Control method and apparatus, and carrier

Abstract

A control method is provided. This method includes the steps of: detecting that a first target is within the alarm range of a carrier (100), wherein the carrier (100) includes a plurality of sound generators (130); and controlling at least two of the plurality of sound generators (130) to generate an alert tone. The sound image shift direction of the alert tone corresponds to a first motion trend, the first motion trend includes the relative motion trend between the carrier and the first target. The control method can be applied to intelligent vehicles or electric vehicles and may help improve the user's driving safety and improve the intelligence level of the carrier. A control device, control system, carrier, computer-readable storage medium, and chip are further related.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of intelligent driving, and more specifically, to control methods and devices and carriers.

Background Art

[0002] When a vehicle is intelligent, when the user drives the vehicle, the vehicle can actively warn about surrounding targets. For example, for pedestrians or vehicles crossing in front, images or texts displayed on the in-vehicle display may be used for warning. In another example, for blind spot warning targets, a warning may be executed by using an indicator on the rearview mirror. However, in these warning modes, it is necessary to direct the user's attention to the in-vehicle display or the rearview mirror. This does not lead to the safety of the user's driving.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Embodiments of the present application provide a control method, a device, and a carrier that are helpful for improving the driving safety of the user and helpful for improving the intelligence level of the carrier.

[0004] In this application, a carrier may include road transport, water transport, air transport, industrial devices, agricultural devices, and entertainment devices. For example, a carrier may be a vehicle. A vehicle is a vehicle in a broad sense and may include transport (e.g., commercial vehicles, passenger cars, motorcycles, aircraft vehicles, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), work vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural devices (e.g., lawnmowers, harvesters, etc.), entertainment devices, or toy vehicles, etc. The type of vehicle is not particularly limited in the embodiments of this application. As another example, a carrier may be a transport such as an aircraft or a ship. [Means for solving the problem]

[0005] According to the first aspect, a control method is provided. The method includes: detecting that a first target is within the alarm range of a carrier, wherein the carrier comprises a plurality of sound generators; and controlling at least two of the plurality of sound generators to generate an alert tone, wherein the sound image (or soundstage) shift direction of the alert tone corresponds to a first motion trend, the first motion trend comprises the relative motion trend between the carrier and the first target.

[0006] The term "sound image" can be used to represent one or more of the depth, pitch, and width of a sound emitted by a sound-generating device. For example, sound image shift may refer to a change or movement in a certain direction of the sound image position over a certain time interval. Thus, a sound image shift alert tone can give the user the sensation of experiencing a change in the spatial position of a sound.

[0007] In this embodiment of the present application, an alert tone in which the sound image shift direction corresponds to a first motion tendency may be used to simulate or represent the relative motion tendency between the carrier and the target, without requiring the user to determine the motion tendency by using another device or apparatus. This helps the user recognize hazards more quickly and safely, helps improve the user's driving safety, and helps improve the intelligence of the carrier.

[0008] In addition, when multiple alert tones burst within the carrier, the user can intuitively determine which of the multiple alert tones indicates the relative movement tendency of the carrier and target by using the audible shift alert tone. For example, in an example where the carrier is a vehicle, in a lane change scenario, the alert tone corresponding to the first movement tendency, the forward radar warning alert tone, and the turn signal sound may burst. The driver can accurately understand the functional meaning of the alert tone corresponding to the first movement tendency. This helps to avoid negative evaluations and confused understandings of the vehicle's acoustic alert tones by the driver and improves the user's driving experience.

[0009] In some possible implementations, the fact that the sound image shift direction of the alert tone corresponds to the first motion trend can be understood as the sound image shift direction of the alert tone being consistent with the first motion trend.

[0010] In some possible implementations, the relative movement trend between the carrier and the first target may be the carrier's movement trend relative to the first target, or the relative movement trend between the carrier and the first target may be the first target's movement trend relative to the carrier.

[0011] In some possible implementations, the first target may be a moving target or a stationary target.

[0012] Referring to the first aspect, some implementations of the first aspect further include the step of controlling the sound image shift speed of the alert tone.

[0013] In this embodiment of the present application, controlling the sound image shift speed of the alert tone helps to improve the flexibility of alert tone control.

[0014] In some possible implementations, the progressively faster sound image shift rate of the alert tone may indicate a progressively closer distance between the target and the carrier.

[0015] In some possible implementations, a faster sound image shift speed for the alert tone may indicate a shorter time to collision (TTC) between the target and the carrier.

[0016] Referring to the first aspect, in some implementations of the first aspect, the step of controlling the sound image shift speed of the alert tone includes the step of controlling the sound image shift speed of the alert tone based on information between the carrier and the first target.

[0017] In this embodiment of the present application, the sound image shift speed of the alert tone can be controlled based on information between the carrier and the first target. In this way, by using the sound image shift speed of the alert tone, the user can intuitively determine the information change state between the carrier and the target or the degree of danger of the target, and control the carrier to avoid a collision with the target. This helps to improve the safety of the carrier and the user's driving experience.

[0018] Referring to the first aspect, in some implementations of the first aspect, the information between the carrier and the first target includes at least one of the following: the first motion trend, the alert level, the distance between the carrier and the first target, and the TTC between the carrier and the first target.

[0019] In this embodiment of the present invention, by controlling the sound image shift speed of the alert tone, the user can intuitively determine a first motion tendency, alarm level, distance between the carrier and the first target, or collision time between the carrier and the first target, and control the carrier to avoid a collision with the target. This improves the safety of the carrier and the user's driving experience.

[0020] Referring to the first aspect, in some implementations of the first aspect, the method further includes the step of determining, based on the location of a prompting user, which of the at least two sound generators is located at the end in the sound image shift direction.

[0021] In this embodiment of the present application, one of the at least two sound generators, located at the end of the sound image shift direction, is associated with the location of the prompting user. Thus, based on an alert tone in which the sound image shift is in the direction of the user's location, the prompting user quickly understands that there may be a target that poses a danger to the user. This helps to improve the user's security awareness and helps to avoid security incidents.

[0022] Referring to the first aspect, in some implementations of the first aspect, the method further includes the step of determining which of the at least two sound generators is at the front in the sound image shift direction, based on the orientation of the first target with respect to the carrier when the first target enters the alarm range.

[0023] In this embodiment of the present application, among the at least two sound generating devices, the sound generating device located at the head in the sound image shift direction is associated with the azimuth of the first target with respect to the carrier when the first target enters the warning range. In this way, the user may determine the azimuth of the first target with respect to the carrier when the first target enters the warning range based on the sound generating device at the head, thereby being able to observe the azimuth of the first target in advance. This helps to avoid the occurrence of safety accidents.

[0024] Referring to the first aspect, in some implementations of the first aspect, the method further includes the step of predicting a first movement trend based on the status of the first target, and the step of controlling at least two of the plurality of sound generating devices to generate an alert tone includes controlling at least two of the plurality of sound generating devices to generate an alert tone based on the predicted first movement trend.

[0025] In this embodiment of the present application, the first movement trend can be predicted based on the status of the first target, and thereby, based on the predicted first movement trend, the at least two sound generating devices can be controlled to emit a sound image shift alert tone. In this way, the user can know the movement trend of the first target in a future time period by using an alert tone whose sound image shift direction corresponds to the first movement trend, which helps the user to make driving judgments in advance. This helps to avoid a collision between the carrier and the first target and improves the driving safety of the user.

[0026] In some possible implementations, the method further includes the step of obtaining the status of the first target when it is detected that the first target has entered the warning range of the carrier.

[0027] In some possible implementations, the status of the first target includes one or more of the first target's velocity, acceleration, velocity direction, yaw angle direction, or yaw angular velocity.

[0028] Referring to the first aspect, in some implementations of the first aspect, the method further includes controlling at least two of the plurality of sound generators to emit an alert tone corresponding to the actual relative motion trend if the predicted first motion trend differs from the actual relative motion trend between the first target and the carrier.

[0029] In this embodiment of the present application, if the predicted first motion trend differs from the actual relative motion trend, at least two of the plurality of sound generators can be controlled to generate an alert tone in which the sound image shift direction corresponds to the actual relative motion trend. By switching between alert tones for different sound image shift directions in this way, the user can intuitively determine that the motion trend of the first target relative to the carrier is changing. The user can learn the actual relative motion trend in time based on the alert tone acquired after the sound image shift direction has been switched, which helps the user make driving decisions in advance. This helps to avoid collisions between the carrier and the first target and helps to improve the user's driving safety.

[0030] Referring to the first aspect, some implementations of the first aspect include the step of determining a first motion trend based on first data collected by a carrier's sensors, or the step of obtaining second data transmitted by a cloud server and determining a first motion trend based on the second data.

[0031] In this embodiment of the present invention, the carrier can determine a first motion trend based on first data collected by sensors, or a first motion trend based on second data transmitted by a server, and control the at least two sound generators to generate an alert tone. This helps to improve the user's driving safety and also helps to improve the carrier's intelligence.

[0032] In some possible implementations, the first motion trend determined based on first data collected by a sensor, or the first motion trend determined based on second data transmitted by a server, may be the actual motion trend of the first target relative to the carrier, or the actual motion trend of the carrier relative to the first target.

[0033] Referring to the first aspect, in some implementations of the first aspect, the step of determining a first motion trend based on first data collected by a carrier sensor includes the steps of determining the orientation of a first target at multiple points in time based on the first data, and determining a first motion trend based on the orientation of the first target at the multiple points in time.

[0034] Referring to the first aspect, in some implementations of the first aspect, the carrier includes a mapping relationship between motion tendencies and sound generators, and the method further includes the step of determining the at least two sound generators based on the mapping relationship and the first motion tendencies.

[0035] In this embodiment of the present application, the at least two sound generators can be determined based on a first motion trend and a mapping relationship between the motion trends stored in the carrier and the sound generators. In this way, the computational overhead for determining the at least two sound generators from the plurality of sound generators can be reduced, and the power consumption of the carrier can be reduced.

[0036] Referencing the first aspect, in some implementations of the first aspect, the method further includes the steps of: controlling the illumination direction of ambient lighting, wherein the illumination direction of ambient lighting corresponds to a first motion trend, and the carrier includes ambient lighting; and / or controlling the vibration direction of a handle, wherein the vibration direction corresponds to a first motion trend, and the carrier includes the handle; and / or controlling a display device to display prompt information, wherein the prompt information indicates a first motion trend, and the carrier includes the display device.

[0037] In this embodiment of the present application, when the at least two sound generating devices are controlled to emit an alert tone, at least one of the ambient lighting, steering wheel, and display device may be further controlled. In a combined multi-element prompting manner, the user can further determine a first motion tendency, which helps to improve the user's driving safety.

[0038] Referring to the first aspect, in some implementations of the first aspect, the step of detecting that a first target is within the carrier's alarm range includes detecting that the first target is within the carrier's alarm range when the distance between the carrier and the first target is less than or equal to a preset distance and / or the TTC between the carrier and the first target is less than or equal to a preset duration.

[0039] In this embodiment of the present application, it is possible to determine whether a first target is within the carrier's alarm range based on distance and TTC. Thus, targets within the alarm range may be prompted using an audible image shift alert tone. This helps the user intuitively determine the movement tendency of targets within the alarm range, thereby improving the user's driving safety and also improving the carrier's intelligence.

[0040] Referring to the first aspect, in some implementations of the first aspect, the step of controlling at least two of the plurality of sound generators to generate an alert tone includes the step of controlling the intensity of the sound generated by the at least two sound generators, and / or the step of controlling the delay of the sound generated by the at least two sound generators.

[0041] Referring to the first aspect, in some implementations of the first aspect, the plurality of sound generators are located within the carrier's cockpit.

[0042] In some possible implementations, the multiple sound generators may be located outside the carrier's cockpit.

[0043] A second aspect provides a control device, the device comprising: a detection unit configured to detect that a first target is within the alarm range of a carrier, wherein the carrier includes a plurality of sound generators; and a control unit configured to control at least two of the plurality of sound generators to emit an alert tone, wherein the sound image shift direction of the alert tone corresponds to a first motion trend, the first motion trend includes the relative motion trend between the carrier and the first target.

[0044] Referring to the second aspect, in some implementations of the second aspect, the control unit is further configured to control the sound image shift speed of the alert tone.

[0045] Referring to the second aspect, in some implementations of the second aspect, the control unit is configured to control the sound image shift speed of the alert tone based on information between the carrier and the first target.

[0046] Referring to the second aspect, in some implementations of the second aspect, the information between the carrier and the first target includes at least one of the following: the first motion trend, the alert level, the distance between the carrier and the first target, and the time to collision (TTC) between the carrier and the first target.

[0047] Referring to the second aspect, in some implementations of the second aspect, the device further includes a first determination unit configured to determine, based on the position of a prompting user, which of the at least two sound generators is located at the end in the sound image shift direction.

[0048] Referring to the second aspect, in some implementations of the second aspect, the device further includes a second determination unit configured to determine which of the at least two sound generators is at the front in the sound image shift direction, based on the orientation of the first target relative to the carrier when the first target enters the alarm range.

[0049] Referring to the second aspect, in some implementations of the second aspect, the device further includes a prediction unit configured to predict a first motion trend based on the status of a first target. A control unit is configured to control at least two of the plurality of sound generators to generate an alert tone based on the predicted first motion trend.

[0050] Referring to the second aspect, in some implementations of the second aspect, the control unit is further configured to control at least two of the plurality of sound generators to generate an alert tone in which the sound image shift direction corresponds to the actual relative motion trend if the predicted first motion trend differs from the actual relative motion trend between the first target and the carrier.

[0051] Referring to the second aspect, in some implementations of the second aspect, the device further includes a third decision unit configured to determine a first motion trend based on first data collected by a carrier sensor; or a third decision unit configured to acquire second data transmitted by a cloud server and determine a first motion trend based on the second data.

[0052] Referring to the second aspect, in some implementations of the second aspect, a third decision unit is configured to determine the orientation of a first target at multiple points in time based on the first data, and to determine a first motion trend based on the orientation of the first target at multiple points in time.

[0053] Referring to the second aspect, in some implementations of the second aspect, the carrier includes a mapping relationship between motion tendencies and sound generators, and the method further includes the step of determining the at least two sound generators based on the mapping relationship and the first motion tendencies.

[0054] Referencing the second aspect, in some implementations of the second aspect, the control unit is further configured to control the illumination direction of ambient lighting, the illumination direction of ambient lighting corresponds to a first motion tendency, and the carrier includes ambient lighting, and / or control the vibration direction of a handle, the vibration direction corresponds to a first motion tendency, and the carrier includes the handle, and / or control a display device to display prompt information, the prompt information indicates a first motion tendency, and the carrier includes the display device, and

[0055] Referring to the second aspect, in some implementations of the second aspect, the detection unit is configured to detect that the first target is within the carrier's alarm range when the distance between the carrier and the first target is less than or equal to a preset distance, and / or the TTC between the carrier and the first target is less than or equal to a preset duration.

[0056] Referring to the second aspect, in some implementations of the second aspect, the control unit is configured to control the intensity of the sound produced by the sound producer of the at least two sound producers, and / or to control the delay of the sound produced by the sound producer of the at least two sound producers.

[0057] Referring to the second aspect, in some implementations of the second aspect, the plurality of sound generators are located within the carrier's cockpit.

[0058] A third aspect provides a control method, which includes the steps of: detecting that a first target is within the alarm range of a carrier, the carrier including ambient lighting; and controlling the illumination direction of the ambient lighting, the illumination direction of the ambient lighting corresponding to a first motion trend, the first motion trend including the relative motion trend between the carrier and the first target.

[0059] Referring to the third aspect, some implementations of the third aspect further include the step of controlling the illumination speed of ambient lighting.

[0060] Referring to the third aspect, in some implementations of the third aspect, the step of controlling the illumination rate of ambient lighting includes the step of controlling the illumination rate of ambient lighting based on information between the carrier and the first target.

[0061] Referring to the third aspect, in some implementations of the third aspect, the information between the carrier and the first target includes at least one of the following: the first motion trend, the alert level, the distance between the carrier and the first target, and the TTC between the carrier and the first target.

[0062] Referring to the third aspect, in some implementations of the third aspect, the method further includes the step of determining a first motion trend based on first data collected by a carrier's sensor, or the step of obtaining second data transmitted by a cloud server and determining a first motion trend based on the second data.

[0063] Referencing the third aspect, in some implementations of the third aspect, the step of determining a first motion trend based on first data collected by the carrier's sensors includes the steps of determining the orientation of a first target at multiple points in time based on the first data, and determining a first motion trend based on the orientation of the first target at multiple points in time.

[0064] Referring to the third aspect, in some implementations of the third aspect, the step of detecting that a first target is within the carrier's alarm range includes detecting that a first target is within the carrier's alarm range when the distance between the carrier and the first target is less than or equal to a preset distance and / or the TTC between the carrier and the first target is less than or equal to a preset duration.

[0065] According to a fourth aspect, a control device is provided. The device includes a detection unit configured to detect that a first target is within the alarm range of a carrier, the carrier including ambient lighting; and a control unit configured to control the illumination direction of the ambient lighting, the illumination direction of the ambient lighting corresponding to a first motion trend, the first motion trend including the relative motion trend between the carrier and the first target.

[0066] Referring to the fourth aspect, in some implementations of the fourth aspect, the control unit is further configured to control the illumination speed of the ambient lighting.

[0067] Referring to the fourth aspect, in some implementations of the fourth aspect, the control unit is configured to control the illumination rate of ambient lighting based on information between the carrier and the first target.

[0068] Referring to the fourth aspect, in some implementations of the fourth aspect, the information between the carrier and the first target includes at least one of the following: the first motion trend, the alert level, the distance between the carrier and the first target, and the time to collision (TTC) between the carrier and the first target.

[0069] Referring to the fourth aspect, in some implementations of the fourth aspect, the device further includes a decision unit configured to determine a first motion trend based on first data collected by a carrier sensor, or to acquire second data transmitted by a cloud server and determine a first motion trend based on the second data.

[0070] Referring to the fourth aspect, in some implementations of the fourth aspect, the decision unit is configured to determine the orientation of a first target at multiple points in time based on first data, and to determine a first motion trend based on the orientation of the first target at multiple points in time.

[0071] Referring to the fourth aspect, in some implementations of the fourth aspect, the detection unit is configured to detect that the first target is within the carrier's alarm range when the distance between the carrier and the first target is less than or equal to a preset distance, and / or the TTC between the carrier and the first target is less than or equal to a preset duration.

[0072] According to the fifth aspect, a control device is provided. The control device includes a processing unit and a storage unit. The storage unit is configured to store instructions, and the processing unit executes the instructions stored in the storage unit, thereby the control device performs any possible method in the first or third aspect.

[0073] According to the sixth aspect, a control system is provided. The system includes at least two voice generating devices and a computing platform. The computing platform includes either one of the possible devices in the second or fourth aspect, or the computing platform includes the device in the fifth aspect.

[0074] In some possible implementations, the control system further includes one or more sensors.

[0075] According to the seventh aspect, a carrier is provided. The carrier includes any one of the possible devices in the second aspect, or includes a device in the fourth aspect, or includes a device in the fifth aspect, or includes a system in the sixth aspect.

[0076] In some possible implementations, the carrier is a vehicle.

[0077] According to the eighth aspect, a computer program product is provided. The computer program product includes computer program code. When the computer program code is executed on a computer, the computer is made capable of performing any possible method in the first or third aspect.

[0078] It should be noted that all or part of the computer program code may be stored in a first storage medium. The first storage medium may be packaged together with the processor or packaged separately from the processor. This is not particularly limited in the embodiments of the present application.

[0079] According to the ninth aspect, a computer-readable medium is provided. The computer-readable medium stores program code. When the computer program code is executed on the computer, the computer is made capable of performing any possible method in the first or third aspect.

[0080] According to the tenth aspect, one embodiment of the present application provides a chip system, which includes a processor configured to call computer programs or computer instructions stored in memory, thereby the processor performing any possible method in the first or third aspect.

[0081] Referring to the tenth aspect, in one possible implementation, the processor is coupled to memory through an interface.

[0082] Referring to the tenth aspect, in some possible implementations, the chip system further includes memory. Memory stores computer programs or computer instructions.

[0083] In the embodiments of the present invention, relative motion tendency information between the carrier and the target can be simulated or represented using an alert tone whose sound image shift direction corresponds to a first motion tendency, eliminating the need for the user to determine the motion tendency using another device or apparatus. This helps the user recognize hazards more quickly and safely, improves the user's driving safety, and improves the intelligence of the carrier. In addition, when multiple alert tones burst within the carrier, the user can intuitively determine, by using the sound image shift alert tone, which of the multiple alert tones prompts the relative motion tendency between the carrier and the target.

[0084] Controlling the sound image shift speed of the alert tone helps improve the flexibility of alert tone control.

[0085] The alert tone's sound image shift speed is controlled, allowing the user to intuitively determine the first motion tendency, warning level, distance between the carrier and the first target, or TTC between the carrier and the first target, thereby controlling the carrier to avoid a collision with the target. This improves the safety of the carrier and enhances the user's driving experience.

[0086] Of the at least two sound generators, the one located at the end of the sound image shift direction is associated with the location of the prompting user, and the prompting user quickly understands that there may be a target posing a danger to the user based on an alert tone where the sound image shift is in the direction of the user's location. This helps to improve the user's security awareness and help to avoid security incidents.

[0087] Of the at least two sound generators, the one located at the front in the sound image shift direction is associated with the orientation of the first target relative to the carrier when the first target enters the alarm range. The user may determine the orientation of the first target relative to the carrier when the first target enters the alarm range based on the leading sound generator, thereby allowing the orientation of the first target to be observed in advance. This helps to avoid the occurrence of safety accidents.

[0088] The first movement trend can be predicted based on the status of the first target. In this way, the user can know the movement trend of the first target over a future period of time by using an alert tone in which the sound image shift direction corresponds to the first movement trend, helping the user make driving decisions in advance.

[0089] By switching between alert tones for different sound image shift directions, users can intuitively determine that the movement tendency of the primary target relative to the carrier has changed. Based on the alert tone received after the sound image shift direction has switched, users can have time to learn the actual relative movement tendency, helping them to make proactive driving decisions.

[0090] The at least two sound generators can be determined based on a first motion trend and a mapping relationship between the motion trend stored in the carrier and the sound generators. In this way, the computational overhead for determining the at least two sound generators from the plurality of sound generators can be reduced, and the power consumption of the carrier can be reduced.

[0091] In this combined prompting pattern of multiple elements, the user can further determine the first movement tendency, which helps improve the user's driving safety and also helps improve the carrier's intelligence level. [Brief explanation of the drawing]

[0092] [Figure 1] This is a functional block diagram of a carrier according to one embodiment of the present invention.

[0093] [Figure 2] This is a structural diagram of a vehicle according to one embodiment of the present invention.

[0094] [Figure 3] This is a diagram illustrating an application scenario according to one embodiment of the present invention.

[0095] [Figure 4] This is a diagram showing the alarm range of a vehicle according to one embodiment of the present invention.

[0096] [Figure 5] This figure shows the correspondence between a loudspeaker and the target orientation according to one embodiment of the present invention.

[0097] [Figure 6] This is a diagram illustrating another application scenario according to one embodiment of the present invention.

[0098] [Figure 7] This is a diagram showing an alarm range division configuration according to one embodiment of the present invention.

[0099] [Figure 8] This figure shows an alert tone that can shift the sound image, emitted by at least two loudspeakers according to one embodiment of the present invention.

[0100] [Figure 9] This is a diagram illustrating another application scenario according to one embodiment of the present invention.

[0101] [Figure 10] This is a diagram of the loudspeaker distribution according to one embodiment of the present invention.

[0102] [Figure 11] This is a diagram illustrating another application scenario according to one embodiment of the present invention.

[0103] [Figure 12] This is a diagram illustrating another application scenario according to one embodiment of the present invention.

[0104] [Figure 13] This figure illustrates how, according to one embodiment of the present invention, a user is prompted by the use of sound image shift alert tone and ambient lighting.

[0105] [Figure 14] This figure illustrates how, according to one embodiment of the present invention, a user is prompted by the use of an audible shift alert tone and steering wheel vibration.

[0106] [Figure 15] This is a schematic flowchart of a control method according to one embodiment of the present invention.

[0107] [Figure 16] This is a block diagram of a control device according to one embodiment of the present invention.

[0108] [Figure 17] This is a block diagram of a control system according to one embodiment of the present invention. [Modes for carrying out the invention]

[0109] The following describes the technical solutions in the embodiments of the present application with reference to the accompanying drawings. In the description of the embodiments of the present application, " / " means "or" unless otherwise specified. For example, A / B may indicate A or B. In this specification, "and / or" describes only the relationship between related objects and indicates that three relationships may exist. For example, A and / or B may indicate the following three cases: only A exists, both A and B exist, or only B exists.

[0110] The prefixes "first," "second," etc., used in the embodiments of this application are intended solely to distinguish different described subjects and do not impose any restrictions on the position, order, priority, quantity, or content of the described subjects. The use of prefixes such as ordinal numbers used to distinguish the subjects described in the embodiments of this application does not constitute a limitation on the described subjects. For a description of the described subjects, please refer to the claims or the contextual description in the embodiments. The use of such prefixes should not constitute a redundant limitation. Also, in the description of embodiments, unless otherwise specified, "plural" means two or more.

[0111] Figure 1 is a functional block diagram of a carrier 100 according to one embodiment of the present invention. The carrier 100 may include a sensing system 120, a sound generator 130, and a computing platform 150. The sensing system 120 may include one or more sensors that sense information about the surrounding environment of the carrier 100. For example, the sensing system 120 may include a positioning system. The positioning system may be a global positioning system (GPS), a Beidou system, or another positioning system. The sensing system 120 may further include one or more of an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and camera devices.

[0112] Some or all of the functions of carrier 100 may be controlled by computing platform 150. Computing platform 150 may include one or more processors, for example, processors 151 to 15n (where n is a positive integer). A processor is a circuit that has signal processing capabilities. In one implementation, a processor may be a circuit that has the ability to read and execute instructions, for example, a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, a processor may implement specific functions by using logic relationships of hardware circuits. Logic relationships of hardware circuits may be fixed or reconfigurable. For example, a processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), for example, a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process by which the processor loads configuration documents and implements the hardware circuit configuration can be understood as the process by which the processor loads instructions and implements some or all of the functions of the aforementioned units. In addition, the processor may alternatively be a hardware circuit designed for artificial intelligence, and can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). Furthermore, the computing platform 150 may further include memory.Memory is configured to store instructions. Some or all of the processors 151-15n can call instructions in memory and execute them in order to implement the corresponding functions.

[0113] As mentioned above, vehicle intelligence allows the vehicle to proactively warn of surrounding targets while the user is driving. For example, images or text displayed on the vehicle's onboard display may be used to warn of pedestrians or other vehicles in front of the vehicle. In another example, a warning may be given by using an indicator on the rearview mirror for blind spot warning targets. However, these warning methods require the user's attention to be directed to the vehicle's onboard display or rearview mirror, which does not contribute to the user's driving safety.

[0114] Embodiments of the present invention provide a control method and apparatus, as well as a carrier. At least two sound generators of the carrier are controlled to generate alert tones having a sound image shift direction corresponding to the relative motion tendency between the carrier and the target. This allows the user to know the motion tendency based on the sound image shift direction of the alert tone without affecting their attention. This helps to improve the user's driving safety and also helps to improve the intelligence of the carrier.

[0115] For example, carrier 100 is a vehicle. Figure 2 is a diagram of the structure of vehicle 200 according to one embodiment of the present invention. As shown in Figure 2, vehicle 200 includes a computing platform 210, cameras 221 and 222 located outside the cockpit, radars 231-238, and loudspeakers 241-249 located inside the cockpit. The computing platform 210 may determine whether a target is within the warning range of vehicle 200 based on data collected by the cameras 221 and 222 and radars 231-238 located outside the cockpit. When a target is within the warning range of vehicle 200, the computing platform 210 may control at least two of the speakers 241-249 to emit an alert tone. The direction of the sound image shift of the alert tone corresponds to the relative motion tendency between the target and vehicle 200, or the direction of the sound image shift of the alert tone corresponds to the motion tendency of the target.

[0116] The relative movement tendency between the target and vehicle 200 may be the movement tendency of the target relative to vehicle 200, or the movement tendency of vehicle 200 relative to the target.

[0117] The target's movement tendency can be the target's movement tendency relative to any reference object.

[0118] In Figure 2, seat 1 is a seat in the driver's area, seat 2 is a seat in the passenger seat area, seat 3 is a seat in the right area of ​​the second row, and seat 4 is a seat in the left area of ​​the second row.

[0119] The computing platform 210 may be the computing platform 150 in Figure 1, the cameras 221 and 222 and the radars 231-238 may be located within the sensing system 120 in Figure 1, and the loudspeakers 241-249 may be located within the sound generator 130 in Figure 1.

[0120] In Figure 2, an example is used for illustrative purposes in which vehicle 200 includes two cameras, eight radars, and nine loudspeakers. The number of cameras, radars, and loudspeakers in vehicle 200 is not particularly limited in this embodiment of the present application.

[0121] The loudspeaker 241 is used as an example, and one or more loudspeakers may be present in the location of loudspeaker 241. For example, if there are multiple speakers in the location of loudspeaker 241, these multiple speakers may form a loudspeaker group.

[0122] Figure 3 is a diagram illustrating an application scenario according to one embodiment of the present invention. The application scenario is a front cross traffic alert scenario. Vehicle 1 can collect information about Vehicle 2 using a camera and radar. For example, information about Vehicle 2 includes information such as the distance between Vehicle 2 and Vehicle 1, the speed of Vehicle 2, the direction of the speed of Vehicle 2, and the yaw angle of Vehicle 2. When it is detected that Vehicle 2 has entered the warning range of Vehicle 1, Vehicle 1 may control at least two loudspeakers within Vehicle 1 to emit an alert tone. The sound image shift direction of the alert tone corresponds to the relative movement tendency between Vehicle 2 and Vehicle 1, and the sound image shift direction of the alert tone corresponds to the movement tendency of Vehicle 2.

[0123] The relative movement tendency between Vehicle 2 and Vehicle 1 may be the movement tendency of Vehicle 2 relative to Vehicle 1, or the movement tendency of Vehicle 1 relative to Vehicle 2. In the following embodiments, the movement tendency of Vehicle 2 relative to Vehicle 1 is used as an example for explanation.

[0124] For example, as shown in Figure 3, the tendency of Vehicle 2 to move relative to Vehicle 1 is from east to west. In this case, Vehicle 1 may control speakers 241-243 to generate an alert tone. The sound image shift direction of the alert tone is from east to west, or from the passenger seat area to the driver's area, or from speaker 241 to speaker 243.

[0125] As another example, Vehicle 1 may control speakers 244-246 to generate an alert tone, the sound image shift direction of the alert tone being east to west.

[0126] As another example, Vehicle 1 may control speakers 247-249 to generate an alert tone, the sound image shift direction of the alert tone being from east to west.

[0127] This allows the driver to accurately understand the movement tendency of Vehicle 2 relative to Vehicle 1 based on the sound image shift direction of the alert tone, and thus the driver can control Vehicle 1 based on the movement tendency of Vehicle 2 relative to Vehicle 1. This helps improve the user's driving safety and also helps improve the intelligence level of the vehicle.

[0128] Furthermore, if multiple alert tones burst within Vehicle 1, the user can accurately identify, based on the audible shift alert tone, which of the multiple alert tones prompts the relative movement tendency between Vehicle 2 and Vehicle 1. For example, in a lane change scenario for Vehicle 1, the audible shift direction may trigger an alert tone corresponding to the relative movement tendency between Vehicle 2 and Vehicle 1, a forward radar warning alert tone, and a turn signal sound. The driver can accurately understand the functional meaning of the alert tone corresponding to the audible shift direction relative to the movement tendency. This helps avoid negative evaluations and confused understandings of the vehicle's acoustic alert tones by the driver and improves the user's driving experience.

[0129] In one embodiment, the ability of Vehicle 1 to control at least two loudspeakers within Vehicle 1 to emit an alert tone includes Vehicle 1 controlling the reproduction intensity of the sound emitted by the at least two loudspeakers.

[0130] An example of controlling loudspeakers 241-243 is used. Vehicle 1 may be controlled so that there is no delay between the sounds emitted by loudspeakers 241-243, and so that the sounds emitted by loudspeakers 241-243 are reproduced at different intensities. For example, at time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 40 dB, the reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 20 dB, and the reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time T2, which is after time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 20 dB, the reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 40 dB, and the reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time point T3, which is after time point T2, the sound output intensity of the sound emitted by loudspeaker 241 may be controlled to 20 dB, the sound output intensity of the sound emitted by loudspeaker 242 may be controlled to 20 dB, and the sound output intensity of the sound emitted by loudspeaker 243 may be controlled to 40 dB. Therefore, loudspeakers 241 to 243 may be controlled to generate an alert tone in which the sound image shift direction is from east to west, or to generate an alert tone in which the sound image shift direction is from loudspeaker 241 to loudspeaker 243.

[0131] In one embodiment, one or more loudspeakers may be located at the positions of loudspeaker 241, loudspeaker 242, or loudspeaker 244. For example, multiple loudspeakers may be located at the position of loudspeaker 241. Controlling the sound reproduction intensity of loudspeaker 241 to 40 dB includes controlling the sound reproduction intensity of at least some of the multiple loudspeakers to 40 dB.

[0132] In one embodiment, the time interval between time point T1 and time point T2 and the time interval between time point T2 and time point T3 may be equal or not equal. For example, if the time interval between time point T1 and time point T2 is equal and the time interval between time point T2 and time point T3 is equal, the time interval may be 10 milliseconds (ms).

[0133] In one embodiment, Vehicle 1 may play an alert tone for a predetermined duration.

[0134] For example, a pre-set duration may include multiple broadcast cycles, and in each broadcast cycle, loudspeakers 241-243 may be controlled to emit an alert tone in which the sound image shift direction is from east to west.

[0135] In one embodiment, if it is detected that Vehicle 2 has moved out of the alarm range of Vehicle 1 before a predetermined duration has ended, loudspeakers 241-243 may be further controlled to emit an alert tone until the predetermined duration has ended. Alternatively, the alert tone may be played at the broadcast cycle in which Vehicle 2 moved out of the alarm range of Vehicle 1, and then stopped.

[0136] In one embodiment, time T1 may be the time when it is detected that vehicle 2 has entered the alarm range of vehicle 1.

[0137] In one embodiment, the ability of Vehicle 1 to control at least two loudspeakers within Vehicle 1 to emit an alert tone includes Vehicle 1 controlling the delay of the sound emitted by the at least two loudspeakers.

[0138] An example of controlling loudspeakers 241-243 is used. Vehicle 1 may control the sounds emitted by loudspeakers 241-243 so that they are reproduced at the same intensity but with different delays. For example, at time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 20 dB, and loudspeakers 242 and 243 may be controlled not to emit sound; at time T1+ΔT, the reproduction intensity of the sound emitted by loudspeaker 242 is controlled to 20 dB, and loudspeakers 241 and 243 are controlled not to emit sound; at time T1+2ΔT, the reproduction intensity of the sound emitted by loudspeaker 243 is controlled to 20 dB, and loudspeakers 241 and 242 are controlled not to emit sound. Therefore, loudspeakers 241-243 may be controlled to generate an alert tone where the sound image shift direction is from east to west, or to generate an alert tone where the sound image shift direction is from loudspeaker 241 to loudspeaker 243.

[0139] In one embodiment, the ability of Vehicle 1 to control at least two loudspeakers within Vehicle 1 to emit an alert tone includes Vehicle 1 controlling the delay and playback intensity of the sound emitted by the at least two loudspeakers.

[0140] An example of controlling loudspeakers 241-243 is used. Vehicle 1 may control the sounds emitted by loudspeakers 241-243 to have different delays, and to reproduce the sounds emitted by loudspeakers 241-243 at different intensities. For example, at time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to be 40 dB, and loudspeakers 242 and 243 may be controlled not to emit sound; at time T1+ΔT, the reproduction intensity of the sound emitted by loudspeaker 242 is controlled to be 20 dB, and loudspeakers 241 and 243 are controlled not to emit sound; at time T1+2ΔT, the reproduction intensity of the sound emitted by loudspeaker 243 is controlled to be 20 dB, and loudspeakers 241 and 242 are controlled not to emit sound.

[0141] At time T2, the sound output intensity emitted by loudspeaker 241 may be controlled to 20 dB, and loudspeakers 242 and 243 may be controlled not to emit sound; at time T2+ΔT, the sound output intensity emitted by loudspeaker 242 is controlled to 40 dB, and loudspeakers 241 and 243 are controlled not to emit sound; at time T2+2ΔT, the sound output intensity emitted by loudspeaker 243 is controlled to 20 dB, and loudspeakers 241 and 242 are controlled not to emit sound.

[0142] For example, at time T3, the sound output intensity emitted by loudspeaker 241 may be controlled to 20 dB, and loudspeakers 242 and 243 may be controlled to emit no sound; at time T3+ΔT, the sound output intensity emitted by loudspeaker 242 is controlled to 20 dB, and loudspeakers 241 and 243 are controlled to emit no sound; at time T3+2ΔT, the sound output intensity emitted by loudspeaker 243 is controlled to 40 dB, and loudspeakers 241 and 242 are controlled to emit no sound. Therefore, loudspeakers 241-243 may be controlled to generate an alert tone where the sound image shift direction is from east to west, or an alert tone where the sound image shift direction is from loudspeaker 241 to loudspeaker 243.

[0143] Figure 4 shows the alarm range of vehicle 1 according to one embodiment of the present invention. As shown in Figure 4, the alarm range of vehicle 1 may be determined based on the distance between vehicle 1 and a target. For example, the alarm range may be a circular area with a point on vehicle 1 as the center of the circle, and the radius of the circular area may be a predetermined distance L (for example, 20 meters (m)). If it is detected that vehicle 2 has entered the circular area, it may be determined that vehicle 2 has entered the alarm range of vehicle 1.

[0144] In Figure 4, it is determined whether the target has entered the alarm range of vehicle 1 based on the distance between vehicle 1 and the target. The determination of the alarm range in this embodiment of the present application is not limited thereto. For example, it may be further determined whether the target has entered the alarm range of vehicle 1 based on the time to travel (TTC) between the target and vehicle 1. For example, if it is detected that the TTC between vehicle 1 and the target is less than or equal to a preset duration (e.g., 5 seconds (s)), it may be determined that the target has entered the alarm range of vehicle 1; or, if it is detected that the TTC between vehicle 1 and the target is greater than a preset duration, it may be determined that the target has not entered the alarm range of vehicle 1.

[0145] In one embodiment, Vehicle 1 may further determine its alarm range based on data obtained from a cloud server.

[0146] In one embodiment, vehicle 1 may determine the starting loudspeaker among the at least two loudspeakers based on the orientation of vehicle 2 relative to vehicle 1.

[0147] For example, Figure 5 is a diagram illustrating the correspondence between a loudspeaker and a target orientation (or area) according to one embodiment of the present invention. It can be seen that Vehicle 2 first enters Area 1 within the alarm range. In this case, based on the correspondence, it may be determined that the starting loudspeaker is loudspeaker 241.

[0148] The starting loudspeaker may be understood as the loudspeaker at the start of the sound image shift direction.

[0149] In one embodiment, Vehicle 1 may determine which of the at least two loudspeakers is the end loudspeaker based on the location of the prompted user.

[0150] The application scenario shown in Figure 3 is used as an example. When Vehicle 2 enters the warning range of Vehicle 1, it may be determined that a prompt should be issued to the driver. Therefore, the loudspeaker 243 closest to the driver's position may be selected as the end loudspeaker. Thus, if the movement tendency of Vehicle 2 relative to Vehicle 1 is from east to west, loudspeakers 241-243 are controlled to emit an alert tone with a sound image shift direction from east to west.

[0151] As another example, Figure 6 illustrates another application scenario according to one embodiment of the present invention. As shown in Figure 6(a), when the tendency of vehicle 2 to move relative to vehicle 1 is adjusted from east-to-west movement to south-to-north movement, loudspeakers 249, 246, and 243 may be controlled to emit an image-shift alert tone. The image-shift direction of the alert tone is south-to-north, or the image-shift direction of the alert tone is from loudspeaker 249 to loudspeaker 243.

[0152] As another example, as shown in Figure 6(b), if the tendency of Vehicle 2's movement relative to Vehicle 1 is adjusted from east-to-west movement to south-to-north movement, loudspeakers 247, 248, 249, 246, and 243 may be controlled to generate an image-shift alert tone. The direction of the image shift of the alert tone corresponds to the tendency of Vehicle 2's movement relative to Vehicle 1 within the alarm range. Alternatively, the direction of the image shift of the alert tone may be initially east-to-west, then south-to-north.

[0153] The position of the end loudspeakers in the at least two loudspeakers is determined based on the position of the prompting user. This improves the driver's ability to perceive the relative movement tendencies between the target and vehicle 1, helps the driver to make quick driving decisions based on the relative movement tendencies between the target and vehicle 1, and helps improve the user's driving safety.

[0154] Edge loudspeakers may be understood as loudspeakers located at the edges in the direction of sound image shift.

[0155] Alternatively, the end loudspeakers may be independent of the location of the prompting user. For example, if the movement tendency of vehicle 2 relative to vehicle 1 is adjusted from east-to-west movement to south-to-north movement, loudspeakers 248, 245, and 242 may be controlled to emit an image shift alert tone. The image shift direction of the alert tone is south-to-north, or the image shift direction of the alert tone is from loudspeaker 248 to loudspeaker 242.

[0156] In one embodiment, vehicle 1 may predict the target's movement trends relative to vehicle 1 over a future period of time, based on data collected by sensors.

[0157] In one embodiment, Vehicle 1 may predict the trend of the target's movement relative to Vehicle 1 over a future period of time, based on the target's status when the target enters the warning range of Vehicle 1.

[0158] For example, the status of a target when it enters the warning range of vehicle 1 includes, but is not limited to, one or more of the following: velocity, acceleration, velocity direction, yaw angle direction, or yaw angular velocity at the time the target enters the warning range of vehicle 1.

[0159] The application scenario shown in Figure 3 is used as an example. If the predicted movement tendency of Vehicle 2 relative to Vehicle 1 is from east to west, Vehicle 1 can determine, based on the predicted movement tendency, that Vehicle 2 will sequentially pass through Area 1, Area 2, and Area 3 within the alarm range over a future period of time. Since there is a correspondence between Area 1 and loudspeaker 241, between Area 2 and loudspeaker 242, and between Area 3 and loudspeaker 243, Vehicle 1 may control loudspeakers 241-243 to emit an alert tone, and the direction of the sound image shift of the alert tone corresponds to the movement tendency. Thus, if Vehicle 2 enters Area 1 but not Area 2, Vehicle 1 may control loudspeakers 241-243 to generate a sound image shift alert tone. By loudspeakers 241-243 generating a sound image shift alert tone, the user can know in advance the movement tendency of Vehicle 2 relative to Vehicle 1. This helps users make driving decisions in advance based on their movement patterns, thereby improving user driving safety.

[0160] In one embodiment, if the predicted movement tendency of vehicle 2 relative to vehicle 1 differs from the actual movement tendency of vehicle 2 relative to vehicle 1, at least two of the plurality of loudspeakers are controlled to emit an alert tone in which the sound image shift direction corresponds to the actual movement tendency.

[0161] For example, when Vehicle 2 enters the alarm range of Vehicle 1, Vehicle 1 may control the at least two loudspeakers to emit an alert tone in a first sound image shift direction based on the predicted movement tendency of Vehicle 2 relative to Vehicle 1. The first sound image shift direction corresponds to the predicted movement tendency of Vehicle 2 relative to Vehicle 1. If the predicted movement tendency of Vehicle 2 relative to Vehicle 1 does not match the actual movement tendency of Vehicle 2 relative to Vehicle 1, Vehicle 1 may switch to controlling the at least two loudspeakers to emit an alert tone in a second sound image shift direction. The second sound image shift direction corresponds to the actual movement tendency.

[0162] In one embodiment, if Vehicle 2 is located in Area 1 and has not entered Area 2, Vehicle 1 may control loudspeaker 241 to generate an alert tone. The alert tone emitted by loudspeaker 241 indicates that a target has entered the alert range of Vehicle 1 and that the target is located in the area corresponding to loudspeaker 241 (or Area 1 corresponding to loudspeaker 241). As Vehicle 2 moves from Area 1 to Area 2, Vehicle 1 may control loudspeakers 241 and 242 to generate alert tones. The sound image shift direction of the alert tone corresponds to the tendency of Vehicle 2 to move relative to Vehicle 1. For example, the sound image shift direction of the alert tone is from east to west, and the sound image shift direction of the alert tone is from loudspeaker 241 to loudspeaker 242. As Vehicle 2 moves from Area 2 to Area 3, Vehicle 1 may control loudspeakers 241-243 to emit alert tones. The direction of the alert tone's sound image shift corresponds to the tendency of vehicle 2's movement relative to vehicle 1. For example, the alert tone's sound image shift direction is from east to west, and the alert tone's sound image shift direction is from loudspeaker 241 to loudspeaker 243.

[0163] In one embodiment, Vehicle 1 can determine the movement tendency of Vehicle 2 relative to Vehicle 1 based on data collected by sensors outside the cockpit, and based on this movement tendency, control the at least two sound generators to emit an alert tone. The sound image shift direction of the alert tone corresponds to the movement tendency.

[0164] For example, as shown in Figure 5, if Vehicle 2 is located in Area 1 and has not entered Area 2, Vehicle 1 can determine the movement tendency of Vehicle 2 relative to Vehicle 1 based on sensors outside the cockpit of Vehicle 1 (e.g., one or more of cameras, LiDAR, and millimeter-wave radar) and control the at least two sound generators to emit an audible image shift alert tone. For example, if the movement tendency of Vehicle 2 within Area 1 relative to Vehicle 1 is from east to west, Vehicle 1 may control loudspeakers 241-243 to emit an alert tone, with the audible image shift direction of the alert tone being from east to west.

[0165] In one embodiment, alternatively, vehicle 1 may determine the movement tendency of vehicle 2 relative to vehicle 1 based on data transmitted by a cloud server.

[0166] In one embodiment, Vehicle 1 may control the sound image shift speed of the alert tone.

[0167] In one embodiment, the ability of Vehicle 1 to control the sound image shift speed of the alert tone includes Vehicle 1 controlling the sound image shift speed of the alert tone based on information between Vehicle 1 and the target. For example, the information between Vehicle 1 and the target includes, but is not limited to, one or more of the target's movement tendency relative to Vehicle 1, the alarm level, the distance between Vehicle 1 and the target, and the TTC between Vehicle 1 and the target.

[0168] For example, the target's motion tendency relative to Vehicle 1 includes the target's acceleration relative to Vehicle 1. The application scenario shown in Figure 3 is used as an example. Also, if Vehicle 2's acceleration relative to Vehicle 1 is increasing after Vehicle 2 enters Vehicle 1, the sound image shift speed of the alert tone emitted by loudspeakers 241-243 may be controlled to increase. Table 1 shows the correspondence between the target's acceleration relative to Vehicle 1 and the sound image shift speed. [Table 1]

[0169] For example, if the acceleration of vehicle 2 relative to vehicle 1 is 1 meter per second (m / s²). 2 ) If this is the case, Vehicle 1 may use a low sound image shift speed. For example, at time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 40 dB, the reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 20 dB, and the reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time T2, which is after time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 20 dB, the reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 40 dB, and the reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time T3, which is after time T2, the sound output intensity of the loudspeaker 241 may be controlled to 20 dB, the sound output intensity of the loudspeaker 242 may be controlled to 20 dB, and the sound output intensity of the loudspeaker 243 may be controlled to 40 dB. The time interval between time T1 and time T2, and the time interval between time T2 and time T3 may be 10 ms.

[0170] The acceleration of vehicle 2 relative to vehicle 1 is 1 m / s². 2from 4 m / s 2 If the frequency increases, vehicle 1 may use the mid-range image shift speed. For example, at time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 40 dB, the reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 20 dB, and the reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time T4, which is after time T1, the reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 20 dB, the reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 40 dB, and the reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time T5, which is after time T4, the sound output intensity of the loudspeaker 241 may be controlled to 20 dB, the sound output intensity of the loudspeaker 242 may be controlled to 20 dB, and the sound output intensity of the loudspeaker 243 may be controlled to 40 dB. The time interval between time T1 and time T4, and the time interval between time T4 and time T5 may be 6 ms.

[0171] Vehicle 2's movement speed relative to Vehicle 1 is 4 m / s 2 from 8 m / s 2As it increases, vehicle 1 can use a high sound image shift speed. For example, at time T1, the sound reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 40 dB, the sound reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 20 dB, and the sound reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time T6, which is after time T1, the sound reproduction intensity of the sound emitted by loudspeaker 241 may be controlled to 20 dB, the sound reproduction intensity of the sound emitted by loudspeaker 242 may be controlled to 40 dB, and the sound reproduction intensity of the sound emitted by loudspeaker 243 may be controlled to 20 dB. At time T7, which is after time T6, the sound output intensity of the loudspeaker 241 may be controlled to 20 dB, the sound output intensity of the loudspeaker 242 may be controlled to 20 dB, and the sound output intensity of the loudspeaker 243 may be controlled to 40 dB. The time interval between time T1 and time T6, and the time interval between time T6 and time T7 may be 2 ms.

[0172] The correspondence between the target acceleration relative to Vehicle 1 and the sound image shift velocity shown in Table 1 is merely an example, and this embodiment of the present application is not limited thereto. For example, if the target acceleration relative to Vehicle 1 is 5 m / s² 2 If it is less than 5 m / s, a lower sound image shift speed is used, or the target's movement speed relative to Vehicle 1 is 5 m / s 2 In cases exceeding the above, a high sound image shift speed is used.

[0173] In one embodiment, the target's movement tendency relative to Vehicle 1 includes the direction of the target's movement relative to Vehicle 1. For example, based on the direction of the target's movement relative to Vehicle 1, the target may be classified into a forward crossing target and a blind spot warning target. For example, Vehicle 2 shown in Figure 3 may be a forward crossing target, and Vehicle 3 shown in Figure 9 may be a blind spot warning target. If Vehicle 1 determines that the target is a forward crossing target, it may use a high sound image shift speed, or if Vehicle 1 determines that the target is a blind spot warning target, it may use a low sound image shift speed.

[0174] As another example, Vehicle 1 may further control the sound image shift speed of the alert tone based on the alarm level. For example, the alarm level may be output by an advanced driver-assistance system (ADAS) within Vehicle 1 based on data collected by sensors outside the cockpit. A higher alarm level indicates a more dangerous target. For example, Table 2 shows the correspondence between alarm levels and sound image shift speeds. [Table 2]

[0175] For example, if the target alarm level is alarm level 1, a low sound image shift speed may be used.

[0176] For example, if the target alarm level is alarm level 2, a moderate sound image shift speed may be used.

[0177] For example, if the target alarm level is alarm level 3, a high sound image shift speed may be used.

[0178] For the process by which Vehicle 1 controls the loudspeaker to operate based on different sound image shift speeds, please refer to the description in the above embodiments. Further details are not described herein.

[0179] Note that the correspondence between alarm range and sound image shift speed in Table 2 is an example. This is not particularly limited to this embodiment of the present invention. For example, the alarm levels may be further classified into more or fewer alarm levels than the three alarm levels.

[0180] The above is illustrated by using an example in which an ADAS outputs an alarm level based on data collected by sensors outside the cockpit. This embodiment of the present invention is not limited thereto. For example, Vehicle 1 may further determine a target alarm level based on data transmitted by a cloud server. For example, the alarm level may be determined by the cloud server, or the cloud server may transmit the target alarm level to Vehicle 1.

[0181] As another example, Vehicle 1 may further control the sound image shift speed of the alert tone based on the distance between the target and Vehicle 1. For example, Figure 7 is a diagram of an alarm range division configuration according to one embodiment of the present application, compared to the alarm range shown in Figure 4. Table 3 shows the correspondence between the distance between the target and Vehicle 1 and the sound image shift speed in this embodiment of the present application. [Table 3]

[0182] For example, if the distance between the target and vehicle 1 is 15m, a low sound image shift speed may be used.

[0183] For example, if the distance between the target and vehicle 1 is 10m, a moderate sound image shift speed may be used.

[0184] For example, if the distance between the target and vehicle 1 is 4m, a high sound image shift speed may be used.

[0185] For the process by which Vehicle 1 controls the loudspeaker to operate based on different sound image shift speeds, please refer to the description in the above embodiments. Further details are not described herein.

[0186] The correspondence between the distance between the target and vehicle 1 and the sound image shift speed in Table 3 is merely an example. This is not particularly limited to this embodiment of the present application. For example, a lower sound image shift speed may be used when the distance between the target and vehicle 1 is greater than 5 m, or a higher sound image shift speed may be used when the distance between the target and vehicle 1 is 5 m or less.

[0187] The distance between the target and vehicle 1 may be determined by vehicle 1 based on data collected by sensors outside the cockpit of vehicle 1, or it may be determined by vehicle 1 based on data transmitted by a cloud server.

[0188] As another example, Vehicle 1 may further control the sound image shift speed of the alert tone based on the TTC between the target and Vehicle 1. Table 4 shows the correspondence between the TTC between the target and Vehicle 1 and the sound image shift speed according to one embodiment of the present invention. [Table 4]

[0189] For example, if the TTC is 5s, a low sound image shift speed may be used.

[0190] For example, if the TTC is 4s, a moderate sound image shift speed may be used.

[0191] For example, if the TTC is 3s, a high sound image shift speed may be used.

[0192] For the process by which Vehicle 1 controls the loudspeaker to operate based on different sound image shift speeds, please refer to the description in the above embodiments. Further details are not described herein.

[0193] The correspondence between TTC and sound image shift speed in Table 4 is merely an example. This is not particularly limited to this embodiment of the present application.

[0194] The TTC may be determined by Vehicle 1 based on data collected by sensors outside the cockpit of Vehicle 1, or it may be determined by Vehicle 1 based on data transmitted by a cloud server. As another example, the sound image shift speed of the alert tone may be controlled by further referring to a plurality of the target's movement tendency relative to Vehicle 1, the alarm level, the distance between Vehicle 1 and the target, and the TTC between Vehicle 1 and the target. For example, the sound image shift speed of the alert tone may be controlled by referring to the alarm level and the TTC between Vehicle 1 and the target. Table 5 shows the correspondence between the sound image shift speed and the alarm level and TTC, respectively, according to this embodiment of the present application. [Table 5]

[0195] The correspondence between sound image shift speed, alarm level, and TTC in Table 5 is an example; it is not particularly limited to this embodiment of the present application.

[0196] In one embodiment, the sound image shift speed of the alert tone may be further controlled based on the target type. For example, Table 6 shows the correspondence between the target type and the sound image shift speed. [Table 6]

[0197] The correspondence between target type and sound image shift speed in Table 6 is merely an example. This is not particularly limited to this embodiment of the present application.

[0198] In one embodiment, the at least two loudspeakers may be further positioned on the headrest of the seat.

[0199] Figure 8 shows an embodiment of the present invention in which at least two loudspeakers emit an alert tone that can shift the sound image. As shown in Figure 8, the driver's seat head pillow includes loudspeakers 251 and 252. An application scenario shown in Figure 3 is used as an example. When vehicle 2 enters the alert range of vehicle 1, and the tendency of vehicle 2's movement relative to vehicle 1 is from east to west, loudspeakers 251 and 252 may be controlled to emit an image-shift alert tone. The direction of the sound image shift of the alert tone is from loudspeaker 251 to loudspeaker 252.

[0200] Referring to Figures 3 to 8, the above describes the process by which Vehicle 1 controls the at least two loudspeakers to emit an audible shift alert tone in a forward cross-traffic alert scenario. Referring to Figures 9 and 10, other application scenarios provided in embodiments of the present application are described below. For example, embodiments of the present application may be further applied to blind spot detection and warning scenarios. Blind spot detection and warning scenarios include, but are not limited to, blind spot detection and warning, lane change assist warning, rear cross-traffic alert, rear cross-traffic assist with braking, and door open warning (DOW).

[0201] Figure 9 illustrates another application scenario according to one embodiment of the present invention. This scenario is a rear crossing traffic warning scenario. As shown in Figure 9, during the movement process of Vehicle 1, based on data collected by sensors outside the cockpit, it is detected that Vehicle 3 is accelerating to overtake Vehicle 1 from the right rear of Vehicle 1. When Vehicle 3 enters the warning range of Vehicle 1 and the tendency of Vehicle 3's movement relative to Vehicle 1 is from southeast to northwest, Vehicle 1 may control loudspeakers 247, 245, and 243 to generate an audible image shift alert tone. The audible image shift direction of the alert tone corresponds to the tendency of Vehicle 3's movement relative to Vehicle 1. Thus, the driver can be informed that the target is overtaking Vehicle 1 from the right rear of Vehicle 1.

[0202] In one embodiment, the at least two loudspeakers may be determined from a plurality of loudspeakers within the vehicle 1 based on the area where the user is located.

[0203] For example, in a door open warning scenario, at least two loudspeakers can be selected from the plurality of loudspeakers in vehicle 1 based on the area where the user opening the vehicle door is located, and these at least two loudspeakers can be controlled to emit an image shift alert tone. The direction of the sound image shift of the alert tone is the tendency of the target outside the vehicle door relative to vehicle 1.

[0204] For example, Figure 10 is a diagram of a loudspeaker distribution according to one embodiment of the present invention. As shown in Figure 10, Vehicle 1 may include loudspeakers 1001 to 1016. The cockpit of Vehicle 1 is divided into a driver area, a passenger seat area, a left-side area of ​​the second row, and a right-side area of ​​the second row. Loudspeakers 1001 to 1004 are loudspeakers in the passenger seat area, loudspeakers 1005 to 1008 are loudspeakers in the driver area, loudspeakers 1009 to 1012 are loudspeakers in the right-side area of ​​the second row, and loudspeakers 1013 to 1016 are loudspeakers in the left-side area of ​​the second row.

[0205] For example, when a user in the driver's area is exiting a vehicle, the user may not notice a target moving outside the vehicle door in the driver's area (e.g., a user on a bicycle or motorcycle). By using an audible image shift alert tone, a user who is ready to exit the vehicle can be prompted, thereby letting the user know that there is a risk of collision after opening the vehicle door. For example, loudspeakers 1005 and 1007 may be controlled to generate an audible image shift alert tone when a target outside the vehicle door in the driver's area is moving from the rear to the front of the vehicle door. The audible image shift direction of the alert tone is from the tail of vehicle 1 to the head of vehicle 1, or the audible image shift direction of the alert tone is from loudspeaker 1007 to loudspeaker 1005.

[0206] In one embodiment, the ability to control the at least two loudspeakers to emit a sound image shift alert tone is determined from the plurality of loudspeakers in the vehicle 1 based on the area where the user opening the vehicle door is located, and includes determining the at least two loudspeakers from the plurality of loudspeakers in the vehicle 1 based on the area where the user opening the vehicle door is located and the target's movement tendency.

[0207] For example, if a camera in the cockpit detects that the user in the passenger area is ready to open the vehicle door, a target within the warning range of vehicle 1 may be detected. If it is detected that the target is approaching the vehicle door in the passenger area from the right rear to the left front outside the vehicle door in the passenger area, loudspeaker 1001 and loudspeaker 1004 may be determined from among loudspeakers 1001-1004 based on the target's movement tendency relative to vehicle 1. Thus, loudspeakers 1001 and 1004 are controlled to emit an alert tone, and the sound image shift direction of the alert tone is from loudspeaker 1001 to loudspeaker 1004. In this way, the user in the passenger area can determine, based on the alert tone, that there is a risk of collision after the vehicle door is opened. Alternatively, the sound image shift direction of the alert tone may be from loudspeaker 1004 to loudspeaker 1001. Therefore, a user in the passenger seat area can determine, based on this alert tone, that a target is approaching from the outside of the vehicle door.

[0208] Figure 11 illustrates another application scenario according to one embodiment of the present invention. As shown in Figure 11, the scenario is a lane departure warning scenario.

[0209] Vehicle 1 may determine information regarding the lane markings in which it is located based on data collected by sensors outside the cockpit. Furthermore, if Vehicle 1 deviates from the center of lane 1 toward the lane markings 1, loudspeakers 242 and 243 may be controlled to generate an audible image shift alert tone. For example, the audible image shift direction of the alert tone may be from loudspeaker 243 to loudspeaker 242, and the alert tone indicates to the user that the vehicle is approaching the right lane marking; or the audible image shift direction of the alert tone may be from loudspeaker 242 to loudspeaker 243, and the alert tone indicates to the user to turn the steering wheel to the left so that the vehicle is in the center of lane 1.

[0210] Referring to the attached drawings, the process by which the at least two loudspeakers in the cockpit generate an audible shift alert tone, thereby allowing the user in the cockpit to know the target's movement tendency relative to Vehicle 1, has been described. This embodiment of the present application is not limited thereto. For example, the technical solution of this embodiment of the present application may also be applied outside the cockpit, where at least two loudspeakers outside the cockpit emit an audible shift alert tone to prompt the user outside the cockpit.

[0211] Figure 12 illustrates another application scenario according to one embodiment of the present invention. As shown in Figure 12, a user drives vehicle 1 toward parking space 1 to park. Based on data collected by sensors outside the cockpit, if a user is detected standing near parking space 1, loudspeakers 1201 and 1202 outside the cockpit may be controlled to emit an audible image shift alert tone. The audible image shift direction of the alert tone may be from loudspeaker 1201 to loudspeaker 1202. This allows the standing user to know that vehicle 1 is approaching them and to have time to avoid vehicle 1.

[0212] In one embodiment, Vehicle 1 may store a mapping relationship between movement tendencies and sound generators, and Vehicle 1 may determine at least two loudspeakers based on the mapping relationship and the movement tendencies of targets relative to Vehicle 1. For example, targets within the alarm range of Vehicle 1 may be classified into forward crossing targets and blind spot targets. The movement tendencies of forward crossing targets relative to Vehicle 1 may include moving from left to right of the front of the vehicle, or moving from right to left of the front of the vehicle. The movement tendencies of blind spot targets relative to Vehicle 1 may include accelerating from the left rear of Vehicle 1 and overtaking Vehicle 1, or accelerating from the right rear of Vehicle 1 and overtaking Vehicle 1. Table 7 shows the relationship between movement tendencies, sound generators, and sound image shift directions. [Table 7]

[0213] For example, blind spot targets may further include blind spot targets in door open warning scenarios. For instance, the movement tendencies of blind spot targets relative to vehicle 1 are to move from behind the vehicle door in the driver's area to the front, from behind the vehicle door in the passenger seat area to the front, from behind the vehicle door in the left area of ​​the second row to the front, or from behind the vehicle door on the right side of the second row to the front. Table 8 shows the relationship between movement tendencies, sound generators, and sound image shift directions. [Table 8]

[0214] Tables 7 and 8 are merely examples, and this embodiment of the present application is not limited thereto.

[0215] In one embodiment, when the at least two loudspeakers are controlled to emit sound image shift alert tones, one or more of the following prompting patterns may be further combined: prompts based on the illumination direction of ambient lighting, prompts based on the vibration direction of the steering wheel, and prompts using a vehicle-mounted display or head-up display (HUD) device.

[0216] Figure 13 illustrates a method of prompting a user by using an audible image shift alert tone and ambient lighting according to one embodiment of the present invention. As shown in Figure 13, for example, the carrier is a vehicle. Ambient lighting includes a light strip 1310 positioned on the handrail of the vehicle door. The light strip 1310 includes a plurality of light beads. For example, a user in the left area of ​​the second row exits the vehicle. If the target is within the vehicle's alarm range and it is detected that the target is moving from behind the left vehicle door of the second row to the front, loudspeakers 1013 and 1015 may be controlled to emit an audible image shift alert tone, and the direction of the light gradient in the light strip 1310 is controlled to change from light bead 1311 to light bead 1312. Optionally, the audible image shift speed and / or light gradient speed of the alert tone may be controlled based on the distance or TTC between the left vehicle door of the second row and the target.

[0217] In one embodiment, if a target is within the vehicle's alarm range and it is detected that the target is moving forward from behind the left vehicle door of the second row, the light gradient direction in the light strip 1310 can be controlled to change from light bead 1311 to light bead 1312.

[0218] Figure 14 illustrates a method of prompting the user by using an audible shift alert tone and steering wheel vibration according to one embodiment of the present invention. As shown in Figure 14, when it is detected that Vehicle 2 is entering the warning area of ​​Vehicle 1 and Vehicle 2 is moving from the right to the left of the front of Vehicle 1, loudspeakers 241-243 may be controlled to emit an alert tone in which the audible shift direction is from loudspeaker 241 to loudspeaker 243, and the steering wheel is controlled to vibrate counterclockwise.

[0219] Figure 15 is a schematic flowchart of a control method 1500 according to one embodiment of the present invention. Method 1500 may be performed by a carrier (e.g., a vehicle), or by the aforementioned computing platform, or by a system including a computing platform and at least two sound generators, or by a system-on-a-chip (SoC) on the aforementioned computing platform, or by a processor on the computing platform. Method 1500 includes the following steps:

[0220] S1510: Detects that the first target is within the carrier's alarm range. The carrier includes multiple sound generators.

[0221] For example, the first target may be Vehicle 2 or Vehicle 3 in the above embodiment.

[0222] For example, the carrier may be Vehicle 1 in the above embodiment.

[0223] Optionally, detecting that a first target is within the carrier's alarm range includes detecting that the first target is within the carrier's alarm range when the distance between the carrier and the first target is less than or equal to a preset distance, and / or the TTC between the carrier and the first target is less than or equal to a preset duration.

[0224] For example, the pre-set distance could be 20 meters.

[0225] For example, the pre-set duration could be 5 seconds.

[0226] S1520: Control at least two of the multiple sound generators to emit an alert tone. The sound image shift direction of the alert tone corresponds to a first motion trend, and the first motion trend includes the relative motion trend between the carrier and the first target.

[0227] The relative motion trend between the carrier and the first target may include the relative motion trend of the carrier with respect to the first target, or the relative motion trend of the first target with respect to the carrier. Optionally, controlling at least two of the plurality of sound generators to emit an alert tone includes controlling at least two of the plurality of sound generators to emit an alert tone when the carrier velocity is greater than or equal to a preset velocity threshold.

[0228] Optionally, method 1500 further includes controlling the sound image shift speed of the alert tone.

[0229] Optionally, controlling the sound image shift speed of the alert tone includes controlling the sound image shift speed of the alert tone based on information between the carrier and the first target.

[0230] Optionally, the information between the carrier and the first target includes at least one of the following: the first movement trend, the alert level, the distance between the carrier and the first target, and the time to collision (TTC) between the carrier and the first target.

[0231] Optionally, method 1500 further includes determining, based on the location of a prompting user, which of the at least two sound generators is located at the end in the sound image shift direction.

[0232] For example, as shown in Figure 6, if it is detected that Vehicle 2 has entered the warning range of Vehicle 1 and Vehicle 2 is a forward crossing target, Vehicle 1 decides to prompt the driver, thereby selecting the loudspeaker 241 closest to the driver as the loudspeaker at the end of the sound image shift direction.

[0233] For example, as shown in Figure 10, when a user in the passenger seat area attempts to exit the vehicle, it is detected that a target located outside the vehicle door in the passenger seat area is moving from rear to front, and that opening the door could result in the user colliding with the target. In this case, vehicle 1 may decide to prompt the user in the passenger seat area. From among the loudspeakers 1001 to 1004, one loudspeaker may be selected as the end sound generating device.

[0234] Optionally, method 1500 further includes determining which of the at least two sound generators is located at the front in the sound image shift direction, based on the orientation of the first target relative to the carrier when the first target enters the alarm range.

[0235] For example, as shown in Figure 5, Vehicle 2 first enters Area 1 within the alarm range. In this case, based on the correspondence between the loudspeaker and the target direction, the starting loudspeaker may be determined to be loudspeaker 241.

[0236] Optionally, Method 1500 further includes predicting a first movement trend based on the status of a first target, and controlling at least two of the plurality of sound generators to generate an alert tone, and further includes controlling at least two of the plurality of sound generators to generate an alert tone based on the predicted first movement trend.

[0237] Optionally, the status of the first target includes one or more of the first target's velocity, acceleration, velocity direction, yaw angle direction, or yaw angular velocity.

[0238] Optionally, predicting a first movement trend based on the status of a first target involves inputting the status of the first target into a trajectory prediction model in order to obtain the first movement trend through the prediction.

[0239] For example, the status of the first target includes the status that the first target is within the carrier's alert range.

[0240] For example, the status of the first target may further include the historical trajectory of the first target before it entered the carrier's alert range.

[0241] Optionally, method 1500 further includes controlling at least two of the plurality of sound generators to emit an alert tone corresponding to the actual relative motion trend if the predicted first motion trend differs from the actual relative motion trend between the first target and the carrier.

[0242] For example, the application scenario shown in Figure 3 is used as an example. When Vehicle 2 enters the alarm range of Vehicle 1, Vehicle 1 may control loudspeakers 241-243 to emit an alert tone such that the sound image shift direction is east to west, based on the predicted movement tendency of Vehicle 2 relative to Vehicle 1 (e.g., east to west). If the predicted movement tendency of Vehicle 2 relative to Vehicle 1 does not match the actual movement tendency of Vehicle 2 relative to Vehicle 1 (e.g., south to north), Vehicle 1 may switch to controlling loudspeakers 243, 246, and 249 to emit an alert tone such that the sound image shift direction is south to north.

[0243] Optionally, method 1500 further includes determining a first motion trend based on first data collected by a carrier's sensor, or obtaining second data transmitted by a cloud server and determining a first motion trend based on the second data.

[0244] For example, as shown in Figure 5, if it is detected that Vehicle 2 has entered the alarm range of Vehicle 1, Vehicle 1 may determine the movement tendency of Vehicle 2 relative to Vehicle 1 based on sensor data collected by sensors outside the cockpit. For example, Vehicle 2 enters the alarm range of Vehicle 1 at a first time point. Vehicle 1 may determine the movement tendency of Vehicle 2 relative to Vehicle 1 within 1 second based on sensor data collected by sensors within 1 second from the first time point. Accordingly, at least two loudspeakers in the plurality of sound-generating loudspeakers are controlled to emit an alert tone corresponding to the movement tendency based on that movement tendency.

[0245] Optionally, determining a first motion trend based on first data collected by the carrier's sensors includes determining the orientation of a first target at multiple points in time based on the first data, and determining a first motion trend based on the orientation of the first target at the multiple points in time.

[0246] For example, when determining the movement tendency of vehicle 2 relative to vehicle 1 within 1 second, the orientation of vehicle 2 relative to vehicle 1 at 100 time points can be collected at 10ms time intervals. The movement tendency of vehicle 2 relative to vehicle 1 can be obtained based on the orientation of vehicle 2 relative to vehicle 1 at 100 time points.

[0247] Optionally, the carrier includes a mapping relationship between motion tendencies and sound generators, and method 1500 further includes determining the at least two sound generators based on the mapping relationship and a first motion tendency.

[0248] For example, the mapping relationships may be shown in Table 7 or Table 8.

[0249] Optionally, Method 1500 further includes the steps of: controlling the illumination direction of ambient lighting, wherein the illumination direction of ambient lighting corresponds to a first motion trend, and the carrier includes ambient lighting; controlling the vibration direction of a handle, wherein the carrier includes a handle; and controlling a display device to display prompt information, wherein the prompt information indicates a first motion trend, and the carrier includes a display device.

[0250] For example, as shown in Figure 13, if a target is within the vehicle's alarm range and it is detected that the target is moving forward from behind the left vehicle door of the second row, loudspeakers 1013 and 1015 may be controlled to emit an image shift alert tone, and the direction of the light gradient in the light strip 1310 is controlled to change from light bead 1311 to light bead 1312.

[0251] For example, as shown in Figure 14, if it is detected that Vehicle 2 enters the warning area of ​​Vehicle 1 and Vehicle 2 moves from the right to the left of the front of Vehicle 1, loudspeakers 241-243 may be controlled to emit an alert tone in which the sound image shift direction is from loudspeaker 241 to loudspeaker 243, and the steering wheel may be controlled to vibrate counterclockwise.

[0252] Optionally, controlling at least two of the plurality of sound generators to generate an alert tone includes controlling the intensity of the sound emitted by the at least two sound generators and / or controlling the delay of the sound emitted by those at least two sound generators.

[0253] For a process of controlling the intensity and / or delay of the sound emitted by the sound generator, please refer to the description in the embodiments above, and further details will not be described herein.

[0254] Optionally, the plurality of sound generating devices are placed in the carrier's cockpit.

[0255] Optionally, the plurality of sound generating devices may be located outside the carrier's cockpit.

[0256] For example, as shown in Figure 12, if a user standing near parking space 1 is detected based on data collected by sensors outside the cockpit, loudspeakers 1201 and 1202 outside the cockpit may be controlled to emit an audible image shift alert tone. The audible image shift direction of the alert tone may be from the front position of vehicle 1 to the position of the standing user, or from loudspeaker 1201 to loudspeaker 1202. This allows the standing user to know that vehicle 1 is approaching them, and thus they can take timely evasive action against vehicle 1.

[0257] One embodiment of the present invention further provides a control method, which includes the steps of: detecting that a vehicle is deviating from a first lane marking in a lane in which the vehicle is located, wherein the vehicle includes a plurality of sound generators; and controlling at least two of the plurality of sound generators to emit an audible image shift alert tone, wherein the audible image shift direction of the alert tone is toward the first lane marking, or the audible image shift direction of the alert tone is toward the first lane marking.

[0258] Optionally, detecting a vehicle deviating from a first lane marking in the lane in which the vehicle is located includes detecting a gradual decrease in the distance between the vehicle and the first lane marking.

[0259] Optionally, if the sound image shift direction of the alert tone is towards the first lane marking, the alert tone may be used to inform the user that the vehicle is approaching the first lane marking.

[0260] Optionally, if the sound image shift direction of the alert tone is away from the first lane marking, the alert tone may be used to notify the user to drive the vehicle away from the first lane marking or to encourage the user to drive toward the lane centerline.

[0261] One embodiment of the present invention further provides an apparatus for carrying out any one of the methods described above. For example, an apparatus is provided that includes a carrier (e.g., a vehicle), a computing platform in the vehicle, a SoC on the computing platform, or a unit (or means) of each step performed by a processor on the computing platform for carrying out any one of the methods described above.

[0262] Figure 16 is a block diagram of a control device 1600 according to one embodiment of the present invention. As shown in Figure 16, the device 1600 includes a detection unit 1610 configured to detect that a first target is within the alarm range of a carrier, the carrier comprising a plurality of sound generators; and a control unit 1620 configured to control at least two of the plurality of sound generators to generate an alert tone, the sound image shift direction of the alert tone corresponding to a first motion trend, the first motion trend comprising the relative motion trend between the carrier and the first target.

[0263] Optionally, the control unit 1620 is further configured to control the audio-visual shift speed of the alert tone.

[0264] Optionally, the control unit 1620 is configured to control the audio-visual shift speed of the alert tone based on the information between the carrier and the first target.

[0265] Optionally, the information between the carrier and the first target includes at least one of the first movement trend, the alarm level, the distance between the carrier and the first target, and the time to collision TTC between the carrier and the first target.

[0266] Optionally, the apparatus 1600 further includes a first determination unit configured to determine a sound generating device located at an end of the audio-visual shift direction among the at least two sound generating devices based on the position of the prompted user.

[0267] Optionally, the apparatus 1600 further includes a second determination unit configured to determine a sound generating device located at the start of the audio-visual shift direction among the at least two sound generating devices based on the orientation of the first target with respect to the carrier when the first target enters the alarm range.

[0268] Optionally, the apparatus 1600 further includes a prediction unit configured to predict a first movement trend based on the status of the first target. The control unit is configured to control at least two of the plurality of sound generating devices to generate an alert tone based on the predicted first movement trend.

[0269] Optionally, when the predicted first movement trend is different from the actual relative movement trend between the first target and the carrier, the control unit 1620 is further configured to control at least two of the plurality of sound generating devices to generate an alert tone whose audio-visual shift direction corresponds to the actual relative movement trend.

[0270] Optionally, the apparatus 1600 further includes a third determination unit configured to determine a first movement trend based on first data collected by a carrier sensor, or a third determination unit configured to obtain second data transmitted by a cloud server and determine a first movement trend based on the second data.

[0271] Optionally, the third determination unit is configured to determine the orientation of the first target at a plurality of time points based on the first data, and determine the first movement trend based on the orientation of the first target at the plurality of time points.

[0272] Optionally, the carrier includes a mapping relationship between a movement trend and a sound generating device, and the method further includes determining the at least two sound generating devices based on the mapping relationship and the first movement trend.

[0273] Optionally, the control unit 1620 is configured to control the illumination direction of the ambient lighting, the illumination direction of the ambient lighting corresponding to the first movement trend, and the carrier includes the ambient lighting, and / or control the vibration direction of the handle, the vibration direction corresponding to the first movement trend, and the carrier includes the handle, and / or control the display device to display prompt information, the prompt information indicating the first movement trend, and the carrier includes the display device.

[0274] Optionally, the detection unit 1610 is configured to detect that the first target is within the warning range of the carrier when the distance between the carrier and the first target is less than or equal to a preset distance, and / or when the time to collision (TTC) between the carrier and the first target is less than or equal to a preset duration.

[0275] Optionally, the control unit 1620 is configured to control the intensity of the sound emitted by one of the at least two sound generators, and / or to control the delay of the sound emitted by those at least two sound generators.

[0276] Optionally, the plurality of sound generating devices are placed in the carrier's cockpit.

[0277] For example, the detection unit 1610 may be the computing platform of Figure 1, or a processing circuit, processor, or controller on the computing platform of Figure 1. For example, the detection unit 1610 may be a processor 151 on the computing platform, which can detect whether the first target is within the carrier's alarm range. For example, the processor 151 may acquire sensor data collected by sensors outside the cockpit and, based on this sensor data, determine whether the first target is within the carrier's alarm range. In another example, the processor 151 may further determine the movement trend of the first target relative to the carrier based on the sensor data.

[0278] In another example, the control unit 1620 may be the computing platform of Figure 1, or a processing circuit, processor, or controller on the computing platform of Figure 1. For example, the control unit 1620 is a processor 152 on the computing platform. When the processor 151 determines that the first target has entered the carrier's alarm range, the processor 151 may transmit instruction information and the movement tendency of the first target to the processor 152. The instruction information indicates that the first target has entered the carrier's alarm range. Based on the instruction information and the movement tendency of the first target, the processor 152 may control the at least two sound generators to emit an image shift alert tone. The image shift direction of the alert tone corresponds to the first movement tendency.

[0279] As another example, processor 152 may further control the sound image shift speed of the alert tone.

[0280] In another example, the prediction unit described above may be the computing platform shown in Figure 1, or a processing circuit, processor, or controller on the computing platform. For example, the prediction unit is a processor 15n on the computing platform. The processor 15n may determine the status of a first target based on sensor data collected by sensors outside the carrier's cockpit, and based on the status of the first target, predict the movement trend of the first target relative to the carrier over a future time period.

[0281] The functions implemented by the detection unit 1610 and the functions implemented by the control unit 1620 may be implemented by different processors or by the same processor. This is not limited to this embodiment of the present application.

[0282] It should be understood that the division of units in the aforementioned device is merely a logical functional division. In actual implementation, all or some of these units may be integrated into a single physical entity or physically separated. In addition, units within a device may be implemented in the form of software invoked by a processor. For example, the device includes a processor, the processor is connected to memory, the memory stores instructions, and the processor invokes the instructions stored in memory to perform one of the aforementioned methods or to perform the functions of the units within the device. The processor is, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory is either in-device memory or external memory. Alternatively, units within a device may be implemented in the form of hardware circuits, and some or all of the functions of those units may be implemented by designing hardware circuits. Hardware circuits may be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and some or all of the functions of the aforementioned units are implemented by designing the logical relationships between the elements in the circuit. As another example, in another implementation, the hardware circuit may be implemented by using a PLD. An FPGA is used as an example. The hardware circuit may include a large number of logic gate circuits, and the connections between the logic gate circuits are configured by using configuration files to implement some or all of the functions of the aforementioned units. All units of the aforementioned device may be implemented in the form of software invoked by the processor, or all units may be implemented in the form of hardware circuits, or some units may be implemented in the form of software invoked by the processor and the rest may be implemented in the form of hardware circuits.

[0283] In this embodiment of the present application, the processor is a circuit having signal processing capabilities. In one implementation, the processor may be a circuit having instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor may implement specific functions based on the logic relationships of hardware circuits. The logic relationships of hardware circuits may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process by which the processor loads a configuration document and performs the hardware circuit configuration may be understood as the process by which the processor loads instructions and performs the functions of some or all of the aforementioned units. In addition, the processor may alternatively be a hardware circuit designed for artificial intelligence, and may be understood as an ASIC, such as an NPU, TPU, or DPU.

[0284] Each unit in the aforementioned apparatus may be one or more processors (or processing circuits) configured to carry out the method described above, such as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, or FPGA, or a combination of at least two of these processor forms.

[0285] In addition, all or some of the units of the device may be integrated or implemented independently. In one implementation, these units are integrated together and implemented in the form of a System of Chips (SoC). The SoC may include at least one processor configured to implement one of the methods described above or to implement the functions of the units in the device. The type of the at least one processor may be different and include, for example, a CPU and an FPGA, a CPU and an artificial intelligence processor, or a CPU and a GPU.

[0286] Certain embodiments of the present application further provide an apparatus. The apparatus includes a processing unit and a storage unit. The storage unit is configured to store instructions, and the processing unit executes the instructions stored in the storage unit, whereby the apparatus executes the method or steps executed in the foregoing embodiments.

[0287] Optionally, when the apparatus is located in a carrier, the processing unit may be the processors 151 to 15n shown in FIG. 1.

[0288] FIG. 17 is a block diagram of a control system 1700 according to certain embodiments of the present application. As shown in FIG. 17, the control system 1700 includes at least two sound generating devices and a computing platform. The computing platform may include the foregoing control device 1600.

[0289] Optionally, the control system 1700 further includes one or more sensors.

[0290] Certain embodiments of the present application further provide a carrier. The carrier may include the control device 1600 or the control system 1700.

[0291] Optionally, the carrier may be a vehicle.

[0292] Certain embodiments of the present application further provide a computer program product. The computer program product includes computer program code, and when the computer program code is executed on a computer, the computer can execute the method.

[0293] Certain embodiments of the present application further provide a computer-readable medium. The computer-readable medium stores program code, and when the computer program code is executed on a computer, the computer can execute the method.

[0294] In the implementation process, the steps in the aforementioned method may be completed by using integrated logic circuits of hardware within the processor or by using instructions in the form of software. The communication methods disclosed with reference to embodiments of the present application may be performed directly by a hardware processor or by using a combination of hardware and software modules within the processor. The software modules may be located in mature storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The storage medium resides in memory, and the processor reads information from memory and, in combination with the processor's hardware, completes the steps in the aforementioned method. To avoid repetition, further details are not described here.

[0295] In this embodiment of the present application, it should be understood that the memory includes read-only memory and random-access memory, and is capable of providing instructions and data to the processor.

[0296] It should be understood that the sequence numbers of the processes described above do not imply execution sequences in the various embodiments of the present application. The execution sequences of the processes should be determined according to the function and internal logic of the processes and should not be construed as any limitation to the implementation processes of the embodiments of the present application.

[0297] A person skilled in the art will recognize, in combination with the examples described in the embodiments disclosed herein, that units and algorithmic steps may be implemented by electronic hardware or by a combination of computer software and electronic hardware. Whether the functions are performed by hardware or by software depends on the specific application and design constraints of the technical solution. A person skilled in the art may use different methods to implement the described functions for each specific application, but such implementations should not be considered to be beyond the scope of the Application.

[0298] For the sake of brevity, it will be readily apparent to those skilled in the art that the detailed operating processes of the aforementioned systems, apparatus, and units are described by referring to the corresponding processes in the method embodiments described above. Further details are not described herein.

[0299] In some embodiments provided herein, it should be understood that the disclosed systems, apparatus, and methods may be implemented in other ways. For example, the described apparatus embodiments are merely examples. For example, the division into units is merely a logical functional division, and other divisions may be used in actual implementations. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the mutual coupling, direct coupling, or communication connection shown or described may be implemented by using some interfaces. Indirect coupling or communication connection between apparatus or units may be implemented electronically, mechanically, or in other forms.

[0300] Units described as separate parts may or may not be physically separate, and parts shown as units may or may not be physical units, may be located in one location, or may be distributed across multiple network units. Some or all of those units may be selected based on the actual requirements to achieve the objectives of the solution of the embodiment.

[0301] In addition, the functional units in the embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically independently, or two or more units may be integrated into a single unit.

[0302] When a function is implemented in the form of a software function unit and sold or used as an independent product, the function may be stored on a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, may be implemented in the form of a software product, with a portion contributing to the prior art or a portion of the technical solution. A computer software product is stored on a storage medium and includes several instructions for instructing a computer device (which may be a personal computer, server, network device, etc.) to perform all or part of the steps of the method described in embodiments of the present application. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash drive, removable hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0303] The foregoing description is merely an individual implementation of the present application and is not intended to limit the scope of protection of the present application. Any modifications or substitutions that are readily conceivable by a person skilled in the art within the technical scope disclosed herein shall fall within the scope of protection of the present application. Accordingly, the scope of protection of the present application shall be subject to the scope of protection of the claims.

Claims

1. A control method: Steps include detecting that a first target is within the alarm range of a carrier, wherein the carrier includes a plurality of sound generators; A step of controlling at least two of the plurality of sound generating devices to generate an alert tone, wherein the sound image shift direction of the alert tone corresponds to a first motion trend, and the first motion trend includes the relative motion trend between the carrier and the first target. method.

2. The method in question is: The further step includes controlling the sound image shift speed of the alert tone, The method according to claim 1.

3. Controlling the sound image shift speed of the aforementioned alert tone is: This includes controlling the sound image shift speed of the alert tone based on information between the carrier and the first target. The method according to claim 2.

4. The method according to claim 3, wherein the information between the carrier and the first target includes at least one of the first motion tendency, the alarm level, the distance between the carrier and the first target, and the time to collision (TTC) between the carrier and the first target.

5. The method in question is: The process further includes determining, based on the location of the prompting user, which of the at least two sound generators is located at the end of the sound image shift direction. The method according to any one of claims 1 to 4.

6. The method in question is: The step further includes determining which of the at least two sound generators is located at the beginning of the sound image shift direction, based on the orientation of the first target relative to the carrier when the first target enters the alarm range. The method according to any one of claims 1 to 5.

7. The method in question is: The process further includes the step of predicting the first movement trend based on the status of the first target, Controlling at least two of the aforementioned plurality of sound generating devices to generate an alert tone is: The method includes controlling at least two of the plurality of sound generators to generate the alert tone based on a predicted first movement trend, The method according to any one of claims 1 to 6.

8. If the predicted first motion trend differs from the actual relative motion trend between the first target and the carrier, the further includes controlling at least two of the plurality of sound generators to emit an alert tone corresponding to the actual relative motion trend in the sound image shift direction. The method according to claim 7.

9. The method in question is: A step of determining the first motion trend based on the first data collected by the sensors of the carrier, or The step of obtaining second data transmitted by the cloud server and determining the first movement trend based on the second data. The method according to any one of claims 1 to 6, further comprising:

10. The step of determining the first movement trend based on the first data collected by the carrier's sensors is: Based on the first data, the orientation of the first target at multiple points in time is determined; This includes determining the first movement tendency based on the orientation of the first target at the aforementioned multiple points in time, The method according to claim 9.

11. The carrier includes a mapping relationship between motion tendencies and sound generators, and the method is: The process further includes determining the at least two sound generating devices based on the mapping relationship and the first movement trend, The method according to any one of claims 1 to 10.

12. The method in question is: A step of controlling the illumination direction of ambient lighting, wherein the illumination direction of the ambient lighting corresponds to the first motion tendency, and the carrier includes the ambient lighting; and / or A step of controlling the direction of vibration of a handle, wherein the direction of vibration corresponds to the first tendency of movement, and the carrier includes the handle; and / or A step of controlling a display device to display prompt information, wherein the prompt information indicates the first movement trend, and the carrier includes the display device, The method according to any one of claims 1 to 11, further comprising:

13. The step of detecting that the first target is within the carrier's alarm range is: The method includes detecting that the first target is within the carrier's alarm range when the distance between the carrier and the first target is less than or equal to a preset distance, and / or the TTC between the carrier and the first target is less than or equal to a preset duration. The method according to any one of claims 1 to 12.

14. The step of controlling at least two of the aforementioned plurality of sound generating devices to generate an alert tone is: The steps include controlling the intensity of sound generated by one of the at least two sound generating devices, and / or controlling the delay of sound generated by those at least two sound generating devices. The method according to any one of claims 1 to 13.

15. The method according to any one of claims 1 to 14, wherein the plurality of sound generating devices are located inside the cockpit of the carrier.

16. It is a control device: A detection unit configured to detect that a first target is within the alarm range of a carrier, wherein the carrier includes a plurality of sound generators; A control unit configured to generate an alert tone by controlling at least two of the plurality of sound generating devices, wherein the sound image shift direction of the alert tone corresponds to a first motion tendency, and the first motion tendency includes the relative motion tendency between the carrier and the first target, and A device having.

17. The apparatus according to claim 16, wherein the control unit is further configured to control the sound image shift speed of the alert tone.

18. The aforementioned control unit is: Based on information between the carrier and the first target, the system is configured to control the sound image shift speed of the alert tone. The apparatus according to claim 17.

19. The apparatus according to claim 18, wherein the information between the carrier and the first target includes at least one of the first motion tendency, the alarm level, the distance between the carrier and the first target, and the time to collision (TTC) between the carrier and the first target.

20. The device in question is: The system further comprises a first determination unit configured to determine, based on the location of the prompting user, which of the at least two sound generating devices is located at the end of the sound image shift direction. The apparatus according to any one of claims 16 to 19.

21. The device in question is: The system further comprises a second determination unit configured to determine which of the at least two sound generators is located at the beginning of the sound image shift direction, based on the orientation of the first target relative to the carrier when the first target enters the alarm range. The apparatus according to any one of claims 16 to 20.

22. The device in question is: The system further comprises a prediction unit configured to predict the first movement trend based on the status of the first target, The control unit is configured to control at least two of the plurality of sound generators to generate the alert tone based on a predicted first movement trend. The apparatus according to any one of claims 16 to 21.

23. The aforementioned control unit is: If the predicted first motion trend differs from the actual relative motion trend between the first target and the carrier, the system is further configured to control at least two of the plurality of sound generators to generate an alert tone in which the sound image shift direction corresponds to the actual relative motion trend. The apparatus according to claim 22.

24. The device in question is: A third decision unit configured to determine the first motion trend based on first data collected by the carrier's sensors; or, A third decision unit configured to acquire second data transmitted by a cloud server and to determine the first motion trend based on the second data. The apparatus according to any one of claims 16 to 21, further comprising the above.

25. The third decision unit is: Based on the first data, the orientation of the first target at multiple points in time is determined; The system is configured to determine the first movement tendency based on the orientation of the first target at the aforementioned multiple points in time. The apparatus according to claim 24.

26. The carrier includes a mapping relationship between motion tendencies and sound generators, and the method is: The further includes determining the at least two sound generating devices based on the mapping relationship and the first movement tendency, The apparatus according to any one of claims 16 to 25.

27. The aforementioned control unit is: Controlling the illumination direction of ambient lighting, wherein the illumination direction of the ambient lighting corresponds to the first motion tendency, and the carrier includes the ambient lighting, and / or Controlling the direction of vibration of the handle, wherein the direction of vibration corresponds to the first tendency of movement, and the carrier includes the handle, and / or Controlling a display device to display prompt information, wherein the prompt information indicates the first movement trend, and the carrier includes the display device. The apparatus according to any one of claims 16 to 26, further configured to perform the following:

28. The aforementioned detection unit is: The system is configured to detect that the first target is within the alarm range of the carrier when the distance between the carrier and the first target is less than or equal to a preset distance, and / or when the TTC between the carrier and the first target is less than or equal to a preset duration. The apparatus according to any one of claims 16 to 27.

29. The aforementioned control unit is: The system is configured to control the intensity of the sound generated by one of the at least two sound generating devices, and / or to control the delay of the sound generated by those at least two sound generating devices. The apparatus according to any one of claims 16 to 28.

30. The apparatus according to any one of claims 16 to 29, wherein the plurality of sound generating devices are located inside the cockpit of the carrier.

31. control device Memory configured to store computer programs; A processor configured to execute the computer program stored in the memory so that the device can perform the method described in any one of claims 1 to 15. A device having.

32. A control system comprising at least two voice generating devices and a computing platform, wherein the computing platform comprises the device described in any one of claims 16 to 31.

33. A carrier having a control device according to any one of claims 16 to 31, or a control system according to claim 32.

34. The carrier according to claim 33, wherein the carrier is a vehicle.

35. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a computer, the method according to any one of claims 1 to 15 is performed.

36. A chip having a processor and a data interface, wherein the processor reads instructions stored in memory through the data interface and performs the method according to any one of claims 1 to 15.

Images