Vehicle-mounted audio playback method and system, control device, and storage medium

Abstract

The present application provides a vehicle-mounted audio playback method and system, a control device, and a storage medium. The vehicle-mounted audio playback method comprises: controlling a first target vehicle, which is in an activated target mode, to perform networking with at least one second target vehicle; obtaining attitude information of multiple target vehicles, the attitude information of the at least one second target vehicle among the multiple target vehicles being obtained by means of positioning positioning anchor points of the at least one second target vehicle, each target vehicle being provided with multiple positioning anchor points and multiple vehicle-mounted loudspeakers for playing back audio data to the outside of the vehicle; on the basis of the attitude information of the multiple target vehicles, determining the attitude of each target vehicle among the multiple target vehicles in the target mode, and while each target vehicle is in the attitude of the target mode, controlling a target vehicle-mounted loudspeaker of each target vehicle to play back audio data.

Description

In-vehicle audio playback method and system, control device, and storage medium Technical Field

[0001] The present application relates to the field of vehicle-mounted audio, and in particular to a vehicle-mounted audio playback method and system, a control device, and a storage medium. Background Art

[0002] As cars become increasingly commonplace in modern life, people's expectations for them are no longer limited to a single means of transportation. With technological advancements, the space within a car is no longer confined to the interior; it is expanding and extending beyond the vehicle. For example, more and more families are choosing to go on road trips on weekends. When their cars are parked on lawns, users often leave and walk freely on the lawn next to them. At these times, beautiful music can enhance their free time.

[0003] Typically, car speakers are installed inside the car to provide high-quality hearing effects for users inside the car. However, in the above-mentioned car usage scenario, due to the openness of outdoor areas, the car speakers inside the car cannot provide high-quality hearing effects for users outside the car.

[0004] In view of this, we hope to use multiple vehicles to build a three-dimensional surround sound field outside the vehicle to provide users with good auditory effects, thereby expanding the application scenarios of the vehicle and improving the user experience.

[0005] Summary of the Invention

[0006] One purpose of the present application is to provide an in-vehicle audio playback method, which has the advantage that after multiple target vehicles are networked, the position information of the multiple target vehicles is obtained by locating the positioning anchor points set on the target vehicles, and the position of each target vehicle in the target mode is determined based on the position information. Then, when each target vehicle is in the position in the target mode, the audio data is played through the target vehicle speakers on the multiple target vehicles to achieve the construction of an external stereo field, thereby providing users with an excellent stereo sound field, making it convenient for users to listen to audio based on the vehicle in an open field, and also maximizing the user's auditory effect, further expanding the vehicle usage scenario, and greatly improving the user experience.

[0007] Another object of the present application is to provide an in-vehicle audio playback method, which has the advantage of transmitting a first networking request message to at least one vehicle to request the at least one vehicle to network with a first target vehicle. Then, based on the first networking response message transmitted by the at least one vehicle, at least one second target vehicle is determined from the at least one vehicle and networked with the at least one second target vehicle, thereby achieving active networking between the target vehicles.

[0008] Another object of the present application is to provide an in-vehicle audio playback method, the advantage of which is that the position information of at least one second target vehicle is obtained through positioning between the positioning anchor points of the second target vehicle and / or through positioning between the positioning anchor points of the first target vehicle and the positioning anchor points of the second target vehicle, and the position information of multiple target vehicles is further obtained, thereby realizing spatial position perception between target vehicles.

[0009] Another object of the present application is to provide an in-vehicle audio playback method, the advantage of which is that by determining the target position of each target vehicle in the target sound field area, an ideal outdoor stereo field is constructed in the target sound field area, thereby providing users with excellent outdoor auditory effects and improving user experience.

[0010] Another object of the present application is to provide an in-vehicle audio playback method, the advantage of which is that by distributing respective target posture information to a second target vehicle, each target vehicle is controlled to move to the target posture according to the target posture information, so that multiple target vehicles can build an ideal outdoor stereo field in the target sound field area, providing users with excellent outdoor auditory effects and improving user experience.

[0011] Another object of the present application is to provide an in-vehicle audio playback method, the advantage of which is that by using different display parameters in a visual interface to distinguish abnormal vehicles from other target vehicles and output them, users can identify abnormal vehicles and guide users to move the target vehicle to the target position, thereby improving the efficiency of constructing an outdoor stereo field.

[0012] Another object of the present application is to provide a method for in-vehicle audio playback, the advantage of which is that by using the target in-vehicle speakers of different target vehicles to play the corresponding parts of the audio data, the channel information in the external stereo field of the vehicle is enriched, thereby improving the auditory effect of the external stereo field.

[0013] Another object of the present application is to provide an in-vehicle audio playback method, the advantage of which is that by sending a noise reduction instruction to each second target vehicle, each second target vehicle is instructed to perform zoned noise reduction, thereby isolating the noise from entering the interior of the external stereo field outside the vehicle, and achieving the effect of suppressing the further diffusion of the sound in the external stereo field outside the vehicle, thereby helping to reduce external interference of the external stereo field.

[0014] The technical solution of this application is achieved as follows:

[0015] In a first aspect, the present application provides a method for in-vehicle audio playback, comprising: controlling a first target vehicle to form a network with at least one second target vehicle, the first target vehicle having activated a target mode; obtaining position information of multiple target vehicles, the multiple target vehicles including a first target vehicle and at least one second target vehicle, the position information being used to indicate the position and orientation of each of the multiple target vehicles, the position information of at least one second target vehicle being obtained by locating a positioning anchor point of at least one second target vehicle; each target vehicle has multiple positioning anchor points and multiple in-vehicle speakers for playing audio data outside the vehicle; based on the position information of the multiple target vehicles, determining the target position information of the multiple target vehicles, the target position information being used to indicate the position of each target vehicle in the target mode; when each target vehicle is in the position in the target mode, controlling the target in-vehicle speaker of each target vehicle to play audio data.

[0016] In a second aspect, the present application provides a method for in-vehicle audio playback, which includes: networking with multiple target vehicles, each of the multiple target vehicles having multiple positioning anchor points and multiple in-vehicle speakers that play audio data outside the vehicle; obtaining the posture information of the multiple target vehicles, the posture information being used to indicate the position and orientation of each target vehicle; the posture information of each target vehicle is obtained by locating the positioning anchor points of the multiple target vehicles; based on the posture information of the multiple target vehicles, determining the target posture information of the multiple target vehicles, the target posture information being used to indicate the posture of each target vehicle in target mode; and when each target vehicle is in the posture in target mode, controlling the target in-vehicle speaker of each target vehicle to play audio data.

[0017] In a third aspect, the present application provides an in-vehicle audio playback system, which includes: a control device respectively arranged on each of a plurality of target vehicles, a plurality of in-vehicle speakers respectively arranged on the plurality of target vehicles to play audio data outside the vehicle, and a plurality of positioning anchor points respectively arranged on the plurality of target vehicles, wherein the plurality of target vehicles include a first target vehicle and at least one second target vehicle; a connection is established between the control device arranged on each target vehicle and the plurality of in-vehicle speakers arranged on each target vehicle, and a connection is established between the control device arranged on each target vehicle and the plurality of positioning anchor points arranged on each target vehicle; wherein the control device arranged on the first target vehicle is configured to: control A control device set on a first target vehicle is networked with a control device set on at least one second target vehicle, and the target mode has been activated for the first target vehicle; posture information of multiple target vehicles is obtained, and the posture information is used to indicate the position and orientation of each target vehicle in the multiple target vehicles, and the posture information of at least one second target vehicle is obtained by locating multiple positioning anchor points set on the at least one second target vehicle; based on the posture information of the multiple target vehicles, target posture information of the multiple target vehicles is determined, and the target posture information is used to indicate the posture of each target vehicle in the target mode; when each target vehicle is in the posture in the target mode, the target vehicle-mounted speaker of each target vehicle is controlled to play audio data.

[0018] In a fourth aspect, the present application provides an in-vehicle audio playback system, which includes: a first control device, a second control device respectively arranged on each of a plurality of target vehicles, a plurality of in-vehicle speakers respectively arranged on the plurality of target vehicles for playing audio data outside the vehicle, and a plurality of positioning anchor points respectively arranged on the plurality of target vehicles; a connection is established between the second control device arranged on each target vehicle and the plurality of in-vehicle speakers arranged on each target vehicle, and a connection is established between the second control device arranged on each target vehicle and the plurality of positioning anchor points arranged on each target vehicle; wherein the first control device is configured to: network with the second control device arranged on the plurality of target vehicles; obtain the posture information of the plurality of target vehicles, the posture information being used to indicate the position and orientation of each target vehicle; the posture information of each target vehicle is obtained by locating the plurality of positioning anchor points arranged on the plurality of target vehicles; based on the posture information of the plurality of target vehicles, determine the target posture information of the plurality of target vehicles, the target posture information being used to indicate the posture of each target vehicle in the target mode; when each target vehicle is in the posture in the target mode, control the target in-vehicle speaker of each target vehicle to play audio data.

[0019] In a fifth aspect, the present application provides a control device, such as the control device described in the third aspect or the first control device described in the fourth aspect. The control device includes: at least one processor; and a memory coupled to the at least one processor, the memory containing instructions stored therein, which, when executed by the at least one processor, causes the control device to perform some or all of the steps of the above method.

[0020] In a sixth aspect, the present application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, some or all of the steps in the above method are executed.

[0021] In a seventh aspect, the present application provides a computer program comprising computer-readable program instructions. When the computer-readable program instructions are executed in a computer device, a processor in the computer device executes some or all of the steps in the above method.

[0022] In an eighth aspect, the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, can implement some or all of the steps in the above method.

[0023] It should be understood that the foregoing general description and the following detailed description are merely exemplary and explanatory and are not to be construed as restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG1A is a schematic diagram of an optional structure of an in-vehicle audio playback system according to an embodiment of the present application;

[0025] FIG1B is a schematic diagram of another optional structure of the in-vehicle audio playback system according to an embodiment of the present application;

[0026] FIG2A is a schematic diagram of an optional structure of a target vehicle shown in an embodiment of the present application;

[0027] FIG2B is another optional structural diagram of a target vehicle shown in an embodiment of the present application;

[0028] FIG3 is a schematic diagram of an optional implementation flow of a method for in-vehicle audio playback according to an embodiment of the present application;

[0029] FIG4 is an optional schematic diagram of a vehicle in different theater modes according to an embodiment of the present application;

[0030] 5 to 16 are schematic diagrams of an optional implementation flow of the in-vehicle audio playback method according to an embodiment of the present application;

[0031] FIG17 is a schematic diagram of an optional hardware entity of a control device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0033] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or sequence of "first / second / third" may be interchanged where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0035] With economic development, especially the automotive industry, the number of cars in society is increasing. As people's living standards improve, using cars as a means of transportation has become widespread, and consumers are increasingly demanding higher specifications when purchasing a car. Furthermore, as cars become increasingly prevalent in modern life, people's expectations for cars are no longer limited to a single means of transportation. With technological advancements, the space within cars is constantly expanding, no longer confined to the interior but extending increasingly outside the vehicle, which is subverting our understanding of cars.

[0036] Take car speakers as an example. They are typically installed inside the vehicle and used to play audio data for users inside the vehicle. However, with the increasing popularity of vehicles and the diversification of vehicle usage scenarios, there is a desire to expand the application scenarios and functions of car speakers. For example, more and more families choose to go on road trips on weekends. When the vehicle is parked on an outdoor lawn, users inside the vehicle will leave the vehicle and move around freely on the lawn next to the vehicle. At this time, beautiful music will enhance the user's free activities. However, due to the open space of outdoor venues, relying solely on the car speakers or the built-in speakers of mobile devices carried by users (such as smartphones, tablets, wearable devices, etc.) cannot provide high-quality listening effects.

[0037] In view of this, we hope to use multiple vehicles to build a three-dimensional surround sound field outside the vehicle, which can accompany users on travel and facilitate users' use in open areas, thereby expanding the application scenarios of vehicles and improving user experience.

[0038] To this end, the embodiments of the present application provide a method and system for in-vehicle audio playback, a control device, and a storage medium to construct a stereo surround sound field outside the vehicle, provide users with high-quality auditory effects, and enhance user experience.

[0039] In an embodiment of the present application, the above-described in-vehicle audio playback method can be applied to an in-vehicle audio playback system. This in-vehicle audio playback system is used to enable users to create a stereo surround sound field outside the vehicle using the in-vehicle speakers, thereby listening to audio outside the vehicle. Users can use the in-vehicle speakers of the vehicle in the embodiment of the present application to play audio outdoors, such as in lawns, squares, camping sites, etc., or indoors, such as in underground parking lots, empty factories, workshops, indoor sports fields, etc.

[0040] First, please refer to FIG. 1A and FIG. 1B to understand the in-vehicle audio playback system in the embodiment of the present application.

[0041] In some embodiments, as shown in FIG1A , which is a schematic diagram of an optional structure of an in-vehicle audio playback system according to an embodiment of the present application, the in-vehicle audio playback system 100 may include a control device 111 disposed on a plurality of vehicles 110 , a plurality of in-vehicle speakers 112 disposed on the plurality of vehicles 110 to play audio data outside the vehicle, and a plurality of positioning anchor points 113 disposed on the plurality of vehicles 110 .

[0042] It should be noted that, in the embodiment of the present application, multiple vehicles 110 are used to construct a stereo surround sound field outside the vehicle, and the “vehicle 110” may be described as a “target vehicle 110”.

[0043] In some embodiments, the plurality of target vehicles 110 may include a first target vehicle (eg, designated as target vehicle 110 - 1 ) and at least one second target vehicle (eg, designated as target vehicle 110 - 2 ).

[0044] In some embodiments, each target vehicle 110 may be provided with a control device 111, a plurality of vehicle-mounted speakers 112, and a plurality of positioning anchor points 113. The control device 111 provided on each target vehicle 110 is connected to the plurality of vehicle-mounted speakers 112 provided on each target vehicle 110, and the control device 111 provided on each target vehicle 110 is connected to the plurality of positioning anchor points 113 provided on each target vehicle 110. For example, the above-mentioned connections include, but are not limited to, Bluetooth connections, Wi-Fi connections, bus connections, near link connections, and ultra wide band (UWB) connections.

[0045] In some embodiments, the terms "connect", "electrically connected", "electrically connected" and the like can be used interchangeably.

[0046] In some embodiments, when a communication protocol is used to implement electrical connection, "connection", "electrical connection", and "electrical connection" can be replaced with "communication connection".

[0047] In some embodiments, a communication connection can be established between the control device 111 provided on the target vehicle 110 - 1 and the control device 111 provided on the target vehicle 110 - 2 . For example, the communication connection includes, but is not limited to, a Bluetooth connection, a Wi-Fi connection, a near link connection, or an ultra wide band (UWB) connection.

[0048] In some embodiments, a communication connection can be established between the positioning anchor point 113 set on the target vehicle 110-1 and the positioning anchor point 113 set on the target vehicle 110-2, and between the positioning anchor points 113 set on the target vehicle 110-2. For example, the communication connection includes but is not limited to a near link connection and an ultra wide band (UWB) connection.

[0049] In some embodiments, as shown in FIG1B , which is another optional structural diagram of an in-vehicle audio playback system according to an embodiment of the present application, the in-vehicle audio playback system 100 may include a first control device 111-1, second control devices 111-2 disposed on multiple target vehicles 110, multiple in-vehicle speakers 112 disposed on the multiple target vehicles 110 for playing audio data outside the vehicle, and multiple positioning anchor points 113 disposed on the multiple target vehicles 110.

[0050] In some embodiments, a second control device 111-2 provided on each target vehicle 110 is connected to a plurality of vehicle-mounted speakers 112 provided on each target vehicle 110, and a second control device 111-2 provided on each target vehicle 110 is connected to a plurality of positioning anchor points 113 provided on each target vehicle 110. For example, the above-mentioned connections include but are not limited to Bluetooth connections, Wi-Fi connections, bus connections, StarFlash connections, and UWB connections.

[0051] In some embodiments, a connection may be established between the first control device 111 - 1 and a second control device 111 - 2 provided on the target vehicle 110 .

[0052] In some embodiments, the in-vehicle audio playback system 100 may further include a plurality of positioning anchor points 113 provided on the first control device 111 - 1 . The plurality of positioning anchor points 113 provided on the first control device 111 - 1 may be used to locate the positioning anchor points 113 provided on the plurality of target vehicles 110 .

[0053] In some embodiments, in the in-vehicle audio playback system 100 shown in FIG. 1A and FIG. 1B , the target vehicle 110 may be provided with an external sound system to support the playback of audio data for external users.

[0054] In some embodiments, the above-mentioned exterior sound system may include a panel sound module. In one embodiment, the panel sound module may be implemented using a piezoelectric ceramic speaker. Of course, other implementations of the panel sound module are possible and are not specifically limited in this embodiment of the present application. In one embodiment, the piezoelectric ceramic speaker may include an electrode sheet configured to receive an excitation voltage from a drive circuit. The electrode sheet may be a pair of positive and negative electrode sheets. The piezoelectric ceramic speaker may also include a piezoelectric ceramic configured to expand or contract laterally or longitudinally in response to the excitation voltage received via the electrode sheet. The excitation voltage may be a high-frequency square wave with alternating polarity, so that the piezoelectric ceramic undergoes mechanical deformation, i.e., expansion or contraction, in response to the square wave. Furthermore, the piezoelectric ceramic may be transversely or longitudinally polarized, thereby producing transverse or longitudinal mechanical deformation in response to the excitation voltage. The piezoelectric ceramic speaker may also include a vibration plate that is bonded to the piezoelectric ceramic and vibrates as the piezoelectric ceramic expands or contracts. In this manner, the piezoelectric ceramic speaker converts the input excitation voltage into vibration, thereby emitting sound. The vibration plate can be attached to components such as door panels to drive them to vibrate. The larger the area of ​​the component such as the door panel that is driven to vibrate by the piezoelectric ceramic speaker, the stronger the low-frequency response of the vibration and the weaker the high-frequency response. The piezoelectric ceramic speaker can also include a vibration gasket, which is located between the vibration plate and the component such as the door panel. The vibration gasket can be used to adjust the frequency response of the vibration generated by the vibration plate. For example, if the low-frequency response of the vibration needs to be enhanced, the area of ​​the vibration gasket can be increased; if the low-frequency response of the vibration needs to be weakened, the area of ​​the vibration gasket can be reduced. The sound is emitted outward through the panel sound module, making the sound field of the vehicle wider.

[0055] In some embodiments, the panel sound module can be provided on at least one of a door panel, a hood, a trunk lid, a roof cover, a chassis, a rearview mirror, a front bumper, and a rear bumper of the vehicle.

[0056] In some embodiments, the vehicle-mounted speaker 112 may be the aforementioned panel sound module, configured to play audio data outside the vehicle. Of course, the vehicle-mounted speaker 112 may also be a speaker externally mounted on the vehicle body in other forms, such as a speaker mounted on the chassis of the target vehicle and exposed to the vehicle body, and this embodiment of the present application does not impose any specific limitations thereon.

[0057] In some embodiments, a plurality of vehicle-mounted speakers 112 may be provided on the front side (such as the hood, rearview mirror, front bumper, etc.), the rear side (such as the trunk lid, rear bumper, etc.), the left side (such as the front left door panel, the rear left door panel, etc.), and the right side (such as the front right door panel, the rear right door panel, etc.) of each target vehicle 110. Exemplarily, as shown in FIG2A , FIG2A is an optional structural schematic diagram of the target vehicle shown in an embodiment of the present application. The vehicle-mounted speakers 112 are provided on the hood, rearview mirror, front bumper, trunk lid, rear bumper, front left door panel, rear left door panel, front right door panel, and rear right door panel of the target vehicle 110.

[0058] In some embodiments, the target vehicle 110 may also have a digital key positioning function. By utilizing the vehicle's own digital key positioning capabilities, such as UWB positioning and star flash positioning, vehicle-to-vehicle positioning and multi-vehicle positioning can be achieved.

[0059] In some embodiments, the digital key positioning function can be understood as using the vehicle's digital key module, such as a UWB digital key module or a Starlight digital key module, as the vehicle's positioning anchor point. The vehicle's position and orientation are obtained by positioning the anchor point.

[0060] For example, as shown in FIG2B , FIG2B is another optional structural schematic diagram of the target vehicle shown in an embodiment of the present application. Four positioning anchor points 113 are installed at the corners of the outer bumper of the target vehicle 110-A, namely anchor point 1, anchor point 2, anchor point 3 and anchor point 4. Four positioning anchor points 113 are installed at the corners of the outer bumper of the target vehicle 110-B, namely anchor point 1, anchor point 2, anchor point 3 and anchor point 4. Here, the target vehicle 110-A can be one of the multiple target vehicles 110 mentioned above, and the target vehicle 110-B can be another vehicle among the multiple target vehicles 110 mentioned above.

[0061] First, anchor point 4 of target vehicle 110-A sends a positioning signal. After anchor point 1 of target vehicle 110-B receives it, it immediately sends a positioning response signal. After anchor point 4 of target vehicle 110-A receives the positioning response signal, control device 111 installed in target vehicle 110-A uses time of flight (TOF) to measure the distance between anchor point 4 of target vehicle 110-A and anchor point 1 of target vehicle 110-B. This distance is recorded as distance A'. Then, anchor point 3 of target vehicle 110-A sends a positioning signal again. After anchor point 1 of target vehicle 110-B receives it, it immediately sends a positioning response signal. After anchor point 3 of target vehicle 110-A receives the positioning response signal, control device 111 installed in target vehicle 110-A uses TOF to measure the distance. This distance is recorded as distance B'. The two circles with the distance A′ and the distance B′ as radii have two intersection points, one of which is the anchor point 1 of the target vehicle 110 -B, and the other is the virtual point of the anchor point 1 of the target vehicle 110 -B.

[0062] In order to remove the virtual point, the anchor point 2 of the target vehicle 110-B can also be located. First, the anchor point 4 of the target vehicle 110-A uses the above method to measure the distance to the anchor point 2 of the target vehicle 110-B, and the distance is recorded as C'. Then, the anchor point 3 of the target vehicle 110-A uses the above method to measure the distance to the anchor point 2 of the target vehicle 110-B, and the distance is recorded as D'. Then, the intersection of the two circles with C' and D' as radii is the anchor point 2 of the target vehicle 110-B and the virtual point of the anchor point 2 of the target vehicle 110-B. Then, the virtual point of the anchor point 1 of the target vehicle 110-B and the virtual point of the anchor point 2 of the target vehicle 110-B are mirror images of the line connecting the anchor point 3 and the anchor point 4 of the target vehicle 110-A.

[0063] Similarly, anchor points 1 and 2 of target vehicle 110-A are used to locate anchor points 1 and 2 of target vehicle 110-B, respectively. Since external positioning anchor points are typically installed at the four corners of the vehicle's bumper, one or both of anchor points 1 and 2 of target vehicle 110-A will inevitably be obscured, preventing the target vehicle from receiving the positioning response signal from anchor points 1 and / or 2 of target vehicle 110-B, and thus preventing effective positioning. Therefore, the corresponding virtual points can be removed, and the position of target vehicle 110-B in the coordinate system of target vehicle 110-A can be located.

[0064] Furthermore, target vehicle 110-A can determine the orientation of target vehicle 110-B based on the distances between its own anchor points and the anchor points of target vehicle 110-B. For example, target vehicle 110-A can determine that distance A' is less than distance B', i.e., the distance between anchor point 4 of target vehicle 110-A and anchor point 1 of target vehicle 110-B is less than the distance between anchor point 3 of target vehicle 110-A and anchor point 1 of target vehicle 110-B. Thus, if target vehicle 110-A knows that its own anchor point 4 is located at the corner of the front bumper outside the vehicle, and because distance A' is less than distance B', target vehicle 110-A can determine that anchor point 1 of target vehicle 110-B is also located at the corner of the front bumper outside the vehicle, thereby determining the orientation of target vehicle 110-B.

[0065] In some embodiments, in the in-vehicle audio playback system 100 shown in FIG1A , a target vehicle 110-1 can utilize its own positioning anchor point 113 to locate the positioning anchor points 113 on target vehicles 110-2 using the aforementioned method, thereby achieving the positioning of each target vehicle 110-2. Target vehicle 110-1 can utilize the positioning anchor points 113 on at least one target vehicle 110-2 to locate the positioning anchor points 113 on other target vehicles 110-2 using the aforementioned method, thereby achieving the positioning of the target vehicles 110-2. Furthermore, based on the positioning of the target vehicles 110-2, each target vehicle 110-2 can be located, thereby determining the orientation and position of each target vehicle 110-2.

[0066] In some embodiments, in the in-vehicle audio playback system 100 shown in FIG1B , the first control device 111-1 can use its own positioning anchor point 113 to locate the positioning anchor point 113 on the target vehicle 110 using the above method, thereby achieving the positioning of each target vehicle 110. Alternatively, the first control device 111-1 can use the positioning anchor point 113 on at least one target vehicle 110-2 to locate the positioning anchor points 113 on other target vehicles 110-2 using the above method, thereby achieving the positioning between the target vehicles 110-2, and then based on the positioning between the target vehicles 110-2, achieving the positioning of each target vehicle 110-2, thereby determining the orientation and position of each target vehicle 110-2.

[0067] It should be noted that, through the positioning between the above-mentioned target vehicles 110, the target vehicle 110 can determine the direction and position of other target vehicles 110. In one embodiment, the direction of the target vehicle 110 can be the relative direction between the target vehicles 110 under the vehicle coordinate system, and the position of the target vehicle 110 can be the relative position between the target vehicles 110 under the vehicle coordinate system. In another embodiment, the direction of the target vehicle 110 can also be the direction of the target vehicle 110 under the basic coordinate system, and the position of the target vehicle 110 can be the position of the target vehicle 110 under the basic coordinate system. Here, the basic coordinate system can be such as a world coordinate system, a national basic coordinate system, etc. Of course, the basic coordinate system can also be other coordinate systems, and the embodiments of the present application are not specifically limited to this.

[0068] In some embodiments, the vehicle coordinate system may be converted into a basic coordinate system, thereby obtaining the orientation and position of the target vehicle 110 based on the relative orientation and relative position between the target vehicles 110 .

[0069] The following describes the in-vehicle audio playback method provided in the embodiment of the present application in combination with the exemplary application and implementation of the above application scenarios.

[0070] First, taking the in-vehicle audio playback system 100 shown in FIG1A as an example, the in-vehicle audio playback method provided by the embodiment of the present application is described.

[0071] In the embodiment of the present application, in the in-vehicle audio playback system 100 shown in FIG1A , the control device 111 provided on the target vehicle 110 - 1 can be understood as a master control device or a master anchor point. The control device 111 provided on at least one target vehicle 110 - 2 can be understood as a controlled device or a slave anchor point.

[0072] As shown in Figure 3, Figure 3 is a schematic diagram of an optional implementation flow of the in-vehicle audio playback method shown in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in Figure 1A above. The in-vehicle audio playback method can include steps S301 to S304.

[0073] In step S301 , the target vehicle 110 - 1 is controlled to form a network with at least one target vehicle 110 - 2 .

[0074] Here, target vehicle 110 - 1 has activated target mode.

[0075] It is understandable that when the user of the target vehicle 110-1 wants to build an outdoor stereo field with other vehicles to realize vehicle use scenarios such as outdoor theater, outdoor cinema, outdoor concert, outdoor meeting, outdoor speech, and fleet performance. At this time, the user can control the target vehicle 110-1 to activate a specific mode (i.e., target mode). Afterwards, the control device 111 of the target vehicle 110-1 (hereinafter referred to as the master device) controls the target vehicle 110-1 and the control device 111 of at least one target vehicle 110-2 (hereinafter referred to as the controlled device) to network to establish a connection between the master device and the controlled device.

[0076] In some embodiments, different numbers of vehicles can be used to construct an outdoor stereo field for different vehicle usage scenarios. For example, for vehicle usage scenarios that require high stereo auditory effects, such as outdoor theaters, outdoor cinemas, and outdoor concerts, more vehicles, such as 4 vehicles, 5 vehicles, 8 vehicles, etc., can be used to construct an outdoor stereo field. For vehicle usage scenarios that require lower stereo auditory effects, such as outdoor meetings and outdoor speeches, fewer vehicles, such as 2 vehicles and 3 vehicles, can be used to construct an outdoor stereo field. Of course, depending on different vehicle usage scenarios, the number of vehicles used to construct an outdoor stereo field can also be other situations. The above embodiments are only examples, and the embodiments of this application do not specifically limit this.

[0077] In the embodiment of the present application, "target mode" and "target theater mode" can be interchangeable.

[0078] In some embodiments, the target theater mode is one of a plurality of theater modes possessed by the target vehicle 110. The theater mode possessed by the target vehicle 110 refers to the working mode of the target vehicle 110 under the stereo field outside the vehicle. In one embodiment, due to the different number of vehicles constructing the stereo field outside the vehicle, the theater mode is also divided into multiple modes. Exemplarily, the theater mode may include: two-channel mode, three-channel mode, multi-channel mode, fleet mode, etc. Then, as shown in Figure 4, Figure 4 is an optional schematic diagram of vehicles in different theater modes shown in an embodiment of the present application. Figure 4 (a) corresponds to the two-channel mode, Figure 4 (b) corresponds to the three-channel mode, Figure 4 (c) corresponds to the multi-channel mode, Figure 4 (d) corresponds to the fleet mode, etc. Among them, the two-channel mode can be understood as a mode in which two vehicles construct an outdoor stereo field; the three-channel mode can be understood as a mode in which three vehicles construct an outdoor stereo field; the multi-channel mode can be understood as a mode in which four or more vehicles construct an outdoor stereo field; and the convoy mode is a mode in which multiple vehicles are lined up in a queue to construct an outdoor stereo field.

[0079] Accordingly, the number of target vehicles 110-2 networked with target vehicle 110-1 corresponds to the number of target vehicles 110 corresponding to the theater mode. For example, if the theater mode is a two-channel mode, the number of target vehicles 110-2 is 1, i.e., one target vehicle 110-2; if the theater mode is a three-channel mode, the number of target vehicles 110-2 is 2, i.e., two target vehicles 110-2; if the theater mode is a multi-channel mode, the number of target vehicles 110-2 is greater than or equal to 3; and if the theater mode is a convoy mode, the number of target vehicles 110-2 is greater than or equal to 1.

[0080] In some embodiments, prior to step S301, there may be no connection between the master device and the controlled device, i.e., the master device and the controlled device cannot communicate. Then, by executing step S301, networking between the master device and the controlled device is achieved, thereby establishing a connection between the master device and the controlled device. This connection can be recorded as a first-class communication connection. Exemplarily, the first-class communication connection can be a Bluetooth connection, a Wi-Fi connection, a StarFlash connection, a UWB connection, or the like.

[0081] In another embodiment, before step S301, a connection may exist between the master device and the controlled device. This connection may be recorded as a second-type communication connection. That is, a second-type communication connection is established between the master device and the controlled device, and the second-type communication connection is different from the first-type communication connection. Therefore, by executing step S301, networking between the master device and the controlled device is achieved, thereby establishing a first-type communication connection between the master device and the controlled device.

[0082] It should be noted that the second type of communication connection is a wireless connection different from the first type of communication connection. Exemplarily, the second type of communication connection may be a Bluetooth connection, a Wi-Fi connection, a StarFlash connection, a UWB connection, a cellular data connection, etc. Exemplarily, the first type of communication connection is a StarFlash connection, and the second type of communication connection may be a cellular data connection.

[0083] In step S302 , position information of multiple target vehicles 110 is obtained.

[0084] The posture information is used to indicate the position and orientation of each target vehicle 110 .

[0085] It can be understood that after the main control device controls the target vehicle 110-1 and completes the networking with at least one target vehicle 110-2, it can obtain the posture information of at least one target vehicle 110-2 by locating the positioning anchor point 113 of at least one target vehicle 110-2, and then combine it with the posture information of the target vehicle 110-1. In this way, the main control device can obtain the posture information of each target vehicle 110.

[0086] In some embodiments, the above-mentioned step of locating the positioning anchor point 113 of at least one target vehicle 110-2 can be achieved by positioning the positioning anchor point 113 of the target vehicle 110-1 against the positioning anchor point 113 of the target vehicle 110-2 and / or positioning the positioning anchor points 113 of the target vehicles 110-2 with each other.

[0087] In some embodiments, the step of locating the positioning anchor point 113 of at least one target vehicle 110-2 can be achieved by positioning between the positioning anchor point 113 of the target vehicle 110-1 and the positioning anchor point 113 of the target vehicle 110-2. In some embodiments, the step of locating the positioning anchor point 113 of at least one target vehicle 110-2 can be achieved by positioning between the positioning anchor points 113 of the target vehicle 110-2. In some embodiments, the step of locating the positioning anchor point 113 of at least one target vehicle 110-2 can be achieved by positioning between the positioning anchor points 113 of the target vehicle 110-1 and the positioning anchor points 113 of the target vehicle 110-2, and positioning between the positioning anchor points 113 of the target vehicle 110-2.

[0088] For example, in conjunction with (b) in FIG4 , the target vehicle 110-1 can locate two target vehicles 110-2 (such as target vehicle 110-2a and target vehicle 110-2b). In one embodiment, the target vehicle 110-1 can locate the target vehicle 110-2a and the target vehicle 110-2b respectively, so that the target vehicle 110-1 obtains the position information of the target vehicle 110-2a and the position information of the target vehicle 110-2b. In another embodiment, the target vehicle 110-2a and the target vehicle 110-2b can locate each other, thereby obtaining the position information of the target vehicle 110-2a and the position information of the target vehicle 110-2b. Target vehicle 110-2a can send the obtained position information of target vehicle 110-2b to target vehicle 110-1, and target vehicle 110-2b can send the obtained position information of target vehicle 110-2a to target vehicle 110-1, so that target vehicle 110-1 can obtain the position information of target vehicle 110-2a and the position information of target vehicle 110-2b. In another embodiment, target vehicle 110-1 can locate target vehicle 110-2a, and target vehicle 110-2a can locate target vehicle 110-2b, and then send the position information of target vehicle 110-2b to target vehicle 110-1, so that target vehicle 110-1 can obtain the position information of target vehicle 110-2a and the position information of target vehicle 110-2b.

[0089] It should be noted that, for the detailed description of the positioning between the positioning anchor points 113 of the target vehicle 110, please refer to the description of the steps of obtaining the position and orientation of the vehicle by positioning multiple anchor points of the target vehicle 110 as shown in FIG. 2B in the above embodiment. For the sake of brevity, it will not be repeated here.

[0090] In some embodiments, the position information of the target vehicle 110-1 can be a default setting. For example, in the coordinate system of the target vehicle 110-1, the coordinates (i.e., position) of the target vehicle 110-1 can be 0 or a preset value, and the head direction (i.e., orientation) of the target vehicle 110-1 is the positive direction. Based on this, after the main control device determines the relative position and relative orientation of the target vehicle 110-2 and the target 110-1 through the above positioning, it can determine the coordinates (i.e., position) and head direction (i.e., orientation) of each target vehicle 110-2 in the coordinate system of the target vehicle 110-1 based on the position information of the target vehicle 110-1.

[0091] In step S303 , target posture information of the plurality of target vehicles 110 is determined based on the posture information of the plurality of target vehicles 110 .

[0092] The target position information is used to indicate the position of each target vehicle 110 in the target mode, i.e., the target position. In some embodiments, the target position information can be understood as the position and orientation of each target vehicle 110 in the target mode, i.e., the desired position and orientation. When each target vehicle 110 is in the target position in the target mode, the onboard speakers of these target vehicles 110 can create an exterior stereo field with excellent auditory effects. In this case, the exterior stereo field can be understood as an ideal exterior stereo field.

[0093] It is understandable that in order to construct an ideal exterior stereo sound field, the main control device may determine a target posture for each target vehicle 110 , and thereby obtain target posture information.

[0094] In some embodiments, after obtaining the position information of each target vehicle, the master control device determines the corresponding target sound field area based on the target mode and the position information of each target vehicle. The master control device then determines the target position of each target vehicle 110 when constructing the exterior stereo sound field in the target sound field area, thereby obtaining the target position information of each target vehicle 110. By determining the target position of each target vehicle 110 in the target sound field area, an ideal exterior stereo sound field can be constructed in the target sound field area, providing users with excellent exterior auditory effects and enhancing the user experience.

[0095] In some embodiments, the target sound field area may be a playback area of ​​audio data in the target mode, such as an open area outside the vehicle. In some embodiments, the target vehicles 110 are distributed outside the target sound field area.

[0096] In one embodiment, the target sound field area may be an area surrounded by multiple target vehicles 110. For example, referring to FIG4(a), the area between two target vehicles 110 is target sound field area D; referring to FIG4(b), the middle area surrounded by three target vehicles 110 is target sound field area D; referring to FIG4(c), the middle area surrounded by multiple target vehicles 110 is target sound field area D. In some embodiments, the target vehicles 110 are evenly distributed around the periphery of the target sound field area to produce a uniform stereo sound field.

[0097] In another embodiment, the target sound field area may be the area surrounding multiple target vehicles 110. For example, referring to FIG4(d), the areas on both sides of a convoy of target vehicles 110, the front area of ​​the lead vehicle, and the rear area of ​​the trailing vehicle constitute target sound field area D. In some embodiments, the multiple target vehicles 110 are arranged in a convoy with equal spacing.

[0098] In some embodiments, the current pose of the target vehicle 110 - 1 may be the same as the target pose.

[0099] In step S304 , when each target vehicle is in the posture in the target mode, the target vehicle-mounted speaker of each target vehicle is controlled to play audio data.

[0100] As will be appreciated, after the master control device determines the target position information of each target vehicle 110 in S303, each vehicle moves according to its respective target position information until it reaches the target position. The master control device can then control the target vehicle speakers on each target vehicle to play the audio data, thereby creating an external stereo sound field. This allows the user to experience excellent auditory experience while immersed in the external stereo sound field.

[0101] In some embodiments, the target vehicle speakers can be understood as at least one vehicle speaker on each target vehicle with the sound field direction facing the target sound field area. Audio data is played through these vehicle speakers to construct an external vehicle stereo field in the target sound field area.

[0102] In some embodiments, after determining the target position information of each target vehicle 110, the master control device can control the movement of target vehicle 110-1 until it reaches the target position of target vehicle 110-1. Furthermore, the master control device can transmit the target position information of each target vehicle 110-2 to each controlled device via a communication connection with the controlled device. Based on the target position information, the controlled device controls the movement of the target vehicle 110-2 in which it is located until it reaches the target position of target vehicle 110-2.

[0103] In some embodiments, after determining the target position information of each target vehicle 110, the master control device may control the movement of target vehicle 110-1 until the target vehicle 110-1 is at the target position. Furthermore, the master control device may control the movement of each target vehicle 110-2 according to the target position information of each target vehicle 110-2 through a communication connection with the controlled device until the target vehicle 110-2 is at the target position.

[0104] At this point, the in-vehicle audio playback system 100 shown in FIG1A has completed the construction of the stereo field outside the vehicle.

[0105] In some embodiments, after step S301, if other vehicles join or leave, the multiple target vehicles will change, the vehicle network consisting of the multiple target vehicles 110 will also change, and the corresponding external stereo field will also change. The master control device will then need to execute step S301 again for the changed target vehicles to update the vehicle network, and then execute steps S302 to S304 for the updated vehicle network to update the external stereo field.

[0106] In some embodiments, after step S304, if a new vehicle joins, then while the master device updates the vehicle network and the exterior stereo field, the target vehicle 110-1 remains connected to the existing target vehicle 110-2 to ensure uninterrupted audio data playback. If an existing vehicle leaves, then while the master device updates the vehicle network and the exterior stereo field, the target vehicle 110-1 remains connected to all other target vehicles 110-2 except the departing vehicle to ensure uninterrupted audio data playback. In this way, while ensuring uninterrupted audio data playback, the dynamic update of the exterior stereo field further enhances the user experience.

[0107] In an embodiment of the present application, after multiple target vehicles 110 are networked, the position information of the multiple target vehicles 110 is obtained by locating the positioning anchor points 113 set on the target vehicles 110, and the position of each target vehicle 110 in the target mode is determined based on the position information. Then, when each target vehicle 110 is in the position in the target mode, audio data is played through the target vehicle speakers on the multiple target vehicles 110 to achieve the construction of an external stereo field, thereby providing users with an excellent stereo sound field, making it convenient for users to listen to audio based on the vehicle in an open field, and also maximizing the user's auditory effect, further expanding the vehicle usage scenarios, and greatly improving the user experience.

[0108] In one embodiment, as shown in FIG5 , FIG5 is a schematic diagram illustrating an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A . Based on FIG3 , step S301 in FIG3 can be updated to steps S501 through S504, which will be described in conjunction with the steps illustrated in FIG5 .

[0109] In step S501, first networking request information is sent.

[0110] The first networking request information includes the networking information of the target vehicle 110 - 1 , for example, the networking information may include at least one of the following: vehicle model, vehicle identification number (VIN), frame number, engine number, IP address of the main control device, etc.

[0111] In some embodiments, the master control device may broadcast the first network request information. For example, when multiple vehicles are parked in an open area, the master control device may broadcast the first network request information. In this case, at least one vehicle within the communication range of the master control device will receive the first network request information. In this case, there is no communication connection between the master control device and the control device located on at least one vehicle.

[0112] In some embodiments, the master control device can send the first network request information to at least one vehicle in an end-to-end manner. For example, when multiple vehicles are parked in an open area, a second type of communication connection can be established between the master control device and a control device installed on at least one vehicle. The master control device can send the first network request information to the at least one vehicle via the second type of communication connection. At this point, the control device installed on the at least one vehicle can receive the first network request information.

[0113] In step 502, first networking response information sent by at least one vehicle is received.

[0114] Here, the first networking response information is response information to the first networking request information.

[0115] As will be appreciated, the master device receives the first networking response message sent by at least one vehicle in response to the first networking request message. At this point, the master device may deem the at least one vehicle as a vehicle willing to network with target vehicle 110-1. The at least one vehicle may also be described as a candidate vehicle.

[0116] In some embodiments, the first networking response information may include networking information of each of the at least one vehicle. For example, the networking information may include at least one of the following: vehicle model, VIN, frame number, engine number, IP address of the controlled device, etc.

[0117] In some embodiments, the first networking response message may also carry information about the candidate vehicle's positioning anchor points, such as the number of positioning anchor points 113, identification information of the positioning anchor points 113, and location information of the positioning anchor points 113. By exchanging information about the positioning anchor points 113, preparations are made for subsequent positioning of the target vehicle 110.

[0118] In some embodiments, the first network response message may also carry information about the onboard speakers of at least one vehicle, such as the number of onboard speakers 112, identification information of the onboard speakers 112, and location information of the onboard speakers 112. By exchanging information about the onboard speakers 112, preparations are made for subsequently determining the target sound field area and the target position information of the target vehicle 110.

[0119] In step 503 , at least one target vehicle 110 - 2 is determined from at least one vehicle based on the first networking response information.

[0120] It is understandable that after receiving the first networking response information from at least one vehicle, the main control device can determine all or part of the at least one vehicle as the target vehicle 110-2 for final networking based on the first networking response information.

[0121] In some embodiments, in step S503, the master device may first determine the number of vehicles corresponding to the target mode, and then, based on the first networking response information, the master device determines a target vehicle 110-2 that meets the number of vehicles corresponding to the target mode from at least one vehicle.

[0122] It is understood that the master control device first determines the number of vehicles corresponding to the target mode, such as 2 for a two-channel mode, 3 for a three-channel mode, 4 or greater for a multi-channel mode, and 2 or greater for a convoy mode. The master control device then determines the number of at least one vehicle based on the received first networking response information, and then identifies a vehicle from the at least one vehicle that meets the number of vehicles corresponding to the target mode as the target vehicle 110-2. For example, if the number of vehicles corresponding to the two-channel mode is 2, the master control device identifies one vehicle from the at least one vehicle as the target vehicle 110-2; if the number of vehicles corresponding to the three-channel mode is 3, the master control device identifies two vehicles from the at least one vehicle as the target vehicles 110-2; if the number of vehicles corresponding to the multi-channel mode is 4 or greater, the master control device identifies 3 or more vehicles from the at least one vehicle as the target vehicles 110-2; and if the number of vehicles corresponding to the convoy mode is 2 or greater, the master control device identifies 1 or more vehicles from the at least one vehicle as the target vehicles 110-2.

[0123] In the above case, the number of at least one vehicle is greater than or equal to the number of vehicles corresponding to the target mode.

[0124] In some embodiments, if the number of at least one vehicle equals the number of vehicles corresponding to the target mode, the master control device may identify all vehicles that have sent the first networking response information as target vehicles 110-2. Here, the total number of target vehicles 110-1 and 110-2 matches the target mode. For example, if the target mode is a two-channel mode, the master control device receives the first networking response information sent by one vehicle and identifies it as one target vehicle 110-2. If the target mode is a three-channel mode, the master control device receives the first networking response information sent by two vehicles and identifies them as two target vehicles 110-2.

[0125] In some embodiments, when the number of at least one vehicle is greater than the number of vehicles corresponding to the target pattern, the master control device may select the number of vehicles corresponding to the target pattern from the at least one vehicle as the target vehicles 110-2. In some embodiments, the master control device may randomly select the number of vehicles corresponding to the target pattern as the target vehicles 110-2; or, the master control device may select the number of vehicles corresponding to the target pattern as the target vehicles 110-2 in the order in which the first networking response information is received; or, the master control device may first perform channel measurement based on the first networking response information, and then select the number of vehicles corresponding to the target pattern as the target vehicles 110-2 based on the channel quality. Of course, the master control device may also select the number of vehicles corresponding to the target pattern from the at least one vehicle as the target vehicles 110-2 in other ways. The above embodiments are merely examples, and the embodiments of the present application do not specifically limit this.

[0126] In another case, the number of at least one vehicle is less than the number of vehicles corresponding to the target mode. In this case, the networking fails and the process ends.

[0127] In step S504 , networking is performed with at least one target vehicle 110 - 2 .

[0128] It can be understood that after determining the target vehicle 110-2, the master device establishes a connection with the control device 111 provided on the target vehicle 110-2, ie, the controlled device, to complete the networking between the target vehicle 110-1 and at least one target vehicle 110-2.

[0129] In this embodiment of the present application, the master device sends a first networking request message to at least one vehicle, requesting that the at least one vehicle form a network with itself. Then, based on the first networking response message sent by the at least one vehicle, the master device identifies at least one target vehicle 110-2 from the at least one vehicle and forms a network with it. In this manner, active networking between target vehicles 110 is achieved.

[0130] In some embodiments, as shown in FIG6 , FIG6 is a schematic diagram illustrating an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A . Based on FIG3 , step S302 in FIG3 can be updated to steps S601 to S602, which will be explained in conjunction with the steps illustrated in FIG6 .

[0131] In step S601 , the position and posture information of each target vehicle 110 - 2 is obtained.

[0132] In some embodiments, the pose information is obtained by positioning between the positioning anchor points 113 of the target vehicle 110 - 2 and / or by positioning between the positioning anchor points 113 of the target vehicle 110 - 1 and the positioning anchor points 113 of the target vehicle 110 - 2 .

[0133] In some embodiments, when the position information is obtained by positioning between the positioning anchor points 113 of the target vehicle 110-1 and the positioning anchor points 113 of the target vehicle 110-2, in step S601, the master control device controls the multiple positioning anchor points 113 of the target vehicle 110-1 to transmit positioning signals. Then, at least one positioning anchor point 113 of the target vehicle 110-2 receives the positioning signal and returns a corresponding response signal. After receiving the response signal, the multiple positioning anchor points 113 of the target vehicle 110-1 forward it to the master control device. The master control device determines the position information of each target vehicle 110-2 based on the positioning signal and the response signal.

[0134] In some embodiments, when the position information is obtained by positioning between the positioning anchor points 113 of the target vehicle 110-2, in step S601, the master device sends a positioning request message to at least one controlled device. At least one controlled device responds to the positioning request message and controls the positioning anchor point 113 on its target vehicle 110-2 to position with the positioning anchor points 113 on other target vehicles 110-2 to obtain the position information of the other target vehicles 110-2. Based on the position information of the other target vehicles 110-2 and the position information of its own target vehicle 110-2, at least one controlled device sends a positioning response message to the master device. The positioning response message may include the position information of the target vehicle 110-2 where the at least one controlled device is located and the position information of the other target vehicles 110-2. In this way, the master device obtains the position information of each target vehicle 110-2.

[0135] In some embodiments, when the posture information is obtained through positioning between the positioning anchor point 113 of the target vehicle 110-1 and the positioning anchor point 113 of the target vehicle 110-2, and through positioning between the positioning anchor points 113 of the target vehicle 110-2, the main control device can combine the above two situations, that is, the main control device controls the positioning anchor point 113 on the target vehicle 110-1 to locate some target vehicles 110-2, and locates other target vehicles 110-2 by requesting at least one controlled device through the positioning anchor point 113 on the target vehicle 110-2 where the controlled device is located, thereby obtaining the posture information of each target vehicle 110-2.

[0136] In step S602 , the position and posture information of multiple target vehicles 110 is obtained based on the position and posture information of each target vehicle 110 - 2 .

[0137] It can be understood that after obtaining the posture information of each target vehicle 110 - 2 , the main control device combines the posture information of the target vehicle 110 - 1 to obtain the posture information of multiple target vehicles 110 .

[0138] It should be noted that the embodiments of steps S601 to S602 can refer to the embodiment of FIG2B , the embodiment of step S302 in FIG3 , and other related parts in the embodiments involved in FIG2B and FIG3 , which will not be repeated here.

[0139] In an embodiment of the present application, the position information of at least one 110-2 is obtained by positioning between the positioning anchor points 113 of the target vehicle 110-2 and / or by positioning between the positioning anchor points 113 of the target vehicle 110-1 and the positioning anchor points 113 of the target vehicle 110-2, and the position information of multiple target vehicles 110 is further obtained, thereby realizing spatial position perception between the target vehicles 110.

[0140] In one embodiment, as shown in FIG7 , FIG7 is a schematic diagram of an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A . Based on FIG3 , step S303 in FIG3 can be updated to steps S701 to S702, which will be explained in conjunction with the steps illustrated in FIG7 .

[0141] In step S701 , a target sound field area is determined based on the pattern information of the target pattern and the position information of the plurality of target vehicles 110 .

[0142] It is understandable that the main control device obtains the mode information of the target mode, such as the name, identification, corresponding number of vehicles, etc. of the target mode. Then, the main control device determines the target mode, such as dual-channel mode, three-channel mode, multi-channel mode or fleet mode, based on the mode information of the target mode. Next, the main control device can model the external stereo field that can be constructed by the target vehicle 110 based on the target mode and the posture information of multiple target vehicles 110, and then determine the target sound field area based on the model of the external stereo field. Of course, the main control device can also fit the regular shape area that can be enclosed by the target vehicle according to the posture of multiple target vehicles 110, so as to determine the target sound field area. Of course, the main control device can also use other methods to determine the target sound field area. The above embodiments are only examples, and the embodiments of the present application do not specifically limit this.

[0143] In step S702 , target position information of the multiple target vehicles is determined according to the number of the multiple target vehicles and the target sound field area.

[0144] It is understandable that after determining the target sound field area, the main control device can determine how to deploy the target vehicles 110 outside the target sound field area according to the number of target vehicles 110, thereby obtaining target posture information of the target vehicles 110.

[0145] For example, the target vehicles 110 may be evenly distributed around the target sound field area, or the target vehicles 110 may be arranged in a queue at equal distances, so that a plurality of target vehicles can construct a uniform stereo sound field outside the vehicle.

[0146] In some embodiments, the main control device may also determine the target posture of the target vehicle according to the position and number of each vehicle-mounted speaker on the target vehicle 110 .

[0147] For example, referring to FIG4(a), there are two target vehicles 110. Target vehicle 110-1 has two onboard speakers 112 installed in both door panels, front bumper, and rear bumper. Target vehicle 110-2 has two onboard speakers 112 installed in both door panels, front bumper, and rear bumper on the left side, and one onboard speaker 112 installed in the right door panel. The master control device can then adjust the orientation of target vehicle 110-2 so that the left door panel faces the target sound field area to obtain a uniform exterior stereo sound field.

[0148] For example, referring to FIG4( b ), there are three target vehicles 110. Target vehicle 110-1 has two onboard speakers 112 installed on each of its door panels, front bumper, and rear bumper. Target vehicle 110-2 has two onboard speakers 112 installed on each of its left door panel, front bumper, and rear bumper, while one onboard speaker 112 is installed on its right side door panel. Another target vehicle 110-2 has two onboard speakers 112 installed on each of its left door panel, front bumper, and rear bumper, while one onboard speaker 112 is installed on its right side door panel. In this case, the master control device can reduce the distance between the two target vehicles 110-2, bringing them closer together so that the left door panel and right door panel of target vehicle 110-1 face the target sound field area, thereby achieving an optimal exterior stereo sound field.

[0149] It should be noted that the embodiments of step S701 to step S702 can refer to the embodiment of step S303 in Figure 3, the embodiment of Figure 4 and other related parts in the embodiments involved in Figures 3 and 4, and will not be repeated here.

[0150] In an embodiment of the present application, by determining the target posture of each target vehicle 110 in the target sound field area, an ideal exterior stereo sound field can be constructed in the target sound field area, providing users with excellent exterior auditory effects and improving user experience.

[0151] In one embodiment, as shown in FIG8 , FIG8 is a schematic diagram of an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A . Based on FIG3 , after step S303 and before step S304 in FIG3 , the method may further include step S801, which will be described in conjunction with the steps illustrated in FIG8 .

[0152] In step S801 , the target vehicle 110 - 1 is controlled to send respective target posture information to each target vehicle 110 - 2 .

[0153] It can be understood that after obtaining the target posture information of each target vehicle 110-2, the main control device can send a respective target posture signal to each target vehicle 110-2 to instruct each target vehicle 110-2 to move to its respective target posture, that is, the posture in the target mode.

[0154] In some embodiments, after determining the target position information of each target vehicle 110, the master control device can control the movement of target vehicle 110-1 until it reaches the target position of target vehicle 110-1. Furthermore, the master control device can transmit the target position information of each target vehicle 110-2 to each controlled device via a communication connection with the controlled device. Based on the target position information, the controlled device controls the movement of the target vehicle 110-2 in which it is located until it reaches the target position of target vehicle 110-2.

[0155] In an embodiment of the present application, by distributing respective target posture information to the target vehicles 110, each target vehicle 110 is controlled to move to the target posture according to the target posture information, so that the target vehicle 110 can construct an ideal outdoor stereo field in the target sound field area, providing users with excellent outdoor auditory effects and improving user experience.

[0156] In one embodiment, as shown in FIG9 , FIG9 is a schematic diagram of an optional implementation flow of the in-vehicle audio playback method shown in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A above. Based on FIG3 , after step S303 in FIG3 and before step S304, the method may further include steps S901 and S902, which will be described in conjunction with the steps shown in FIG9 .

[0157] In step S901 , an abnormal vehicle among the plurality of target vehicles 110 is determined based on the position information of the plurality of target vehicles 110 and the target position information of the plurality of target vehicles 110 .

[0158] The abnormal vehicle is a vehicle that is not in the target mode, that is, a vehicle whose position is inconsistent with the target position.

[0159] It is understood that after obtaining the position information of multiple target vehicles 110 and the target position information of multiple target vehicles 110, the main control device can determine whether the position of each target vehicle 110 is consistent with the target position by comparing the position information of each target vehicle 110 with the target position information of multiple target vehicles, and determine the vehicle whose position is inconsistent with the target position as an abnormal vehicle. Conversely, the vehicle whose position is consistent with the target position is determined to be a normal vehicle.

[0160] In step S902 , a visual interface is output.

[0161] As can be understood, the main control device generates and outputs a visual interface after determining the abnormal vehicle. For example, the main control device controls the vehicle-mounted display screen on the target vehicle 110-1 to display the visual interface, so that the user of the target vehicle 110-1 can intuitively see whether each target vehicle 110-2 moves to the target posture, thereby understanding the construction progress of the stereo field outside the car. Meanwhile, the main control device can also send the visual interface to the controlled device by being connected with the communication between the controlled device, so that the controlled device can control the vehicle-mounted display screen of the target vehicle 110-2 to display the visual interface, so that the user of the target vehicle 110-2 drives the target vehicle 110-2 to move to the target posture according to the guidance of the visual interface. Or, the main control device sends the visual interface to the controlled device by being connected with the communication between the controlled device, so that the controlled device can control the vehicle-mounted display screen of the target vehicle 110-2 to display the visual interface and drive the target vehicle 110-2 to move to the target posture by the mode of automatic driving.

[0162] In some embodiments, an abnormal vehicle may be displayed in the visual interface using a first display parameter, and other target vehicles other than the abnormal vehicle, i.e., normal vehicles, may be displayed in the visual interface using a second display parameter, where the first display parameter is different from the second display parameter. In other words, abnormal vehicles and normal vehicles are displayed in the visual interface using different display parameters so that users can more intuitively identify abnormal vehicles.

[0163] In some embodiments, the display parameters may include at least one of the following: style, color, grayscale, transparency, etc. For example, the style may include line type, line width, display style, etc.

[0164] In an embodiment of the present application, by using different display parameters in a visual interface to distinguish abnormal vehicles from other target vehicles 110 and outputting them, users can identify abnormal vehicles and guide users to move the target vehicle 110 to the target position, thereby improving the efficiency of constructing an outdoor stereo field.

[0165] In one embodiment, as shown in FIG10 , FIG10 is a schematic diagram of an optional implementation flow of the in-vehicle audio playback method shown in an embodiment of the present application. The in-vehicle audio playback method provided in the embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A above. Based on FIG3 , after step S303 in FIG3 and before step S304, the method may further include steps S1001 and S1002, which will be described in conjunction with the steps shown in FIG10 .

[0166] In step S1001 , a target vehicle-mounted speaker for each target vehicle 110 is determined based on target position information of a plurality of target vehicles 110 .

[0167] It can be understood that after the main control device obtains the target posture information of multiple target vehicles 110 through step S303, it can determine which vehicle-mounted speakers of the target vehicle 110 have their sound field directions facing the target sound field area based on the orientation of the target vehicle 110 indicated by the target posture information. These vehicle-mounted speakers 112 are the target vehicle-mounted speakers.

[0168] In some embodiments, referring to FIG4 (b), the main control device determines that the right door panel of the target vehicle 110 is facing the target sound field area D based on the target posture information. At this time, the vehicle-mounted speaker 112 set on the right door panel of each target vehicle 110 is determined as the target vehicle-mounted speaker.

[0169] In some embodiments, in order to distinguish the vehicle speakers 112 installed on different parts of the target vehicle 110, corresponding identification information can be set for different vehicle speakers 112. In this way, the vehicle speakers 112 can be distinguished by the identification information of the vehicle speakers 112.

[0170] In some embodiments, the identification information of the positioning anchor point 113 can also be used as the identification information of the vehicle speaker 112 to indicate the vehicle speaker 112 located on the same side of the target vehicle 110 as the positioning anchor point 113. For example, referring to FIG2A , anchor points 1 and 2 of the target vehicle 110 can indicate the vehicle speaker 112 located on the left door panel, anchor points 3 and 4 of the target vehicle 110 can indicate the vehicle speaker 112 located on the right door panel, anchor points 1 and 4 of the target vehicle 110 can indicate the vehicle speaker 112 located on the front bumper, and anchor points 2 and 3 of the target vehicle 110 can indicate the vehicle speaker 112 located on the rear bumper. In this case, in the three-channel mode shown in FIG4(b), the vehicle speaker 112 located on the right door panel, indicated by anchor points 3 and 4 of the target vehicle 110, is determined as the target vehicle speaker.

[0171] In step S1002 , identification information of the respective target vehicle speakers is sent to each target vehicle 110 - 2 .

[0172] As will be appreciated, the master device transmits the identification information of the target vehicle speakers corresponding to each target vehicle 110-2, such as the identification information of the vehicle speakers 112 or the identification information of the positioning anchor points 113 corresponding to the target vehicle speakers, to each target vehicle 110-2 via the communication connection between the master device and the controlled device. In this way, the target vehicle 110 can determine the target vehicle speakers for playing audio data, thereby constructing an external stereo sound field.

[0173] In one embodiment, as shown in FIG11 , FIG11 is a schematic diagram illustrating an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A . Based on FIG3 , step S304 in FIG3 can be updated to steps S1101 to S1102, which will be described in conjunction with the steps illustrated in FIG11 .

[0174] In step S1101 , the target vehicle-mounted speaker of the target vehicle 110 - 1 is controlled to play first audio data.

[0175] In step S1102 , audio data is transmitted to each target vehicle 110 - 2 so that the target vehicle-mounted speaker of each target vehicle 110 - 2 plays the second audio data.

[0176] In steps S1101 to S1102, the audio data can generate multiple parts, namely, the part corresponding to the target vehicle 110-1 (i.e., the first audio data) and the part corresponding to each second target vehicle (i.e., the second audio data). Then, after each target vehicle 110 is in the target position, the master control device controls the target vehicle-mounted speaker of the target vehicle 110-1 to play the first audio data. In addition, the master control device sends the audio data through the communication connection with the controlled device, so that the controlled device determines the second audio data corresponding to itself from the audio data, and controls the target vehicle-mounted speaker set on the target vehicle 110-2 to play the second audio data. In this way, an outdoor stereo field is constructed within the target theater area.

[0177] In some embodiments, the master device can generate multiple channels of audio data based on the number of target vehicles 110. The master device processes the audio data of these channels through the audio processing module of the target vehicle 110 to generate outputs (i.e., channel data) with different phases and time delays to meet the auditory requirements of the external stereo sound field.

[0178] In some embodiments, the above-mentioned first audio data and second audio data can be broadcast and sent by the main control device based on time division multiplexing (TDM). The main control device controls the target vehicle 110-1 to generate data of all channels of audio data (i.e., the first audio data and the second audio data). The first audio data and the second audio data occupy different time slots in the TDM signal for transmission. For example, in the TDM 8 signal, what is sent on time slot 0 is the first audio data, and what is sent on time slot 1 is the second audio data of a target vehicle 110-2 in the vicinity of the target vehicle 110-1, and so on. There are partial audio data corresponding to up to 8 vehicles. After receiving the TDM signal, the controlled device can parse out the corresponding second audio data on the corresponding time slot of the target vehicle 110-2 where it is located.

[0179] In the embodiment of the present application, by using the target vehicle speakers of different target vehicles 110 to play the corresponding parts of the audio data, the channels in the external stereo field of the vehicle are enriched, and the auditory effect of the external stereo field of the vehicle is improved.

[0180] In one embodiment, as shown in FIG12 , FIG12 is a schematic diagram illustrating an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A . Based on FIG3 , step S304 in FIG3 can be updated to steps S1201 through S1204, which will be described in conjunction with the steps illustrated in FIG12 .

[0181] In step S1201 , the sound channel information corresponding to each target vehicle 110 is determined.

[0182] In step S1202 , the audio data is processed into multiple channel audio data according to the channel information.

[0183] In step S1203 , the target vehicle-mounted speaker of the target vehicle 110 - 1 is controlled to play the first channel audio data.

[0184] In step S1204 , the second channel audio data is sent to each target vehicle 110 - 2 , so that the target vehicle speaker of each target vehicle 110 - 2 plays the second channel audio data.

[0185] In steps S1201 to S1204, the multiple target vehicles 110 correspond to different channels. The master control device processes the audio data into corresponding multiple channel audio data for each channel, i.e., each channel audio data corresponds to a channel corresponding to each target vehicle, and each channel audio data is part of the audio data. The first channel audio data is the channel audio data corresponding to target vehicle 110-1, and the second channel audio data is the channel audio data corresponding to each target vehicle 110-2. After generating the multiple channel audio data, the master control device controls the target vehicle 110-1's onboard speaker to play the first channel audio data. The master control device then transmits the corresponding second channel audio data to the target vehicle 110-2 via a communication connection with the controlled device, causing the controlled device to control the target vehicle 110-2's onboard speaker to play the second channel audio data.

[0186] In some embodiments, the main control device can directly send the channel audio data (such as the second channel audio data) corresponding to the target vehicle 110-2 to the controlled device of the target vehicle 110-2 in the form of an integrated circuit built-in audio (inter integrated circuit sound, I2S) bus through a communication connection with the controlled device. After the controlled device parses the I2S audio signal, it sends it to the target vehicle speaker for playback.

[0187] In one embodiment, as shown in FIG13 , FIG13 is a schematic diagram illustrating an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the control device 111, i.e., the master control device, provided on the target vehicle 110-1 shown in FIG1A . Based on FIG3 , after step S304 in FIG3 , the method further includes step S1301, which will be described in conjunction with the steps illustrated in FIG13 .

[0188] In step S1301 , a noise reduction instruction is sent to the target vehicle 110 - 2 .

[0189] The noise reduction instruction is used to instruct each target vehicle 110 - 2 to perform noise reduction on its own noise field area to be reduced, and the noise field area to be reduced is the sound field area in the environment of each target vehicle 110 - 2 except the target sound field area.

[0190] Understandably, to enhance the auditory experience of the exterior stereo sound field, it is necessary to isolate it from external noise as much as possible. Simultaneously, the sounds within the exterior stereo field also need to be suppressed as much as possible outside the exterior stereo field. Therefore, after step S304, the master control device can also control the target vehicle 110 to perform noise reduction on the sound field area of ​​the respective environment, excluding the target sound field area, i.e., the noise field area to be reduced.

[0191] In some embodiments, the master control device can control the target vehicle 110-1 to reduce noise in the noise reduction area to be reduced. The master control device can also send a noise reduction instruction to each target vehicle 110-2 to trigger the noise reduction function of each target vehicle 110-2, so that each target vehicle 110-2 can reduce noise in its respective noise reduction area. In this case, the multiple target vehicles 110 can independently calculate the corresponding target signal based on the portion of audio data played by their respective target vehicle speakers, and output the target signal through other vehicle speakers except the target vehicle speakers, thereby achieving noise reduction in the noise reduction area.

[0192] In some embodiments, different areas of the target vehicle 110's environment are affected differently by the external stereo field. Therefore, the control device 111 on the target vehicle 110 can control the vehicle speakers 112 to perform noise reduction in different areas.

[0193] For example, referring to FIG4(b), in a three-channel mode, the target vehicle speakers of the three target vehicles 110 can be installed on the right door panel. Then, the other vehicle speakers installed on the front bumper, rear bumper, and left door panel can be used for noise reduction. Accordingly, as shown in FIG2A, microphones are installed on the front bumper, rear bumper, and left door panel to respectively collect the ambient noise of the three target vehicle 110 regions to be reduced: the front region D1, the rear region D2, and the left region D3, and transmit them to the control device 111. Based on the ambient noise of the three regions, the control device 111 generates a target signal for the front region D1, a target signal for the rear region D2, and a target signal for the left region D3. The control device 111 controls the vehicle speakers 112 installed on the front bumper to output the target signal for the front region D1 to reduce the noise in the front region D1. The control device 111 controls the vehicle-mounted speaker 112 installed on the rear bumper to output a target signal for the rear area D2 to reduce noise in the rear area D2. The control device 111 controls the vehicle-mounted speaker 112 installed on the left door panel to output a target signal for the left area D3 to reduce noise in the left area D3.

[0194] In some embodiments, the noise reduction function of the target vehicles 110 may also be triggered automatically by each target vehicle 110. For example, when each target vehicle 110 plays its corresponding portion of audio data, the control device 111 of each target vehicle 110 triggers the noise reduction function to achieve automatic zoned noise reduction, thereby further improving the auditory effect of the stereo sound field outside the vehicle.

[0195] In some embodiments, in target mode, only one side of each target vehicle 110 plays audio data through its onboard speakers 112, while the other three sides are in standby mode. Microphones located on these three sides can then detect external ambient noise in real time. When external noise is detected, a target signal with the same sound pressure amplitude but opposite phase is generated to cancel the ambient noise on the corresponding side, thereby preventing the noise from entering the exterior stereo sound field. Furthermore, since each side's onboard speakers 112 emit sound through the vehicle's body panels, the sound generated is uniformly directed outward at a 180-degree angle, thus providing a certain degree of noise suppression. When sound from the exterior stereo field reaches the periphery and is detected by the microphones, it is interpreted as ambient noise and noise reduction is achieved by generating corresponding target signals. This effectively suppresses the sound from further spreading outward, helping to reduce external interference with the exterior stereo field.

[0196] In an embodiment of the present application, a noise reduction instruction is sent to the target vehicle 110-2 to instruct the target vehicle 110-2 to perform zoned noise reduction, thereby isolating the noise from entering the interior of the exterior stereo field of the vehicle, and achieving the effect of suppressing the further diffusion of the sound in the exterior stereo field of the vehicle to the outside, thereby helping to reduce external interference of the exterior stereo field of the vehicle.

[0197] In one embodiment, in addition to the above-mentioned noise reduction method, the main control device can also control each target vehicle to perform zoned noise reduction. Then, as shown in Figure 14, Figure 14 is an optional implementation flow diagram of the in-vehicle audio playback method shown in the embodiment of the present application. The in-vehicle audio playback method provided in the embodiment of the present application can be applied to the control device 111, i.e., the main control device, provided on the target vehicle 110-1 shown in Figure 1A above. Based on Figure 3, after step S304 in Figure 3, the above-mentioned method can also include steps S1401 to S1403, which will be explained in conjunction with the steps shown in Figure 14.

[0198] In step S1401, each target vehicle is controlled to collect environmental noise in the sound field direction of each of the other vehicle-mounted speakers, so as to obtain the environmental noise corresponding to each other vehicle-mounted speaker of each target vehicle.

[0199] It can be understood that the main control device controls the microphone of the target vehicle 110-1 to collect environmental noise in the sound field direction of multiple other vehicle-mounted speakers 112 respectively, and the main control device controls the microphone of the target vehicle 110-2 to collect environmental noise in the sound field direction of multiple other vehicle-mounted speakers 112 respectively through the communication connection with the controlled device. In this way, the main control device can obtain the environmental noise in the sound field direction of multiple other vehicle-mounted speakers 112 of each target vehicle 110.

[0200] In some embodiments, the master device can send a collection request to the controlled device through a communication connection between the master device and the controlled device, requesting the microphone on the target vehicle 110-2 to collect ambient noise in the sound field direction of multiple other vehicle speakers 112. The controlled device controls the microphone to collect ambient noise in the sound field direction of the multiple other vehicle speakers 112 and sends the collected ambient noise to the master device. In this way, the master device obtains the ambient noise in the area to be reduced for each target vehicle 110.

[0201] 2A , the target vehicle 110 collects ambient noise from three areas to be reduced: the front area D1, the rear area D2, and the left area D3 of the target vehicle 110. The controlled device of the target vehicle 110-2 transmits the collected ambient noise to the main control device.

[0202] In step S1402 , a target signal corresponding to each other vehicle-mounted speaker of each target vehicle 110 is determined according to the environmental noise corresponding to each other vehicle-mounted speaker of each target vehicle 110 .

[0203] It can be understood that after obtaining the environmental noise corresponding to each target vehicle, the main control device calculates target signals with the same sound pressure amplitude but opposite phases for these environmental noises respectively.

[0204] In some embodiments, referring to FIG. 2A , the main control device 111 generates a target signal for the front area D1 , a target signal for the rear area D2 , and a target signal for the left area D3 according to the ambient noise in the three areas.

[0205] In step S1403 , each other vehicle-mounted speaker of each target vehicle is controlled to output its corresponding target signal.

[0206] As can be understood, the master control device controls the other onboard speakers of target vehicle 110-1 to output corresponding target signals to achieve noise reduction. Furthermore, the master control device transmits the target signal corresponding to target vehicle 110-2 to the controlled device of target vehicle 110-2 via the communication connection between the master control device and the controlled device. In this way, the controlled device can control the other onboard speakers to play the target signal to achieve noise reduction.

[0207] Next, taking the in-vehicle audio playback system 100 shown in FIG. 1B as an example, the in-vehicle audio playback method provided by the embodiment of the present application is described.

[0208] It should be noted that, in the in-vehicle audio playback system 100 shown in FIG1B , the steps executed by the first control device 111 - 1 are consistent with the steps executed by the master control device in the above embodiment, and the steps executed by the second control device 111 - 2 are consistent with the steps executed by the controlled device in the above embodiment.

[0209] As shown in Figure 15, Figure 15 is a schematic diagram of an optional implementation flow of the in-vehicle audio playback method shown in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the first control device 111-1 shown in Figure 1B above. The in-vehicle audio playback method may include steps S1501 to S1504.

[0210] In step S1501 , networking is performed with multiple target vehicles 110 .

[0211] In step S1502 , position information of multiple target vehicles 110 is obtained.

[0212] In step S1503 , target posture information of the plurality of target vehicles 110 is determined based on the posture information of the plurality of target vehicles 110 .

[0213] In step S1504 , when each target vehicle 110 is in the posture in the target mode, the target vehicle-mounted speaker of each target vehicle 110 is controlled to play audio data.

[0214] It should be noted that the embodiments of steps S1501 to S1504 can refer to the embodiment of Figure 2B, the embodiment of steps S301 to S304 in Figure 3, and other related parts in the embodiments involved in Figures 2B and 3, and will not be repeated here.

[0215] At this point, the in-vehicle audio playback system 100 shown in FIG. 1B has completed the construction of the stereo field outside the vehicle.

[0216] In an embodiment of the present application, after multiple target vehicles 110 are networked, the position information of the multiple target vehicles 110 is obtained by locating the positioning anchor points 113 set on the target vehicles 110, and the position of each target vehicle 110 in the target mode is determined based on the position information. Then, when each target vehicle 110 is in the position in the target mode, audio data is played through the target vehicle speakers on the multiple target vehicles 110 to achieve the construction of an external stereo field, thereby providing users with an excellent stereo sound field, making it convenient for users to listen to audio based on the vehicle in an open field, and also maximizing the user's auditory effect, further expanding the vehicle usage scenarios, and greatly improving the user experience.

[0217] In one embodiment, based on FIG. 15 , step S1501 in FIG. 15 may include the following steps.

[0218] In step 1, a second networking request message is sent.

[0219] The second networking request information includes the networking information of the first control device 111 - 1 . For example, the networking information of the first control device 111 - 1 may include at least one of the following: a device identification number, an IP address of the first control device, and the like.

[0220] In step 2, second networking response information sent by at least one vehicle is received.

[0221] Here, the second networking response information is response information to the second networking request information.

[0222] In some embodiments, the second networking response information may include networking information of each of the at least one vehicle. For example, the networking information may include at least one of the following: vehicle model, VIN, frame number, engine number, IP address of the second control device, etc.

[0223] In step three, based on the second networking response information, one or more vehicles are determined from the at least one vehicle as multiple target vehicles 110 .

[0224] In some embodiments, in the third step, the first control device 110-1 first determines the number of vehicles corresponding to the target mode. Then, based on the second networking response information, the first control device 110-1 determines a target vehicle 110 that satisfies the number of vehicles corresponding to the target mode from the at least one vehicle.

[0225] In step 4, networking is performed with multiple target vehicles 110 .

[0226] It should be noted that the embodiments of steps 1 to 4 can refer to the embodiments of steps S501 to S504 in FIG5 , as well as other related parts in the embodiments involved in FIG5 , which will not be described in detail here.

[0227] In one embodiment, as shown in FIG16 , FIG16 is a schematic diagram of an optional implementation flow of the in-vehicle audio playback method illustrated in an embodiment of the present application. The in-vehicle audio playback method provided in this embodiment of the present application can be applied to the first control device 111-1 shown in FIG1B . Based on FIG15 , step S1501 in FIG15 can be updated to steps S1601 to S1604, which will be explained in conjunction with the steps shown in FIG16 .

[0228] In step S1601, third networking request information is sent to at least one vehicle among a plurality of vehicles.

[0229] The third networking request information is used to instruct at least one vehicle to send fourth networking request information to other vehicles, and the fourth networking request information is used to request networking information of other vehicles.

[0230] It is understandable that the first control device 111-1 can send the third networking request information to at least one vehicle in an end-to-end manner to instruct at least one vehicle to send the fourth networking request information to other vehicles. Then, the second control device 111-2 on at least one vehicle can send the fourth networking request in a broadcast manner to request the networking information of other vehicles. Exemplarily, when multiple vehicles are parked in an open area, a second type of communication connection may be established between the first control device 111-1 and the second control device 111-2 provided on at least one vehicle. The first control device 111-1 can send the third networking request information to at least one vehicle through the second type of communication connection. Then, the second control device 111-2 on at least one vehicle broadcasts the fourth networking request information to other vehicles in response to the third networking request information.

[0231] In step S1602, first networking information and second networking information are received from at least one vehicle.

[0232] It is understandable that after the second control device 111-2 on at least one vehicle (such as vehicle 1) broadcasts the fourth networking request information to other vehicles (such as vehicle 2), all vehicles 2 within the communication range of the second control device 111-2 on vehicle 1 can receive the fourth networking request information. Then, the second control device 111-2 on vehicle 2 sends the networking information of vehicle 2 (i.e., the second networking information) to the second control device 111-2 on vehicle 1, and the second control device 111-2 on vehicle 1 then sends the networking information of vehicle 2 and the networking information of vehicle 1 itself (i.e., the first networking information) to the first control device 111-1.

[0233] Exemplarily, the networking information may include at least one of the following: vehicle model, VIN, vehicle frame number, engine number, IP address of the second control device 111 - 2 , etc.

[0234] In step S1603 , based on the first networking information and the second networking information, one or more vehicles are determined from the plurality of vehicles as the plurality of target vehicles 110 .

[0235] In step S1604 , networking is performed with multiple target vehicles 110 .

[0236] It should be noted that, for the embodiments of steps S1603 to S1604, reference may be made to the embodiments of steps S503 to S504 in FIG5 and other related parts in the embodiments involved in FIG5, which will not be described in detail here.

[0237] In some embodiments, based on FIG. 15 , step S1502 in FIG. 15 may include the following steps.

[0238] In step five, the positioning anchor point of at least one target vehicle among the multiple target vehicles is controlled to position the positioning anchor points of other target vehicles to obtain position information of the other target vehicles.

[0239] In step six, the position information of at least one target vehicle is obtained.

[0240] It should be noted that the embodiments of step five and step six can refer to the embodiment of FIG2B , the embodiment of step S302 in FIG3 , and other related parts in the embodiments involved in FIG2B and FIG3 , which will not be repeated here.

[0241] In some embodiments, based on FIG. 15 , step S1502 in FIG. 15 may include the following steps.

[0242] In step seven, a positioning signal is sent to each target vehicle.

[0243] In step eight, a response signal sent by each target vehicle in response to the positioning signal is received.

[0244] In step nine, the position information of each target vehicle is obtained based on the positioning signal and the response signal.

[0245] It should be noted that the embodiments of step seven and step nine can refer to the embodiment of FIG2B , the embodiment of step S302 in FIG3 , and other related parts in the embodiments involved in FIG2B and FIG3 , which will not be repeated here.

[0246] In some embodiments, based on FIG. 15 , step S1503 in FIG. 15 may include the following steps.

[0247] In step ten, the target sound field area is determined based on the pattern information of the target pattern and the position information of the plurality of target vehicles.

[0248] In step eleven, target position information of the multiple target vehicles is determined according to the number of the multiple target vehicles and the target sound field area.

[0249] It should be noted that the embodiments of step 10 and step 11 can refer to the embodiments of step S701 to step S702 in FIG7 and other related parts in the embodiment involved in FIG7 , which will not be repeated here.

[0250] In some embodiments, based on FIG. 15 , after step S1503 and before step S1504 in FIG. 15 , the above method further includes the following steps.

[0251] In step 12, the target position information of each target vehicle is sent to the target vehicles.

[0252] The target posture information is used to instruct multiple target vehicles to move to their respective target postures.

[0253] It can be understood that after obtaining the target posture information of each target vehicle 110, the first control device 111-1 can send a respective target posture signal to each target vehicle 110 to instruct each target vehicle 110 to move to its respective target posture, that is, the posture in the target mode.

[0254] In some embodiments, after determining the target position information of each target vehicle 110, the first control device 111-1 can transmit the target position information to each target vehicle 110-2 via a communication connection with the second control device 111-2. The second control device 1111-2 controls the movement of the target vehicle 110 according to the target position information until the target vehicle 110 is in the target position.

[0255] The embodiment of step 12 can refer to the embodiment of step S801 in FIG8 and other related parts in the embodiment involved in FIG8 , which will not be described in detail here.

[0256] In some embodiments, based on FIG. 15 , after step S1503 and before step S1504 in FIG. 15 , the above method further includes the following steps.

[0257] In step thirteen, an abnormal vehicle among the multiple target vehicles is determined based on the position information of the multiple target vehicles and the target position information of the multiple target vehicles.

[0258] The embodiment of step thirteen can refer to the embodiment of step S901 in FIG. 9 and other related parts in the embodiment involved in FIG. 9 , which will not be described in detail here.

[0259] In step fourteen, a visual interface is displayed and / or a plurality of target vehicles are controlled to display the visual interface.

[0260] It is understandable that after determining the abnormal vehicle, the first control device 111-1 generates and outputs a visual interface. For example, the first control device 111-1 displays the visual interface so that the user of the first control device 111-1 can intuitively see whether each target vehicle 110 has moved to the target position, thereby understanding the progress of building the stereo field outside the vehicle. And / or, the first control device 111-1 can also send the visual interface to the second control device 111-2 through the communication connection between the first control device 111-2 and the second control device 111-2, so that the second control device 111-2 can control the vehicle-mounted display screen of the target vehicle 110 to display the visual interface, so that the user of the target vehicle 110 can drive the target vehicle 110 to the target position according to the guidance of the visual interface. Alternatively, the first control device 111-1 sends the visual interface to the second control device 111-2 through a communication connection with the second control device 111-2, so that the second control device 111-2 can control the on-board display screen of the target vehicle 110 to display the visual interface and drive the target vehicle 110 to the target position through automatic driving.

[0261] The embodiment of step fourteen can refer to the embodiment of step S902 in FIG. 9 and other related parts in the embodiment involved in FIG. 9 , which will not be described in detail here.

[0262] In some embodiments, based on FIG. 15 , after step S1503 and before step S1504 in FIG. 15 , the above method further includes the following steps.

[0263] In step fifteen, a target vehicle-mounted speaker for each target vehicle 110 is determined based on the target position information of the plurality of target vehicles 110 .

[0264] In step sixteen, identification information of the target vehicle speakers is sent to each target vehicle 110 .

[0265] It should be noted that the embodiments of steps 15 to 16 can refer to the embodiments of steps S1001 to S1002 in FIG10 and other related parts in the embodiments involved in FIG10 , which will not be described in detail here.

[0266] In some embodiments, based on FIG. 15 , step S1504 in FIG. 15 may include the following steps.

[0267] In step seventeen, the audio data is sent to each target vehicle 110 , so that the target vehicle-mounted speakers of each target vehicle 110 play the corresponding portion of the audio data.

[0268] It is understandable that the first control device 111-1 can send the audio data to be played to the second control device 111-2 on each target vehicle 110. In this way, the second control device 111-2 on each target vehicle 110 can obtain the portion corresponding to its own target vehicle 110 from the audio data, and then the second control device 111-2 can control the target vehicle speaker on its own target vehicle 110 to play the portion of the audio data.

[0269] In some embodiments, based on FIG. 15 , step S1504 in FIG. 15 may include the following steps.

[0270] In step eighteen, the sound channel information corresponding to each target vehicle 110 is determined.

[0271] The embodiment of step eighteen can refer to the embodiment of step S1201 in FIG12 and other related parts in the embodiment involved in FIG12 , which will not be described in detail here.

[0272] In step nineteen, the audio data is processed into multiple channel audio data according to the channel information.

[0273] The embodiment of step eighteen can refer to the embodiment of step S1202 in FIG12 and other related parts in the embodiment involved in FIG12 , which will not be described in detail here.

[0274] In step 20, the channel audio data corresponding to each channel audio data is sent to each target vehicle 110 , so that the target vehicle-mounted speaker in each target vehicle 110 plays the channel audio data corresponding to each target vehicle 110 .

[0275] It can be understood that after obtaining the channel audio data corresponding to each target vehicle 110, the first control device 111-1 can distribute these channel audio data to the corresponding target vehicles 110 through the communication connection with the second control device 111-2, so that the second control device 111-2 on each target vehicle 110 can control the target vehicle-mounted speaker of the target vehicle 110-2 where it is located to play the corresponding channel audio data.

[0276] In some embodiments, based on FIG. 15 , after step S1504 in FIG. 15 , the above method further includes the following steps.

[0277] In step 21, a noise reduction instruction is sent to each target vehicle 110 .

[0278] The embodiment of step 21 can refer to the embodiment of step S1301 in FIG13 and other related parts in the embodiment involved in FIG13 , which will not be described in detail here.

[0279] In some embodiments, based on FIG. 15 , after step S1504 in FIG. 15 , the above method further includes the following steps.

[0280] In step 22, each target vehicle is controlled to collect environmental noise in the sound field direction of its respective plurality of other vehicle-mounted speakers, so as to obtain the environmental noise corresponding to each other vehicle-mounted speaker of each target vehicle.

[0281] In step 23, a target signal corresponding to each other vehicle-mounted speaker of each target vehicle is determined according to the environmental noise corresponding to each other vehicle-mounted speaker of each target vehicle.

[0282] In step 24, each other vehicle-mounted speaker of each target vehicle is controlled to output its corresponding target signal.

[0283] It should be noted that the embodiments of steps 22 to 24 can refer to the embodiments of steps S1401 to S1403 in FIG14 and other related parts in the embodiments involved in FIG14 , which will not be repeated here.

[0284] As shown in Figure 17, Figure 17 is a schematic diagram of an optional hardware entity of a control device shown in an embodiment of the present application. The hardware entity of the control device 111 includes: a processor 1701 and a memory 1702, wherein the memory 1702 stores a computer program that can be executed on the processor 1701, and when the processor 1701 executes the program, the steps of the method in any of the above embodiments are implemented.

[0285] The memory 1702 stores computer programs that can be run on the processor. The memory 1702 is configured to store instructions and applications executable by the processor 1701. It can also cache data to be processed or processed by the processor 1701 and the modules in the control device 111 (for example, image data, audio data, voice communication data, and video communication data). It can be implemented through flash memory (FLASH) or random access memory (RAM).

[0286] When the processor 1701 executes the program, the steps of any of the above-mentioned in-vehicle audio playback methods are implemented. The processor 1701 generally controls the overall operation of the device 111.

[0287] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0288] The processor may be at least one of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic device that implements the functions of the processor may also be other electronic devices, which are not specifically limited in the embodiments of the present application.

[0289] The above-mentioned computer storage medium / memory can be a memory such as ROM, programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface storage, optical disk, or compact disc read-only memory (CD-ROM); it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0290] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above method. The computer-readable storage medium may be transient or non-transient.

[0291] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code runs in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0292] An embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, implements some or all of the steps in the above method. The computer program product can be implemented specifically by hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium. In other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK).

[0293] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program, and computer program product embodiments is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device, storage medium, computer program, and computer program product embodiments in the embodiments of the present application, please refer to the description of the method embodiment in the embodiments of the present application for understanding.

[0294] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0295] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0296] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0297] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0298] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0299] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: mobile storage devices, ROM, disks or optical disks, and other media that can store program codes.

[0300] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0301] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A vehicle-mounted audio playing method, wherein, The method includes: Controlling a first target vehicle to form a network with at least one second target vehicle, where the first target vehicle has activated a target mode; Obtaining pose information of multiple target vehicles, where the multiple target vehicles include the first target vehicle and the at least one second target vehicle, and the pose information is used to indicate the position and orientation of each target vehicle among the multiple target vehicles. The pose information of the at least one second target vehicle is obtained by positioning positioning anchors of the at least one second target vehicle; each target vehicle has multiple positioning anchors and multiple on-vehicle speakers for playing audio data outside the vehicle; Based on the pose information of the multiple target vehicles, determining target pose information of the multiple target vehicles, where the target pose information is used to indicate the pose of each target vehicle in the target mode; When each target vehicle is in the pose in the target mode, controlling the target on-vehicle speakers of each target vehicle to play audio data.

2. The method according to claim 1, wherein, The forming a network with at least one second target vehicle includes: Sending a first network formation request message, where the first network formation request message includes network formation information of the first target vehicle; Receiving a first network formation response message sent by at least one vehicle in response to the network formation information of the first target vehicle; Based on the first network formation response message, determining the at least one second target vehicle from the at least one vehicle; Forming a network with the at least one second target vehicle.

3. The method according to claim 2, wherein, The determining the at least one second target vehicle from the at least one vehicle includes: Determining the number of vehicles corresponding to the target mode; Based on the first network formation response message, determining second target vehicles that meet the number of vehicles corresponding to the target mode from the at least one vehicle.

4. The method according to claim 1, wherein The obtaining pose information of multiple target vehicles includes: Obtaining the pose information of each second target vehicle among the at least one second target vehicle, where the pose information is obtained by positioning between the positioning anchors of the second target vehicle and / or by positioning between the positioning anchors of the first target vehicle and the positioning anchors of the second target vehicle; Based on the pose information of each second target vehicle, obtaining the pose information of the multiple target vehicles.

5. The method according to claim 4, wherein The obtaining the pose information of each second target vehicle among the at least one second target vehicle includes: Controlling multiple positioning anchors of the first target vehicle to send positioning signals; Receiving response signals sent by the positioning anchors of each second target vehicle in response to the positioning signals; Based on the positioning signals and the response signals, determining the pose information of each second target vehicle.

6. The method according to claim 1, wherein The determining target pose information of the multiple target vehicles based on the pose information of the multiple target vehicles includes: Based on the mode information of the target mode and the pose information of the multiple target vehicles, determining a target sound field area, where the target sound field area is the playing area of audio data in the target mode; Based on the number of the multiple target vehicles and the target sound field area, determining the target pose information of the multiple target vehicles.

7. The method according to claim 1, wherein After determining the target pose information of the multiple target vehicles and before controlling the target in-vehicle speakers of each target vehicle to play audio data, the method further includes: Controlling the first target vehicle to send its respective target pose information to each of the at least one second target vehicle, where the target pose information is further used to instruct each second target vehicle to move to the pose in the target mode.

8. The method according to claim 1, wherein After determining the target pose information of the multiple target vehicles and before controlling the target in-vehicle speakers of each target vehicle to play audio data, the method further includes: Determining an abnormal vehicle among the multiple target vehicles according to the pose information of the multiple target vehicles and the target pose information of the multiple target vehicles, where the abnormal vehicle is a vehicle that is not in the pose in the target mode; Outputting a visual interface, where the abnormal vehicle is displayed in the visual interface with a first display parameter, and other target vehicles except the abnormal vehicle are displayed in the visual interface with a second display parameter, and the first display parameter is different from the second display parameter.

9. The method according to claim 1, wherein After determining the target pose information of the multiple target vehicles and before controlling the target in-vehicle speakers of each target vehicle to play audio data, the method further includes: Determining the target in-vehicle speaker of each target vehicle according to the target pose information of the multiple target vehicles, the target in-vehicle speaker being at least one in-vehicle speaker among the multiple in-vehicle speakers of each target vehicle whose sound field direction faces the target sound field area, and the target sound field area being the area where audio data is played in the target mode; Sending the identification information of the respective target in-vehicle speakers to each second target vehicle among the multiple target vehicles.

10. The method according to claim 1, wherein The controlling the target in-vehicle speakers of each target vehicle to play audio data includes: Controlling the target in-vehicle speaker of the first target vehicle to play first audio data, where the first audio data is the part of the audio data corresponding to the first target vehicle; Sending the audio data to each second target vehicle among the multiple target vehicles so that the target in-vehicle speakers of each second target vehicle play second audio data, where the second audio data is the part of the audio data corresponding to each second target vehicle.

11. The method according to claim 1, wherein The controlling the target in-vehicle speakers of each target vehicle to play audio data includes: Determining the channel information corresponding to each target vehicle, where the channel information is used to indicate the channel corresponding to each target vehicle; Processing the audio data into multiple-channel audio data according to the channel information, where each channel audio data in the multiple-channel audio data corresponds to the channel corresponding to each target vehicle, and each channel audio data is a part of the audio data; Controlling the target in-vehicle speaker of the first target vehicle to play first-channel audio data, where the first-channel audio data is the channel audio data corresponding to the first target vehicle in the multiple-channel audio data; Send the second-channel audio data to each second target vehicle among the multiple target vehicles, so that the target vehicle-mounted speakers of each second target vehicle play the second-channel audio data, and the second-channel audio data is the audio data corresponding to each second target vehicle among the multiple-channel audio data.

12. The method according to claim 1, wherein, After controlling the target vehicle-mounted speakers of each target vehicle to play the audio data, the method further includes: Send a noise reduction instruction to each second target vehicle among the at least one second target vehicle, where the noise reduction instruction is used to instruct each second target vehicle to perform noise reduction on its respective noise field area to be reduced, and the noise field area to be reduced is the sound field area in the environment where each second target vehicle is located except for the target sound field area, and the target sound field area is the playing area of the audio data in the target mode.

13. The method according to claim 1, wherein After controlling the target vehicle-mounted speakers of each target vehicle to play the audio data, the method further includes: Control each target vehicle to collect ambient noise in the sound field directions of its multiple other vehicle-mounted speakers, so as to obtain the ambient noise corresponding to each other vehicle-mounted speaker of each target vehicle, and the sound field directions of the multiple other vehicle-mounted speakers are different from the sound field direction of the target vehicle-mounted speaker; Determine the target signal corresponding to each other vehicle-mounted speaker of each target vehicle according to the ambient noise corresponding to each other vehicle-mounted speaker of each target vehicle; Control each other vehicle-mounted speaker of each target vehicle to output its corresponding target signal, and the target signal is used for each target vehicle to perform noise reduction on its respective ambient noise.

14. A vehicle-mounted audio playback method, which is executed by a control device, wherein, The method includes: Network with multiple target vehicles, where each target vehicle among the multiple target vehicles has multiple positioning anchors and multiple vehicle-mounted speakers for playing audio data outside the vehicle; Obtain the pose information of the multiple target vehicles, where the pose information is used to indicate the position and orientation of each target vehicle; the pose information of each target vehicle is obtained by positioning the positioning anchors of the multiple target vehicles; Based on the pose information of the multiple target vehicles, determine the target pose information of the multiple target vehicles, where the target pose information is used to indicate the pose of each target vehicle in the target mode; When each target vehicle is in the pose in the target mode, control the target vehicle-mounted speakers of each target vehicle to play the audio data.

15. The method according to claim 14, wherein, The networking with the multiple target vehicles includes: Send a second networking request message, where the second networking request message includes the networking information of the control device; Receive a second networking response message sent by at least one vehicle in response to the networking information of the control device; Based on the second networking response message, determine one or more vehicles from the at least one vehicle as the multiple target vehicles; Network with the multiple target vehicles.

16. The method according to claim 15, wherein, The determining the multiple target vehicles from the at least one vehicle based on the second networking response message includes: Determine the number of vehicles corresponding to the target mode; Based on the second network formation response information, determine target vehicles from the at least one vehicle that meet the number of vehicles corresponding to the target mode.

17. The method according to claim 14, wherein, The networking with multiple target vehicles includes: Send third network formation request information to at least one vehicle among the multiple vehicles, where the third network formation request information is used to instruct the at least one vehicle to send fourth network formation request information to other vehicles, and the fourth network formation request information is used to request the network formation information of the other vehicles; Receive first network formation information and second network formation information from the at least one vehicle, where the first network formation information is sent by the at least one vehicle in response to the third network formation request information, and the second network formation information is sent by the other vehicles to the at least one vehicle in response to the fourth network formation request; Based on the first network formation information and the second network formation information, determine one or more vehicles from the multiple vehicles as the multiple target vehicles; Perform network formation with the multiple target vehicles.

18. The method according to claim 14, wherein, The obtaining the pose information of multiple target vehicles includes: Control the positioning anchor of at least one target vehicle among the multiple target vehicles to position the positioning anchors of other target vehicles, so as to obtain the pose information of the other target vehicles; Obtain the pose information of the at least one target vehicle.

19. The method according to claim 14, wherein, The obtaining the pose information of multiple target vehicles includes: Send positioning signals to each target vehicle; Receive response signals sent by each target vehicle in response to the positioning signals; Based on the positioning signals and the response signals, obtain the pose information of each target vehicle.

20. The method according to claim 14, wherein The determining the target pose information of the multiple target vehicles based on the pose information of the multiple target vehicles includes: According to the mode information of the target mode and the pose information of the multiple target vehicles, determine a target sound field area, where the target sound field area is the playing area of audio data in the target mode; According to the number of the multiple target vehicles and the target sound field area, determine the target pose information of the multiple target vehicles.

21. The method according to claim 14, wherein After determining the target pose information of the multiple target vehicles and before controlling the target in-vehicle speakers of each target vehicle to play audio data, the method further includes: Send the respective target pose information to the multiple target vehicles, where the target pose information is used to instruct the multiple target vehicles to move to their respective target poses.

22. The method according to claim 14, wherein After determining the target pose information of the multiple target vehicles and before controlling the target in-vehicle speakers of each target vehicle to play audio data, the method further includes: According to the pose information of the multiple target vehicles and the target pose information of the multiple target vehicles, determine abnormal vehicles among the multiple target vehicles, where the abnormal vehicles are vehicles that are not in the pose in the target mode; Display a visual interface and / or control the visual interfaces of the multiple target vehicles to be displayed, wherein the abnormal vehicle is displayed in the visual interface with first display parameters, and the other target vehicles except the abnormal vehicle are displayed in the visual interface with second display parameters, and the first display parameters are different from the second display parameters.

23. The method according to claim 14, wherein After determining the target pose information of the multiple target vehicles and before controlling the target vehicle-mounted speakers of each target vehicle to play audio data, the method further includes: Determine the target vehicle-mounted speakers of each target vehicle according to the target pose information of the multiple target vehicles, where the target vehicle-mounted speakers are at least one vehicle-mounted speaker among the multiple vehicle-mounted speakers of each target vehicle whose sound field direction faces the target sound field area, and the target sound field area is the playing area of the audio data in the target mode; Send the identification information of the respective target vehicle-mounted speakers to each target vehicle.

24. The method according to claim 14, wherein, The controlling the target vehicle-mounted speakers of each target vehicle to play audio data includes: Send the audio data to each target vehicle among the multiple target vehicles, so that the target vehicle-mounted speakers of each target vehicle play the respective corresponding parts in the audio data.

25. The method according to claim 14, wherein The controlling the target vehicle-mounted speakers of each target vehicle to play audio data includes: Determine the channel information corresponding to each target vehicle, where the channel information is used to indicate the channel corresponding to each target vehicle; Process the audio data into multiple-channel audio data according to the channel information, where each channel audio data in the multiple-channel audio data corresponds to the channel corresponding to each target vehicle, and each channel audio data is a part of the audio data; Send the respective corresponding channel audio data in each channel audio data to each target vehicle, so that the target vehicle-mounted speakers in each target vehicle play the channel audio data corresponding to each target vehicle.

26. The method according to claim 14, wherein, After controlling the target vehicle-mounted speakers of each target vehicle to play audio data, the method further includes: Send a noise reduction instruction to each target vehicle, where the noise reduction instruction is used to instruct each target vehicle to perform noise reduction on its respective noise field area to be reduced, and the noise field area to be reduced is the sound field area in the environment where each target vehicle is located except the target sound field area, and the target sound field area is the playing area of the audio data in the target mode.

27. The method according to claim 14, wherein, After controlling the target vehicle-mounted speakers of each target vehicle to play audio data, the method further includes: Control each target vehicle to collect environmental noise in the sound field directions of its multiple other vehicle-mounted speakers, so as to obtain the environmental noise corresponding to each other vehicle-mounted speaker of each target vehicle, and the sound field directions of the multiple other vehicle-mounted speakers are different from the sound field direction of the target vehicle-mounted speaker; Determine the target signal corresponding to each other vehicle-mounted speaker of each target vehicle according to the environmental noise corresponding to each other vehicle-mounted speaker of each target vehicle. Control each other in-vehicle speaker of each target vehicle to output a respective corresponding target signal for each target vehicle to reduce the ambient noise of itself.

28. An in-vehicle audio playback system, wherein, The in-vehicle audio playback system includes: control devices respectively disposed on each of a plurality of target vehicles, a plurality of in-vehicle speakers respectively disposed on the plurality of target vehicles for playing audio data to the outside of the vehicle, and a plurality of positioning anchors respectively disposed on the plurality of target vehicles, where the plurality of target vehicles include a first target vehicle and at least one second target vehicle; there is a connection between the control device disposed on each target vehicle and the plurality of in-vehicle speakers disposed on each target vehicle, and there is a connection between the control device disposed on each target vehicle and the plurality of positioning anchors disposed on each target vehicle; wherein, The control device disposed on the first target vehicle is configured to: Control the control device disposed on the first target vehicle to network with the control devices disposed on the at least one second target vehicle, where the first target vehicle has activated a target mode; Obtain the pose information of the plurality of target vehicles, where the pose information is used to indicate the position and orientation of each target vehicle in the plurality of target vehicles, and the pose information of the at least one second target vehicle is obtained by positioning the plurality of positioning anchors disposed on the at least one second target vehicle; Based on the pose information of the plurality of target vehicles, determine the target pose information of the plurality of target vehicles, where the target pose information is used to indicate the pose of each target vehicle in the target mode; When each target vehicle is in the pose in the target mode, control the target in-vehicle speakers of each target vehicle to play audio data.

29. An in-vehicle audio playback system, wherein, The in-vehicle audio playback system includes: a first control device, second control devices respectively disposed on each of a plurality of target vehicles, a plurality of in-vehicle speakers respectively disposed on the plurality of target vehicles for playing audio data to the outside of the vehicle, and a plurality of positioning anchors respectively disposed on the plurality of target vehicles; there is a connection between the second control device disposed on each target vehicle and the plurality of in-vehicle speakers disposed on each target vehicle, and there is a connection between the second control device disposed on each target vehicle and the plurality of positioning anchors disposed on each target vehicle; wherein, The first control device is configured to: Network with the second control devices disposed on the plurality of target vehicles; Obtain the pose information of the plurality of target vehicles, where the pose information is used to indicate the position and orientation of each target vehicle; the pose information of each target vehicle is obtained by positioning the plurality of positioning anchors disposed on the plurality of target vehicles; Based on the pose information of the plurality of target vehicles, determine the target pose information of the plurality of target vehicles, where the target pose information is used to indicate the pose of each target vehicle in the target mode; When each of the target vehicles is in the pose in the target mode, control the target vehicle-mounted speakers of each of the target vehicles to play audio data.

30. A control device, comprising: at least one processor; and, a memory coupled to the at least one processor, the memory containing instructions stored therein, which when executed by the at least one processor cause the control device to perform the in-vehicle audio playback method according to any one of claims 1 to 27.

31. A storage medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, the in-vehicle audio playback method according to any one of claims 1 to 27 is implemented.

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