments according to the invention, the vehicle 10 can extract noise by separating a virtual engine noise from an external noise (610).

[0090] This means that the control unit 130 of the vehicle 10 can extract sounds by removing the virtual engine noise played back via the loudspeaker 140 from the external noise received via the microphone 110.

[0091] In embodiments according to the invention, the vehicle 10 can determine a plurality of EQ (equalizer) filters with each of the plurality of peak sound levels of the noise as a peak point and a predetermined bandwidth (620).

[0092] This means that the control unit 130 of vehicle 10 can determine the peak sound level from the extracted noise.

[0093] In detail, the 130 controller can divide the noise into a multitude of areas according to frequency and determine at least one peak sound level in each of the multitude of areas.

[0094] At this point, the 130 controller can divide the noise into a multitude of ranges based on the logarithmic scale, according to its shape.

[0095] Furthermore, in embodiments according to the invention, the control unit 130 can determine the peak sound level such that a frequency between peak sound levels in the same range is equal to or greater than a critical bandwidth.

[0096] After determining the multitude of peak sound levels of the noise, the controller 130 can determine a multitude of EQ (equalizer) filters with each of the multitude of peak sound levels of the noise as the peak point and a predetermined bandwidth.

[0097] In this case, the equalizer filter can be any masking curve with a center frequency corresponding to the peak sound level, an A-weighted filter, or a B-weighted filter.

[0098] In embodiments according to the invention, the vehicle 10 can generate a gain filter by combining a plurality of equalizer filters (630) and applying the gain filter to a virtual engine noise (640).

[0099] In this case, the gain filter is a filter that is applied to the virtual engine noise output via speaker 140, and the controller 130 can apply the gain filter to the virtual engine noise output via speaker 140.

[0100] After that, the vehicle 10 can control the speaker 140 to output the virtual engine noise to which the gain filter is applied (650).

[0101] Fig. Figure 7 is a flowchart illustrating a case in which a frequency of a virtual engine noise is set in a method for controlling a vehicle in embodiments according to the invention.

[0102] With reference to Fig. 7 In embodiments according to the invention, the vehicle 10 can acquire image data about the front of the vehicle 10 (710).

[0103] If a pedestrian is in front of vehicle 10 (720), vehicle 10 can adjust the frequency of the virtual engine noise to which the gain filter is applied (730).

[0104] That is, in embodiments according to the invention, the control unit 130 can determine, based on the image data captured by the camera 120, whether a pedestrian is present in front of the vehicle 10, and if a pedestrian is in front of the vehicle 10, it can adjust the frequency of the virtual engine noise to which the amplification filter is applied in order to amplify it.

[0105] The vehicle 10 can then control the loudspeaker 140 to output the virtual engine noise, to which the amplification filter is applied and whose frequency is set (740). This can improve the cognitive performance of the pedestrian in front of the vehicle 10 with regard to the vehicle.

[0106] According to the vehicle and the method for controlling the vehicle, in embodiments according to the invention, by adjusting the sound level of the virtual engine noise based on the outside noise, pedestrians can recognize the approach of the vehicle even in situations where there is a lot of outside noise, thereby reducing the possibility of an accident.

[0107] Meanwhile, embodiments according to the invention can also be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions can be stored in the form of program code, and when executed by a processor, the instructions can generate a program module to perform operations of embodiments according to the invention. The recording medium can be implemented as a computer-readable recording medium.

[0108] Computer-readable recording media can include all types of recording media that store instructions which can be interpreted by a computer. For example, computer-readable recording media can be ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

Claims

[1] Vehicle (10), comprising: a loudspeaker (140) configured to output a virtual engine sound; a microphone (110) designed to receive external sounds generated outside the vehicle (10); and a controller (130) that is set up: to extract a sound by separating the virtual engine noise from the external noises; to divide the noise into a multitude of frequency-dependent areas and to determine at least one peak sound level in each of the multitude of areas; to determine each peak sound level as the peak point from the multitude of peak sound levels; to determine a multitude of equalizer filters, each with one of the multitude of peak sound levels of the noise as its peak point and a predetermined bandwidth; to create a gain filter by combining a multitude of equalizer filters; and to control the loudspeaker (140) to output the virtual engine noise to which the amplification filter is applied. [2] Vehicle (10) according to claim 1, wherein the control (130) is configured to subdivide an area corresponding to a frequency range in which the virtual engine noise of the noise is output into a plurality of areas. [3] Vehicle (10) according to claim 2, wherein the control (130) is configured to divide the noise corresponding to the frequency into the plurality of ranges based on a logarithmic scale. [4] Vehicle (10) according to claim 1, wherein the control (130) is configured to determine the peak sound level such that a frequency between peak sound levels in the same range is equal to or greater than a critical bandwidth. [5] Vehicle (10) according to claim 1, wherein the equalizer filter is at least one of a masking curve with a frequency corresponding to the peak sound level as the center frequency, an A-weighting filter or a B-weighting filter. [6] Vehicle (10) according to claim 1, wherein the vehicle (10) further comprises a camera (120) which is configured to capture image data of a front of the vehicle (10). [7] Vehicle (10) according to claim 6, wherein the control (130) is configured to determine, based on the image data, whether a pedestrian is on the front of the vehicle (10). [8] Vehicle (10) according to claim 7, wherein the control (130) is configured to amplify a frequency of the virtual engine noise when the pedestrian is on the front of the vehicle (10). [9] Vehicle (10) according to claim 8, wherein the control unit (130) is configured to control the loudspeaker (140) to output the virtual engine noise at the amplified frequency. [10] Methods for steering a vehicle (10), comprising: Extracting a sound by a control (130) by separating a virtual engine sound from external sounds; frequency-dependent subdivision of the noise into a multitude of ranges and Determine at least one peak sound level in each of the multitude of areas by the control (130); Determining each peak sound level of a multitude of peak sound levels as the peak point by the control (130); Determining a plurality of equalizer filters, each with one of the plurality of peak sound levels of the noise as the peak point and a predetermined bandwidth by the control (130); Creating a gain filter by the control (130) by combining the multitude of equalizer filters; Applying the gain filter by the controller (130) to the virtual engine noise; and Controlling a loudspeaker (140) by the controller (130) to output the virtual engine noise to which the amplification filter was applied. [11] Method according to claim 10, wherein the division of the noise into the plurality of areas comprises: Subdividing a range corresponding to a frequency range in which the virtual engine noise of the sound is output into a multitude of ranges. [12] Method according to claim 11, wherein the division of the noise into the plurality of areas comprises: Dividing the noise into a multitude of areas based on a logarithmic scale. [13] Method according to claim 10, wherein determining at least one peak sound level comprises: Determining the peak sound level such that a frequency between peak sound levels in the same range is equal to or greater than a critical bandwidth. [14] Method according to claim 10, wherein the equalizer filter is at least one of a masking curve with a frequency corresponding to the peak sound level as the center frequency, an A-weighting filter or a B-weighting filter. [15] The method of claim 10, wherein the method comprises: Capturing image data of the front of the vehicle (10) by a camera (120). [16] The method of claim 15, wherein the method further comprises: Determine, based on the image data, whether a pedestrian is at the front of the vehicle (10). [17] The method of claim 16, wherein the method further comprises: Amplifying a frequency of the virtual engine noise when the pedestrian is at the front of the vehicle (10). [18] The method of claim 17, wherein the method further comprises: Controlling the loudspeaker (140) to output the virtual engine noise at the amplified frequency.

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