Audio source generation method, storage medium, electronic device, and vehicle

Abstract

The present application relates to an audio source generation method, a storage medium, an electronic device, and a vehicle. The method comprises: in response to a first operation instruction from a user, processing a first sound signal to obtain an audio source for a vehicle low-speed alert sound, wherein the first sound signal is obtained by the user performing a first custom operation. The audio source generation method of the present application can satisfy user demands for personalized creation.

Description

Sound source generation methods, storage media, electronic devices and vehicles

[0001] This application claims priority to Chinese Patent Application No. 202411218717.3, filed on August 30, 2024, entitled "Sound Source Generation Method, Storage Medium, Electronic Device and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of automotive engineering technology, and more specifically, to a sound source generation method, storage medium, electronic device, and vehicle. Background Technology

[0003] With the rapid development of new energy vehicles, the market share of electric vehicles has been increasing year by year. However, because electric vehicles do not have an internal combustion engine, they are very quiet during driving, making it difficult to attract the attention of pedestrians and increasing the probability of traffic accidents.

[0004] Currently, a single sound source is typically generated and used as a warning sound when a vehicle is traveling at low speeds to attract the attention of pedestrians. However, the sound sources generated by existing sound source generation schemes are relatively simple, resulting in users finding the auditory feedback of the low-speed vehicle warning sound monotonous or unsatisfactory. Summary of the Invention

[0005] This application provides a sound source generation method, a storage medium, an electronic device, and a vehicle. The sound source generation method of this application can meet the needs of users for personalized production.

[0006] In a first aspect, this embodiment provides a sound source generation method, including: in response to a user's first operation command, processing a first sound signal to obtain a sound source of a vehicle low-speed warning sound; wherein the first sound signal is obtained by the user performing a first custom operation.

[0007] Optionally, processing the first sound signal to obtain the sound source of the vehicle low-speed warning sound includes: removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal; and generating the sound source of the vehicle low-speed warning sound based on the target sound signal and the signal to be superimposed.

[0008] Optionally, the frequency of the signal to be superimposed is determined based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal.

[0009] Optionally, determining the frequency of the signal to be superimposed based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal includes: detecting whether there is sound signal energy in the adjacent frequency bands of the frequency band corresponding to the energy groove; if sound signal energy exists, selecting sub-frequency falling within the frequency band corresponding to the energy groove from the set frequency information of the signal to be superimposed; and determining the frequency of the signal to be superimposed based on the sub-frequency.

[0010] Optionally, the frequency information of the signal to be superimposed is set as an octave frequency.

[0011] Optionally, determining the frequency of the signal to be superimposed based on the sub-frequency includes: using the sub-frequency as the initial frequency of the signal to be superimposed corresponding to the initial speed of the vehicle; and determining the frequency of the signal to be superimposed corresponding to the speed at the current moment based on the initial frequency, the rate of change of frequency with speed, and the speed at the current moment.

[0012] Optionally, before determining the frequency of the signal to be superimposed based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum, the method further includes: performing a short-time Fourier transform on the first sound signal to obtain the time-frequency energy spectrum of the first sound signal; and obtaining the frequency domain energy spectrum of the first sound signal based on the time-frequency energy spectrum.

[0013] Optionally, removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal includes: determining the amplitude and phase of the first sound signal at the frequency of the signal to be superimposed; generating a signal component based on the frequency, amplitude, and phase of the signal to be superimposed; and removing the signal component from the first sound signal to obtain the target sound signal.

[0014] Optionally, removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal includes: converting the first sound signal from the time domain to the frequency domain to obtain a first frequency domain signal corresponding to the frequency domain; removing the signal component from the first frequency domain signal to obtain a second frequency domain signal; and converting the second frequency domain signal from the frequency domain to the time domain to obtain the target sound signal.

[0015] Optionally, removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal includes: using an adaptive notch filter to cancel the signal component of the first sound signal at the frequency of the signal to be superimposed to obtain the target sound signal.

[0016] Optionally, generating a sound source for a vehicle low-speed warning sound based on a target sound signal and a signal to be superimposed includes: obtaining an amplitude threshold for the target sound signal; adjusting the amplitude of the target sound signal if the amplitude exceeds the amplitude threshold to obtain an adjusted target sound signal; and generating a sound source for a vehicle low-speed warning sound based on the adjusted target sound signal and the signal to be superimposed.

[0017] Optionally, the amplitude threshold of the target sound signal is determined based on the sound pressure level threshold of the signal to be superimposed and / or the sound pressure level threshold of the vehicle speaker.

[0018] Optionally, the signal to be superimposed is a first signal to be superimposed corresponding to the vehicle's current speed. The sound source for generating the vehicle's low-speed warning sound is generated based on the target sound signal and the signal to be superimposed, including: generating the sound source for the vehicle's low-speed warning sound based on the sound signal segment of the current time in the first signal to be superimposed and the target sound signal.

[0019] Optionally, generating a sound source for a vehicle low-speed warning sound based on a sound signal segment at the current moment in the first signal to be superimposed and the target sound signal includes: obtaining the amplitude of the first signal to be superimposed, the amplitude of the first signal to be superimposed being determined based on the mapping relationship between the amplitude of the signal to be superimposed and the vehicle speed; and generating the first signal to be superimposed based on the frequency and amplitude of the first signal to be superimposed.

[0020] Optionally, the mapping relationship between amplitude and vehicle speed is a mapping relationship between speed and amplitude within a set speed range determined based on the set sound pressure level corresponding to the first and second speeds of the vehicle.

[0021] Optionally, the source of the vehicle low-speed warning sound is generated based on the sound signal segment of the first signal to be superimposed and the target sound signal at the current moment, including: acquiring the second signal to be superimposed corresponding to the speed of the vehicle at the previous moment; performing amplitude splicing and phase splicing on the first signal to be superimposed and the second signal to be superimposed to obtain the signal to be superimposed; and generating the source of the vehicle low-speed warning sound based on the target signal to be superimposed and the sound signal segment.

[0022] Optionally, before removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal, the method further includes: obtaining the sound source format of the first sound signal; and if the sound source format is multi-channel, converting the sound source format of the first sound signal to single-channel.

[0023] Optionally, the first sound signal is obtained by the user performing a first custom operation, including: in response to the user's second operation instruction, acquiring the second sound signal; in response to the user's first custom operation on the second sound signal, processing the second sound signal to obtain the first sound signal.

[0024] Optionally, in response to a user's second operation command, acquiring the second sound signal includes: acquiring the second sound signal in response to a user's operation of recording a sound signal through a vehicle recording device; or, acquiring the second sound signal in response to a user's operation of selecting a sound signal from an external storage medium; or, acquiring the second sound signal in response to a user's operation of downloading a sound signal while the vehicle is connected to the internet; or, acquiring the second sound signal in response to a user's operation of uploading a sound signal to an internal vehicle storage medium and selecting a sound signal from the vehicle's internal storage medium.

[0025] Optionally, the first custom operation includes at least one of the following: selecting or editing the second sound signal; listening to the second sound signal or the edited third sound signal; adjusting the volume of the second sound signal or the edited third sound signal.

[0026] Optionally, after obtaining the source of the vehicle low-speed warning sound, the method further includes: in response to a third operation command from the user, playing the sound source for the user to listen to; and / or, in response to a fourth operation command from the user, adjusting the volume of the sound source.

[0027] Secondly, this embodiment provides a storage medium on which a computer program is stored, which, when executed by a processor, implements the method as described in any of the first aspects.

[0028] Thirdly, this embodiment provides an electronic device, including a memory and a processor, wherein the memory is used to store computer instructions, and the processor is used to retrieve the computer instructions from the memory to perform the method as described in any of the first aspects.

[0029] Fourthly, this embodiment provides a vehicle including electronic equipment as described in the third aspect.

[0030] This embodiment of the application processes the sound signal obtained from a user's first customized operation in response to the user's operation command to obtain a low-speed warning sound source for the vehicle. This allows users to create personalized low-speed warning sound sources according to their preferences, thereby enhancing user-vehicle interaction and improving the driving experience. Furthermore, when the vehicle is in different environmental conditions, the output sound source can be adjusted in real time by receiving the user's customized operation. The sound source generated by the method of this embodiment not only ensures vehicle safety when driving at low speeds but also improves the flexibility of sound source generation and the user-friendliness of the vehicle.

[0031] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0033] Figure 1 shows a schematic flowchart of a sound source generation method provided in an embodiment of this application.

[0034] Figure 2 shows a schematic UI (User Interface) diagram of a low-speed prompt tone function provided in an embodiment of this application.

[0035] Figure 3 shows a schematic UI interface display of the low-speed prompt sound function provided in another embodiment of this application.

[0036] Figure 4 shows a schematic UI interface display of the low-speed prompt sound function provided in another embodiment of this application.

[0037] Figure 5 shows a schematic flowchart of a sound source generation method provided in another embodiment of this application.

[0038] Figure 6 shows a schematic diagram of the frequency domain energy spectrum of a sound signal provided in an embodiment of this application.

[0039] Figure 7 shows a schematic flowchart of a sound source generation method provided in another embodiment of this application.

[0040] Figure 8 shows a schematic diagram of the velocity amplitude envelope provided in an embodiment of this application.

[0041] Figure 9 shows a schematic block diagram of a sound source generation system provided in an embodiment of this application.

[0042] Figure 10 shows a schematic block diagram of an electronic device provided in an embodiment of this application. Specific Implementation

[0043] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0044] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0045] With the rapid development of new energy vehicles, the market share of electric vehicles has been increasing year by year. However, because electric vehicles do not have an internal combustion engine, they are very quiet during driving, making it difficult to attract the attention of pedestrians and increasing the probability of traffic accidents.

[0046] Currently, a single sound source is typically generated and used as a low-speed vehicle alert to attract pedestrians' attention. However, existing sound source generation schemes produce relatively simple sound sources, leading to monotonous or unsatisfactory auditory feedback for users. For example, existing sound source generation schemes produce standardized sound sources with limited sound features, failing to meet user needs and resulting in a poor driving experience.

[0047] Based on this, this application provides a sound source generation method. As shown in FIG1, the sound source generation method may include step S110: in response to a user's first operation command, processing a first sound signal to obtain a sound source of a vehicle low-speed warning sound; wherein, the first sound signal is obtained by the user performing a first custom operation.

[0048] In this embodiment, the first operation instruction may include an operation instruction for the user to enter the low-speed prompt tone function and select the original sound signal, or an operation instruction for the user to perform custom operations on the original sound signal, or an operation instruction to trigger processing of the first sound signal.

[0049] As an example, as shown in Figures 2 to 4, the configuration function for a low-speed warning sound can be displayed on the vehicle's central control screen. This configuration function can include at least one of the following: a function to select the original sound signal, a direct use function, an editing function, a preview function, a volume adjustment function, and a confirmation function for completion of editing. In this example, the operation command for selecting the original sound signal can be the operation command generated when the user uses the original sound signal selection function. The operation command for the user to customize the original sound signal can be the operation command generated when the user uses the editing function, the preview function, or the volume adjustment function. The operation command that triggers the processing of the first sound signal can be the operation command generated when the user uses the confirmation function for completion of editing or the direct use function.

[0050] In this example, the selection function for the original sound signal can include both a selection function for a non-preset original sound signal and a selection function for a preset original sound signal. The preset original sound signal is at least one original sound signal pre-configured by the system. The preset original sound signal can be a sound signal manufactured by the car OEM and integrated into the car's low-speed warning sound system to match its brand characteristics. For example, the preset original sound signal can be a natural sound signal, such as birdsong, wind, rain, or noise.

[0051] The function for selecting the original audio signal may include displaying at least one original audio signal pre-configured by the system. Optionally, the function for selecting the original audio signal may include displaying the file name of at least one original audio signal pre-configured by the system. For example, as shown in Figure 2, standard tone, brand tone 1, and brand tone 2 are displayed.

[0052] Non-preset raw sound signals can be sound signals that users can select in the vehicle through screen interaction or cockpit buttons. Non-preset raw sound signals can be artificial sound signals, such as music or instrument sounds. Non-preset raw sound signals can be mono or multi-channel sound signals.

[0053] The function for selecting non-preset raw audio signals can include at least one of the following: displaying a custom button, displaying an external storage button, displaying an internal storage button, displaying a record button (not shown in the figure), displaying an online download button (not shown in the figure), or displaying the raw audio signal located in an external or internal storage path. Optionally, the filename of the raw audio signal located in an external or internal storage path can be displayed. For example, as shown in Figure 3, "audio signal 1.mp3", "audio signal 2.wav", "audio signal 3.dts", etc. can be displayed.

[0054] In this example, the first operation instruction may include an instruction for the user to operate the configuration function of the low speed warning sound button after clicking (touching or pressing a button) on the vehicle's central control screen. For example, the first operation instruction may include clicking the following buttons in sequence on the vehicle's central control screen: low speed warning sound button, user-defined button, external storage button, original sound signal button, edit button, preview button, and edit completion confirmation button.

[0055] As another example, the configuration function for the low-speed warning tone can also be displayed on a mobile terminal communicating with the vehicle. In this example, the first operation instruction may include an instruction for the user to operate the configuration function after clicking the low-speed warning tone button on the mobile terminal.

[0056] This embodiment of the application processes a first sound signal obtained from a user's first customized operation in response to a user's first operation command to obtain a vehicle low-speed warning sound source. This allows users to create personalized vehicle low-speed warning sound sources according to their preferences, thereby enhancing user-vehicle interaction and improving the driving experience. Furthermore, when the vehicle is in different environmental conditions, the output sound source can be adjusted in real time by receiving user-customized operations. The sound source generated by the method of this embodiment not only ensures vehicle safety at low speeds but also improves the flexibility of sound source generation and the user-friendliness of the vehicle.

[0057] The first sound signal may be in a multi-channel format, such as dual-channel stereo, 5.1 surround sound, 7.1 surround sound, or 7.1.4 immersive sound. Based on this, after obtaining the first sound signal, it can be processed to obtain the sound source for the vehicle's low-speed warning tone.

[0058] In this embodiment, the step of processing the first sound signal may include: obtaining the sound source format of the first sound signal; and converting the sound source format of the first sound signal into a single channel if the sound source format of the first sound signal is multi-channel.

[0059] In this embodiment, the step of processing the first sound signal to obtain the sound source of the vehicle low-speed warning sound may include: processing the single-channel first sound signal to obtain the sound source of the vehicle low-speed warning sound.

[0060] As an example, a multi-channel audio signal can be downmixed to convert the first audio signal from multiple channels into a single channel. Downmixing often also includes decoding operations, such as decoding a 7.1.4 immersive sound source to obtain a single-channel first audio signal.

[0061] This application embodiment can use downmixing technology to convert the multi-channel first audio signal into a single channel. Through the above processing, the user-defined audio signal can be better processed and the audio information can be preserved, and the sound source of the vehicle low-speed warning sound played at the speaker end will be closer to the original audio signal.

[0062] In some embodiments, the step of detecting and converting the sound source format of the sound signal can also be performed before the first sound signal is obtained, which will not be elaborated here.

[0063] In this embodiment of the application, a first sound signal is obtained in response to a user's first operation command. The first sound signal is obtained by the user performing a first customized operation. The step of obtaining the first sound signal in response to the user's first operation command may include step S111: obtaining the first sound signal based on the user's first customized operation. Step S111 may include steps S112 to S113.

[0064] Step S112: In response to the user's second operation command, acquire the second sound signal.

[0065] Step S113: In response to the user's first custom operation on the second sound signal, the second sound signal is processed to obtain the first sound signal.

[0066] In this embodiment, the second sound signal can be the original sound signal. The second operation instruction can include the selection instruction for the original sound signal from the first operation instruction. After the user issues the second operation instruction through the vehicle's central control screen or mobile terminal, the original sound signal indicated in the second operation instruction is used as the second sound signal. In this embodiment, the second sound signal can be displayed on the vehicle's central control screen or mobile terminal so that the user can customize the operation of the second sound signal.

[0067] As an example, the second operation instruction may include: clicking the following buttons in sequence on the vehicle's central control screen: low speed warning tone button, user-defined button, internal storage button, and original sound signal button. As another example, the second operation instruction may include: clicking the following buttons in sequence on the vehicle's central control screen: low speed warning tone button, user-defined button, record button, and recording complete button. In this example, after the user completes the recording of the original sound signal, the recorded second sound signal can be displayed on the vehicle's central control screen or mobile terminal, allowing the user to customize the second sound signal.

[0068] This application embodiment allows users to acquire a second sound signal through different operations, thus providing users with multiple ways to acquire the second sound signal according to actual needs. Acquiring the second sound signal using the method of this application embodiment can further improve the diversity and flexibility of sound source generation and the user-friendliness of the vehicle.

[0069] In some embodiments, step S112 may include: acquiring a second audio signal in response to a user's operation of recording an audio signal via a vehicle recording device. The vehicle recording device may be, for example, an in-vehicle microphone. By allowing the user to select real-time recording, it can be ensured that the acquired second audio signal is a personalized audio signal, thereby obtaining a personalized sound source and further enhancing the driving experience.

[0070] Alternatively, the step of acquiring the second sound signal in response to a user's second operation command may also include: acquiring the second sound signal in response to the user's operation of selecting a sound signal from an external storage medium. The external storage medium may be, for example, a USB flash drive or hard drive. The user selects the second sound signal from at least one sound signal displayed on the external storage medium by inserting it into a port such as a USB port or Type-C port connected to the vehicle's infotainment system. The user's operation of selecting a sound signal may include clicking an external storage button and then selecting their preferred second sound signal from at least one displayed sound signal. Acquiring the sound signal through an external storage medium increases the diversity of sound signals.

[0071] Alternatively, the step of acquiring the second audio signal in response to a second user operation command may also include: acquiring the second audio signal in response to a user's operation of downloading an audio signal while the vehicle is connected to the internet. Through vehicle connectivity, users can download or upload audio signals from the internet, increasing interactivity with the vehicle system.

[0072] Alternatively, the step of acquiring the second sound signal in response to a user's second operation command may further include: acquiring the second sound signal in response to the user's operation of uploading the sound signal to the vehicle's internal storage medium and selecting the sound signal from the vehicle's internal storage medium. Internal storage media include, for example, Flash memory, ROM (Read-Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), and SSD (Solid State Drive). The user uploading the sound signal to the vehicle's internal storage medium can be done by a mobile terminal (such as a mobile phone or tablet) communicating with the vehicle and then transmitting the signal to the vehicle's internal storage medium. The communication method between the mobile terminal and the vehicle can include wireless communication or Bluetooth. Acquiring the second sound signal through the sound signal stored in the internal storage medium eliminates the need for the user to carry additional equipment and avoids the data security risks that may arise from external storage media.

[0073] Furthermore, this embodiment utilizes at least one of the vehicle's built-in recording, storage, and communication functions to acquire the second audio signal. For the vehicle side, minimal modifications are required, improving the feasibility of the method. Simultaneously, the vehicle system can support multiple audio signal formats, enhancing compatibility with other devices.

[0074] In some embodiments, the first custom operation in step S113 may include at least any one of the following: selecting or editing the second sound signal; listening to the second sound signal or the edited third sound signal; adjusting the volume of the second sound signal or the edited third sound signal.

[0075] Step S113 may include: in response to a user's operation instruction to select a second sound signal, using the second sound signal as the first sound signal; or, in response to a user's operation instruction to edit the second sound signal, editing the second sound signal; or, step S113 may include: in response to a user's operation instruction to listen to the second sound signal, playing the second sound signal; or, step S113 may include: in response to a user's operation instruction to listen to a third sound signal obtained by editing the second sound signal, playing the third sound signal; or, step S113 may include: in response to a user's operation instruction to adjust the volume of the second sound signal; or, step S113 may include: in response to a user's operation instruction to adjust the volume of the third sound signal obtained by editing the second sound signal, adjusting the volume of the third sound signal.

[0076] Editing the second audio signal can be done using audio processing software. Editing the second audio signal can include at least one of the following: trimming, splicing, fading in / out, equalization, noise reduction, and adding sound effects. Fading in / out smoothly transitions the beginning and end of the second audio signal to avoid abrupt changes. Equalization adjusts the frequency response of the second audio signal to improve clarity and balance. Noise reduction uses noise reduction tools to reduce background noise and interference. Adding sound effects can include natural sounds like rain or wind, or other sound effects such as footsteps or mechanical sounds.

[0077] This application embodiment can create a unique and personalized first sound signal by editing the second sound signal.

[0078] This application provides a listening function to obtain real-time feedback and determine whether the second sound signal meets the expected effect. Furthermore, if the second sound signal does not meet expectations, it can be edited. The resulting third sound signal can also be listened to to determine whether it meets the expected effect, thereby ensuring that the final output first sound signal meets the expected effect.

[0079] This application embodiment provides a function to adjust the volume of a second audio signal, allowing users to adjust the volume of the audio signal in different environments. Thus, in noisy environments, users can turn the volume up, and in relatively quiet environments, users can turn the volume down, thereby improving the flexibility of the audio source system in different environments.

[0080] The sound source format processing in this embodiment allows for sound source format processing of the second sound signal after it has been acquired. The processed second sound signal can then be displayed in the sound signal editing interface.

[0081] As an example, as shown in Figure 3, the second audio signal after source format processing can be displayed in a waveform diagram. The diagram shows a time-domain waveform, displaying the total duration of the audio signal. The audio signal can be edited by tossing the arrows indicating the start and end points of the cut. When the arrows are tossed, the current time is displayed next to them. Users can select the audio signal corresponding to the time between the start and end points of the cut and play the edited audio signal by clicking the preview button. If the user is satisfied after previewing, they can click the "Edit Complete" confirmation button, and the system will automatically save the edited audio signal segment as the first audio signal.

[0082] In some embodiments, after obtaining the source of the vehicle low-speed warning sound in step S110, the method of this application embodiment may further include step S120 and / or step S130.

[0083] In step S120, in response to the user's third operation command, the sound source of the vehicle low speed warning sound is played so that the user can listen to the sound source.

[0084] In step S130, in response to the user's fourth operation command, the volume of the vehicle low speed warning sound source is adjusted.

[0085] In this embodiment, the third operation instruction may include an instruction sent by the user to click the audition button on the vehicle's central control screen or mobile terminal for the generated low-speed warning sound.

[0086] The fourth operation command can include a user's instruction to adjust the volume of the generated low-speed warning sound source on the vehicle's central control screen or mobile terminal. As an example, as shown in Figure 4, the user can configure the volume by clicking the volume settings. The user can configure the default volume by clicking the default button, configure the volume to change with speed by clicking the volume-speed-sensitive button, and adjust the default volume by clicking the volume adjustment button.

[0087] After obtaining the sound source of the vehicle's low-speed warning sound, the embodiment of this application still allows for listening to the sound source and / or volume adjustment. Users can adjust the sound source again according to actual needs, further improving the flexibility of the sound source system.

[0088] Besides meeting aesthetic and personalization requirements, the source of a vehicle low-speed warning sound must first and foremost comply with regulations. Current methods typically generate the sound by superimposing a signal onto an existing sound signal, which is then output through the speakers of an AVAS (Acoustic Vehicle Alert System) to alert pedestrians. However, interference between the sound signal and the superimposed signal makes it difficult to strike a balance between regulatory compliance and audibility. Therefore, eliminating the interference between the sound signal and the superimposed signal is crucial. However, current interference elimination methods introduce other problems.

[0089] For example, a sound signal and a 1 / 3 octave band signal can be combined to generate a low-speed pedestrian warning sound. However, due to mutual interference between the sound signal and the 1 / 3 octave band signal, adjusting the A-weighted sound pressure level (SPL) parameter of the 1 / 3 octave band signal is difficult in regulatory certification. If the A-weighted SPL of the 1 / 3 octave band signal is adjusted too high, the low-speed pedestrian warning sound will become irritating, affecting the hearing experience for occupants. If the A-weighted SPL of the 1 / 3 octave band signal is adjusted too low, the low-speed pedestrian warning sound may fail to meet regulatory requirements.

[0090] Furthermore, the interference with any designed sound signal differs from that of a 1 / 3 octave band signal. To ensure that the low-speed warning sound source meets regulatory requirements at the minimum sound pressure level and effectively alerts pedestrians, the A-weighted sound pressure level parameters need to be recalibrated, resulting in significant waste of human resources and reduced efficiency.

[0091] Based on this, this application embodiment introduces the idea of ​​removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to eliminate the interference between the sound signal and the signal to be superimposed. In this embodiment, as shown in FIG5, the step of processing the first sound signal in step S110 to obtain the sound source of the vehicle low speed warning sound may include steps S210 to S220.

[0092] Step S210: Remove the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal.

[0093] Step S220: Generate the sound source of the vehicle low-speed warning sound based on the target sound signal and the signal to be superimposed.

[0094] In this embodiment, the sound source format of the first sound signal is a single-channel format. Before step S210, the sound source format of the first sound signal can be obtained first. If the sound source format is multi-channel, the sound source format of the first sound signal can be converted to single-channel.

[0095] In this embodiment, for a preset audio signal, the frequency of the signal to be superimposed can be stored in the system beforehand. For a non-preset audio signal, the frequency of the signal to be superimposed can be determined in real time.

[0096] In this embodiment, the signal components may include at least any one of the following: amplitude and phase components in the time domain, and amplitude and phase components in the frequency domain. Removing the signal components corresponding to the frequencies of the signals to be superimposed from the first audio signal may be done by removing the amplitude and phase components of the first audio signal corresponding to the frequencies of the signals to be superimposed from the first audio signal in the time domain, or by removing the amplitude and phase components of the first audio signal corresponding to the frequencies of the signals to be superimposed from the first audio signal in the frequency domain.

[0097] After obtaining the target sound signal, step S220 can synthesize the target sound signal and the signal to be superimposed to generate the sound source of the vehicle low speed warning sound.

[0098] The target sound signal is obtained by removing the signal component of the first sound signal corresponding to the frequency of the signal to be superimposed from the first sound signal. This eliminates interference between the target sound signal and the signal to be superimposed without introducing new problems. The low-speed warning sound source for the vehicle is generated by using the non-interfering target sound signal and the signal to be superimposed, ensuring that the generated low-speed warning sound source complies with regulations and meets the user's auditory needs.

[0099] In this embodiment of the application, the step of processing the first sound signal to obtain the sound source of the vehicle low-speed warning sound can also be performed independently of the user's first operation command to obtain the sound source of the vehicle low-speed warning sound.

[0100] To minimize the impact of the cancellation operation on the first audio signal, the applicant conducted research on the audio signal and discovered numerous energy dips in its frequency domain energy spectrum. The audio signals at the frequency bands corresponding to these energy dips are relatively weak. Cancelling the signal components at the frequency bands corresponding to these energy dips has a very small impact on the audio signal itself.

[0101] Therefore, in this embodiment of the application, the frequency of the signal to be superimposed can be determined based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal.

[0102] The energy dip in the frequency domain energy spectrum of the first sound signal refers to a specific frequency range (i.e., frequency band) where the energy is significantly lower than the energy of surrounding frequencies. The frequency band corresponding to the energy dip is the frequency band where the energy is below a set threshold.

[0103] As an example, Figure 6 shows the frequency domain energy spectrum of a sound signal. As can be seen from the figure, the frequency domain energy spectrum of this sound signal contains multiple energy grooves (such as 1, 2, 3, 4, etc.). The frequency range corresponding to energy groove 1 is approximately 0Hz to 270Hz (Hertz). The frequency range corresponding to energy groove 2 is approximately 400Hz to 500Hz. The frequency range corresponding to energy groove 3 is approximately 550Hz to 650Hz. The frequency range corresponding to energy groove 4 is approximately 750Hz to 850Hz.

[0104] In this embodiment, a short-time Fourier transform can be performed on the first sound signal to obtain its time-frequency energy spectrum. Based on the time-frequency energy spectrum, the frequency domain energy spectrum of the first sound signal is obtained. The frequency of the signal to be superimposed is then determined through analysis based on this frequency domain energy spectrum.

[0105] Based on this, as shown in Figure 7, the sound source generation method provided in this application embodiment may further include steps S200 to S201.

[0106] Step S200: Detect whether there is a medium-energy groove in the frequency domain energy spectrum of the first sound signal.

[0107] Step S201: If there is an energy groove in the frequency domain energy spectrum of the first sound signal, determine the frequency of the signal to be superimposed based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal.

[0108] This embodiment determines the frequency of the signal to be superimposed based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal. Then, it removes the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal. In this way, the difference between the target sound signal and the first sound signal is minimized. The sound source of the vehicle low-speed warning sound generated based on the target sound signal can better reproduce the sound characteristics of the first sound signal.

[0109] In this embodiment, the amplitude and phase of the signal to be superimposed can be preset, and the frequency of the signal to be superimposed can be generated by combining it with the frequency band of the signal to be superimposed determined based on the frequency band corresponding to the energy groove. Then, the target sound signal and the signal to be superimposed generated at this time are synthesized to generate the sound source of the vehicle low-speed warning sound.

[0110] In some embodiments, step S201 may include steps S202 to S204.

[0111] Step S202: Detect whether there is sound signal energy in the adjacent frequency bands of the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal.

[0112] In this embodiment, the adjacent frequency bands of the frequency band corresponding to the energy groove may simultaneously include a set frequency range lower than the lowest frequency of the frequency band corresponding to the energy groove and a set frequency range higher than the highest frequency of the frequency band corresponding to the energy groove, or may only include a set frequency range higher than the highest frequency of the frequency band corresponding to the energy groove, or may only include a set frequency range lower than the lowest frequency of the frequency band corresponding to the energy groove.

[0113] As an example, as shown in Figure 6, the adjacent frequency bands to the frequency band corresponding to the energy groove can be between 300Hz and 400Hz and between 500Hz and 550Hz. In this example, the presence of sound signal energy is detected between 300Hz and 400Hz and between 500Hz and 550Hz.

[0114] Step S203: When sound signal energy is present, select sub-frequency that falls within the frequency band corresponding to the energy groove from the set signal frequency information to be superimposed.

[0115] Step S204: Determine the frequency of the signal to be superimposed based on the sub-frequency.

[0116] In this embodiment, step S203 involves selecting a sub-frequency that falls within the frequency band corresponding to the energy groove from the set frequency information of the signals to be superimposed. Step S204 may include using this sub-frequency as the frequency of the signal to be superimposed.

[0117] The set frequency information of the signal to be superimposed is frequency information that complies with the regulations for low-speed warning sounds in vehicles. The set frequency information of the signal to be superimposed can be an octave frequency. An octave frequency can be, for example, multiple 1 / 3 octave frequency points divided according to national standards. As an example, the national standard GB / T 37153-2018 divides 16 1 / 3 octave frequency points. In this example, a sub-frequency that falls within the frequency band corresponding to the energy groove (energy grooves 2, 3, and 4 in Figure 6) is selected from these 16 1 / 3 octave frequency points, and this sub-frequency is used as the frequency of the signal to be superimposed, generating the signal to be superimposed corresponding to this sub-frequency.

[0118] This application embodiment selects sub-frequency that meets the regulations from the set frequency information of the signal to be superimposed as the frequency of the signal to be superimposed, and then generates the signal to be superimposed according to the frequency. Based on the signal to be superimposed and the sound signal, a sound source of a vehicle low speed warning sound that complies with the regulations can be generated.

[0119] Preferably, the adjacent frequency bands of the frequency band corresponding to the energy groove do not include the set frequency range below the frequency band corresponding to the energy groove. This is because when there is no sound signal energy below the set frequency range corresponding to the frequency band corresponding to the energy groove, the sound signal cannot mask it after the signal is superimposed on the energy groove. According to psychoacoustics, this results in the user hearing the signal to be superimposed other than the first sound signal, leading to a poor user experience.

[0120] In other words, if there is no sound signal energy below the set frequency range corresponding to the energy groove, and there is sound signal energy only above the set frequency range corresponding to the energy groove, the frequencies in the frequency band corresponding to the energy groove are discarded and not used as frequencies of the signal to be superimposed.

[0121] As an example, as shown in Figure 6, for any one of the energy grooves 2, 3, and 4, there is sound signal energy in both the set frequency range below the lowest frequency of the corresponding frequency band and the set frequency range above the highest frequency of the corresponding frequency band. The sound pressure level of this sound signal can mask the signal to be superimposed to a certain extent, and both can be used as the frequency of the signal to be superimposed. However, there is no sound energy in the set frequency range below the lowest frequency of the frequency band corresponding to energy groove 1. According to psychoacoustics, the sound signal in this set frequency range cannot mask the signal to be superimposed and cannot be used as the frequency of the signal to be superimposed.

[0122] In this embodiment, when there is no sound signal energy within a set frequency range below the lowest frequency of the frequency band corresponding to the energy groove, the frequency of the frequency band corresponding to the energy groove is discarded, thereby preventing the user from hearing a signal to be superimposed in addition to the first sound signal. This can improve the user's experience.

[0123] After determining the frequency of the signal to be superimposed, in some embodiments, step S210 can be performed in the time domain. In this embodiment, step S210 may include steps S211 to S213.

[0124] Step S211: Determine the amplitude and phase of the first sound signal at the frequency of the signal to be superimposed.

[0125] As an example, taking the frequency of the signal to be superimposed as a 1 / 3 octave frequency point, step S211 can be implemented in the following way.

[0126] First, construct basis vectors at frequencies that can estimate the signals to be superimposed. Where j represents the imaginary unit, f s Here, f is the sampling frequency, f is the 1 / 3 octave band signal frequency, and n is the signal sampling point.

[0127] Then, using the following formula, the amplitude and phase of the first sound signal at the frequency of the signal to be superimposed are obtained:

[0128] in, and They represent The real and imaginary parts of the expression are given, where s[n] is the first audio signal to be processed at the current moment, and w[n] is the window function for windowing the first audio signal. Specific window functions may include rectangular windows, Hanning windows, Hamming windows, Kaiser windows, flat-top windows, Blackman windows, etc.

[0129] Where || denotes modulo, and arctan() is the arctangent function. A f and φ f These represent the amplitude and phase of the first sound signal at the frequency of the signal to be superimposed, respectively.

[0130] In this embodiment, windowing the first audio signal can reduce spectral leakage.

[0131] Step S212: Generate signal components based on the frequency of the signal to be superimposed, the amplitude and phase of the first sound signal at the frequency of the signal to be superimposed.

[0132] In this embodiment, the frequency of the signal to be superimposed is used as the frequency of the signal component, and a single-frequency signal component is generated by combining the amplitude and phase of the signal component.

[0133] As an example, the signal component x f [n] can be represented by the following formula.

[0134] Step S213: Remove the signal component from the first sound signal to obtain the target sound signal.

[0135] In this embodiment, signal component cancellation is performed in the time domain, enabling real-time processing of the first audio signal and avoiding spectral aliasing issues caused by Fourier transform. Furthermore, time-domain signal component cancellation eliminates the need for frequency domain conversion and inverse transform, resulting in lower computational complexity.

[0136] In some embodiments, step S210 may also be performed in the frequency domain. In this embodiment, step S210 may include steps S214 to S216.

[0137] Step S214: Convert the first sound signal from the time domain to the frequency domain to obtain the corresponding first frequency domain signal.

[0138] Step S215: Remove signal components from the first frequency domain signal to obtain the second frequency domain signal.

[0139] Step S216: Convert the second frequency domain signal from the frequency domain to the time domain to obtain the target sound signal.

[0140] As an example, firstly, the first audio signal is windowed and then subjected to a Fast Fourier Transform (FFT) to obtain the corresponding first frequency domain signal. Next, the frequency of the first audio signal closest to the frequency of the signal to be superimposed is determined in the frequency domain. Then, the signal component of the first audio signal corresponding to this frequency is determined and removed. Finally, a target audio signal that approximately cancels out the signal components is obtained in the time domain through a Fast Inverse Fourier Transform. In this example, the frequency of the signal to be superimposed can be used as the center frequency. From the sampling frequencies of the first audio signal, a frequency that differs from this center frequency by a set threshold is searched, and this searched frequency is taken as the frequency closest to the frequency of the signal to be superimposed.

[0141] In this embodiment, the signal components corresponding to the frequencies of the signals to be superimposed are directly canceled in the frequency domain, which is more intuitive and more accurate.

[0142] In some embodiments, step S210 can be implemented directly using the filtering principle. In this embodiment, step S210 may include step S217: using an adaptive notch filter to cancel the signal components of the first sound signal at the frequency of the signal to be superimposed, thereby obtaining the target sound signal.

[0143] As an example, a reference signal for the signal component of the first sound signal corresponding to the frequency of the signal to be superimposed is first designed. Then, an adaptive filter is used to construct a notch filter to cancel the signal component of the first sound signal corresponding to the frequency of the signal to be superimposed, thereby obtaining the target sound signal that cancels the signal component of the first sound signal corresponding to the frequency of the signal to be superimposed in the time domain.

[0144] In this embodiment, an adaptive notch filter can be used in the time or frequency domain to cancel the signal components of the first audio signal at the frequencies of the signals to be superimposed, thereby obtaining the target audio signal. Applying an adaptive notch filter in the frequency domain is generally more stable than in the time domain, and can avoid the ringing effect and excessive oscillation that may occur with time-domain filters.

[0145] In this embodiment, an adaptive notch filter is used to cancel signal components. In this way, when the signal components change, the adaptive notch filter can adaptively cancel the changed signal components, thereby further improving the flexibility of the sound source generation method.

[0146] In some embodiments, the sound source of the vehicle's low-speed warning sound can gradually increase in volume as speed increases and gradually decrease in volume as speed decreases. This prevents the sound from suddenly increasing in volume, thus better alerting pedestrians.

[0147] In this embodiment, when the vehicle is in a state requiring a warning sound as stipulated by regulations, the vehicle low-speed warning sound system acquires the vehicle's speed and gear status information to assist in providing the signal to be superimposed at that moment. The speed and gear status information can be obtained from the vehicle's main unit and transmitted to the vehicle low-speed warning sound system in real time; the gear includes forward and reverse driving. The regulatory requirements for reverse gear are simpler than those for forward gear, and its corresponding sound source generation method can be included in the design of forward gear. This application embodiment uses forward gear as an example for description.

[0148] Optionally, the signal to be superimposed can vary with the vehicle speed. The signal to be superimposed is the first signal corresponding to the vehicle's current speed. The frequency and / or amplitude of the signal to be superimposed can vary with the vehicle speed. In this embodiment, step S220 may include step S310: generating a sound source for a low-speed warning sound based on the first signal to be superimposed and the target sound signal.

[0149] Optionally, the target sound signal can vary with vehicle speed. The target sound signal is a segment of the sound signal at the current moment. The amplitude of the target sound signal can vary with vehicle speed. In this embodiment, step S220 may include step S320: generating a sound source for a low-speed warning sound based on the sound signal segment of the target sound signal at the current moment from the signal to be superimposed and the target sound signal.

[0150] Optionally, both the signal to be superimposed and the target sound signal can change with the vehicle speed. In this embodiment, step S220 may include step S330: generating a sound source for a low-speed warning sound based on the sound signal segment at the current moment in the first signal to be superimposed and the target sound signal.

[0151] In this embodiment, the audio signal segment can be the audio signal of the current frame, or it can be the audio signal of the current frame composed of audio signals from previous frames. This audio signal segment is a fragment of the original audio signal.

[0152] In this embodiment, the signal component corresponding to the frequency of the first signal to be superimposed can be removed from the current sound signal segment. Similarly, the amplitude threshold of the current sound signal segment can be determined based on the sound pressure level threshold in the first signal to be superimposed and the sound pressure level threshold of the vehicle speaker, and the current sound signal segment can be controlled based on this amplitude threshold. Further details are omitted here.

[0153] In some embodiments, the frequency of the first signal to be superimposed varies with the vehicle speed. After obtaining the sub-frequency in step S203, step S204 may include steps S205 to S206.

[0154] Step S205: Use the sub-frequency as the initial frequency of the signal to be superimposed corresponding to the initial speed of the vehicle.

[0155] Taking the setting of the signal frequency to be superimposed as an octave frequency as an example. An octave frequency can be, for example, multiple 1 / 3 octave frequency points divided according to national standards. As an example, there are 16 1 / 3 octave frequency points divided according to national standards. From these 16 1 / 3 octave frequency points, a sub-frequency that falls within the frequency band corresponding to the energy grooves (energy grooves 2, 3, and 4 in Figure 6) is selected, and this sub-frequency is used as the initial frequency of the signal to be superimposed.

[0156] Step S206: Determine the frequency of the signal to be superimposed corresponding to the current speed based on the initial frequency, the rate of change of frequency with speed, and the current speed.

[0157] As an example, the frequency of the signal to be superimposed corresponding to the current velocity can be expressed by the following formula:

[0158] f t =f0 + Δf*t,

[0159] Among them, f t f0 is the frequency of the signal to be superimposed corresponding to the current speed, f0 is the initial frequency of the signal to be superimposed corresponding to the initial speed of the vehicle (starting speed in this example), Δf is the rate of change of frequency with speed, and t is the current time.

[0160] In this example, the vehicle speed can be any value, not limited to integers. This method can reduce the internal storage space used by the vehicle's low-speed warning sound system to some extent and provides more flexible user-defined applications.

[0161] As another example, this can be achieved by reading stored data. The low-speed warning tone system pre-stores different initial frequencies, different rates of change of frequencies with speed, and the frequencies of the signals to be superimposed at different speeds. During vehicle operation, the system only needs to read the frequency of the signal to be superimposed corresponding to the current speed when the vehicle's current speed reaches the stored speed or when the vehicle's current speed, after rounding, reaches the stored speed. Simultaneously, the computing device outputs the signal to be superimposed, which conforms to the regulatory sound pressure level, based on the pre-set amplitude corresponding to the current speed. Here, vehicle speed generally refers to an integer speed value to store the signal data in a certain memory space. This method can reduce the computational resource consumption of the vehicle's low-speed warning tone system to some extent.

[0162] In this embodiment, the frequency of the signal to be superimposed changes with the vehicle speed, which can better alert pedestrians and further improve the user experience. Whether it is generated by reading stored data or by real-time calculation, since the vehicle speed changes during travel, the signal to be superimposed at that moment is a short-time single-frequency signal, generally several milliseconds in length, which can greatly ensure the short-time stability of the signal.

[0163] In some embodiments, the amplitude of the first signal to be superimposed varies with the vehicle speed. To ensure that the generated first signal to be superimposed complies with regulations, the amplitude of the first signal to be superimposed needs to be controlled. The sound source generation method in this embodiment may further include step S230: determining the amplitude of the first signal to be superimposed based on the mapping relationship between the speed and amplitude of the signal to be superimposed.

[0164] In this embodiment, the mapping relationship between speed and amplitude is a speed-amplitude mapping relationship within a set speed range determined based on the set sound pressure levels corresponding to the vehicle's first and second speeds. The first and second speeds are sound pressure level calibration points, which can be set according to actual needs. According to regulations, the operating speed range of the vehicle low-speed warning sound system should at least include speeds greater than 0 km / h and less than or equal to 20 km / h. In this embodiment, the vehicle low-speed warning sound system operates within a speed range of 0 km / h to 30 km / h. Each sound pressure level calibration point can be calibrated with an amplitude value.

[0165] As an example, the first speed can be 10 km / h, and the second speed can be 20 km / h. The mapping relationship between the speed and amplitude of the signal to be superimposed can be determined by the sound pressure level calibration values ​​at speeds of 10 km / h and 20 km / h. By designing a speed-amplitude envelope that reflects the mapping relationship between the speed and amplitude of the signal to be superimposed, it is possible to make the volume of the low-speed warning sound of the car gradually increase and decrease with increasing speed during vehicle operation.

[0166] As an example, if the amplitude values ​​corresponding to the sound pressure level calibration values ​​of 10km / h and 20km / h are a=0.565 and b=1 respectively, the resulting velocity amplitude envelope is shown in Figure 8.

[0167] Optionally, the velocity-amplitude envelope can be a linear function. The velocity *v* is plotted on the x-axis, and the signal amplitude *A* on the y-axis. When the vehicle speed is less than or equal to 10 km / h, the amplitude is 0 at 0 km / h and *a* at 10 km / h. A linear function line is constructed using the amplitudes at 0 km / h and 10 km / h, representing the signal amplitude at any speed from 0 km / h to 10 km / h. When the vehicle speed is greater than 10 km / h and less than or equal to 20 km / h, a linear function line is constructed using the calibrated amplitudes *a* and *b* at the two speed points of 10 km / h and 20 km / h, representing the signal amplitude at any speed from 10 km / h to 20 km / h. When the vehicle speed is greater than 20 km / h and less than or equal to 30 km / h, the signal amplitude at 30 km / h is 0. Combining this with the calibrated amplitude at 20 km / h, a linear function can be constructed, which can represent the signal amplitude at any speed between 20 km / h and 30 km / h. The speed-amplitude envelope formula in this embodiment is as follows:

[0168] Optionally, the velocity-amplitude envelope can be a quadratic function, with velocity v as the abscissa and signal amplitude A as the ordinate. When the vehicle speed is less than or equal to 10 km / h, the amplitude is 0 at 0 km / h and a at 10 km / h, constructing a quadratic function curve with an upward opening and a vertex abscissa equal to 0 km / h, which can represent the signal amplitude at any speed from 0 km / h to 10 km / h. When the vehicle speed is greater than 10 km / h and less than or equal to 20 km / h, using the calibrated amplitudes a and b at the two speed points of 10 km / h and 20 km / h, construct a quadratic function curve with an upward opening and a vertex abscissa less than or equal to 10 km / h, which can represent the signal amplitude at any speed from 10 km / h to 20 km / h. When the vehicle speed is greater than 20 km / h and less than or equal to 30 km / h, the signal amplitude at 30 km / h is 0. Combining this with the calibrated amplitude at 20 km / h, a quadratic function curve opening upwards with its vertex at 30 km / h is constructed. This curve can represent the signal amplitude at any speed between 20 km / h and 30 km / h. The speed-amplitude envelope formula in this embodiment is as follows:

[0169] Optionally, the velocity-amplitude envelope can be a linear function of the sound pressure level (SPL), with velocity v as the abscissa and signal SPL P as the ordinate. When the vehicle speed is less than or equal to 10 km / h, a linear function with a positive slope is constructed using the SPL calibration value at 10 km / h as the coordinate point, representing the signal SPL value at any speed from 0 km / h to 10 km / h. When the vehicle speed is greater than 10 km / h and less than or equal to 20 km / h, a linear function is constructed using the calibration SPL values ​​at both speeds of 10 km / h and 20 km / h, representing the signal SPL value at any speed from 10 km / h to 20 km / h. When the vehicle speed is greater than 20 km / h and less than or equal to 30 km / h, a linear function with a negative slope is constructed using the SPL calibration value at 20 km / h as the coordinate point, representing the signal SPL value at any speed from 20 km / h to 30 km / h. In this embodiment, since sound pressure level and signal amplitude can be converted to each other, i.e., P = 20 * log10 (A), the above sound pressure level ordinate can be converted to signal amplitude, and the velocity-amplitude envelope can be represented by an approximate amplitude, as shown in the following formula:

[0170] Where k1 is the slope of the linear function line constructed when 0 ≤ v < 10, and k2 is the slope of the linear function line constructed when 20 ≤ v < 30. The specific values ​​of k1 and k2 can be set according to actual needs.

[0171] In some embodiments, when the vehicle speed is 30 km / h, the calibrated value of the sound pressure level can be equal to that when the vehicle speed is 0 km / h. In this case, the specific value of k2 can be determined based on the calibrated values ​​of the sound pressure level at vehicle speeds of 20 km / h and 30 km / h.

[0172] In the above embodiments, all three velocity-amplitude envelopes can be selected, and in practice, they can be flexibly chosen according to different auditory requirements. Preferably, the velocity-amplitude envelope can be a quadratic function mode because it can satisfy the requirement that the low-speed warning sound of the car gradually increases and decreases with increasing speed, while keeping the energy loss at the lowest level among the three modes. This can be seen from the envelope diagram in Figure 8, where the area enclosed by its envelope and the velocity axis is the smallest.

[0173] For the velocity-amplitude envelope of the quadratic function mode and the linear function mode of sound pressure level, the amplitude does not need to be designed to be non-zero when the vehicle is stationary, so that the vehicle can still emit sound when stationary. However, it should be ensured that the volume of the vehicle's low-speed warning sound gradually increases with the increase of speed when the speed is below 10km / h.

[0174] The sound pressure level of the signals to be superimposed needs to meet regulatory requirements at different speeds. Different combinations of sound pressure levels for the signals to be superimposed can be pre-calibrated to provide the best listening experience for the user, and these calibration parameters can be stored in a fixed format.

[0175] In this embodiment, the amplitude of the first signal to be superimposed changes with the vehicle speed, which can meet the auditory requirements. Furthermore, by controlling the amplitude of the first signal to be superimposed, a first signal to be superimposed that complies with regulations can be generated.

[0176] The first signal to be superimposed in this application embodiment can be generated based on the frequency and / or amplitude of the first signal to be superimposed that varies with vehicle speed.

[0177] In some embodiments, the amplitude of the sound signal varies with the vehicle speed. To ensure that the output conforms to human hearing and provides a low-speed vehicle warning sound source that is undistorted and does not damage the speaker, amplitude control of the signal to be superimposed is required. Step S220 may include steps S221 to S222.

[0178] Step S221: Obtain the amplitude threshold of the target sound signal.

[0179] In this embodiment, the amplitude threshold of the target sound signal is determined based on the sound pressure level threshold in the signal to be superimposed and / or the sound pressure level threshold of the vehicle speaker.

[0180] Sound pressure level and amplitude have a logarithmic relationship and can be converted to each other. Therefore, based on the sound pressure level threshold in the signal to be superimposed and / or the sound pressure level threshold of the vehicle loudspeaker, the sound pressure level threshold of the target sound signal can be determined, thereby determining the amplitude threshold of the target sound signal.

[0181] In this embodiment, parameters such as the speaker's sensitivity, rated power, and frequency response curve can be analyzed to determine its maximum output sound pressure level.

[0182] In this embodiment, optionally, the sound pressure level of all sound signals can be uniformly managed in advance within the vehicle infotainment system. For example, the amplitude of the sound signals can be defined and standardized using a normalization method. The sound pressure level of the sound signals shall not exceed the aforementioned amplitude threshold.

[0183] Optionally, the sound pressure level of the audio signal can be consistent with the velocity amplitude envelope of the signal to be superimposed, so that the output volume of the vehicle's low-speed warning sound source has the audible effect of gradually increasing and decreasing with speed. The sound pressure level of the audio signal does not exceed the amplitude threshold corresponding to the amplitude envelope of the signal to be superimposed.

[0184] Optionally, a volume adjustment setting option is provided in the vehicle low-speed warning sound system, allowing users to adjust the sound pressure level of the sound signal individually. However, the maximum sound pressure level adjusted should not exceed the threshold mentioned above to avoid the user adjusting the sound pressure level of the sound signal too high, which could cause distortion of the AVAS sound source at the speaker output and damage to the speaker.

[0185] Step S223: If the amplitude of the target sound signal exceeds the amplitude threshold, the amplitude of the target sound signal is adjusted to obtain the adjusted target sound signal.

[0186] As an example, if the amplitude of the target sound signal exceeds an amplitude threshold, the current amplitude of the target sound signal is adjusted to or below that amplitude threshold.

[0187] Step S223: Generate the sound source of the vehicle low-speed warning sound based on the adjusted target sound signal and the signal to be superimposed.

[0188] In this embodiment, the adjusted target sound signal and the signal to be superimposed are synthesized to generate the sound source of the vehicle low-speed warning sound.

[0189] In this embodiment, there is no need to use compressors, limiters, or similar processing before the speaker output. If compressors, limiters, or similar processing were used, the low-speed warning tone output would be difficult to comply with regulations.

[0190] In this embodiment, the amplitude of the sound signal is controlled within a certain range, thereby ensuring that the output conforms to human hearing and that the output is undistorted and does not damage the speaker.

[0191] In the embodiment where the signal to be superimposed varies with vehicle speed, the frequency and amplitude of the signal to be superimposed differ at each moment because the vehicle speed changes during travel. Therefore, it is necessary to perform amplitude splicing and phase splicing on the signals to be superimposed at different time points to ensure phase and amplitude continuity between different points in time.

[0192] In some embodiments, step S330 may also include steps S331 to S334.

[0193] Step S331: Obtain the second sound signal segment and the second signal to be superimposed corresponding to the vehicle's speed at the previous moment.

[0194] Step S332: Obtain the first sound source based on the first sound signal segment at the current moment in the first signal to be superimposed and the target sound signal.

[0195] Step S333: Obtain the second sound source based on the second signal to be superimposed and the second sound signal segment.

[0196] Step S334: Amplitude splicing and phase splicing are performed on the first sound source and the second sound source to generate the sound source of the vehicle low speed warning sound.

[0197] In some embodiments, steps S331 and S332 can be combined into the step of: obtaining the first sound source of the vehicle low-speed warning sound corresponding to the vehicle's speed at the previous moment.

[0198] Considering that the sound signal is continuous between the previous moment and the current moment, in some embodiments, step S330 may preferably include steps S336 to S338.

[0199] Step S336: Obtain the second signal to be superimposed corresponding to the vehicle's speed at the previous moment.

[0200] Step S337: The first signal to be superimposed and the second signal to be superimposed are amplitude spliced ​​and phase spliced ​​to obtain the target signal to be superimposed.

[0201] Step S338: Generate the sound source of the vehicle low-speed warning sound based on the target signal to be superimposed and the sound signal segment.

[0202] The first signal to be superimposed is the signal generated by the frequency and / or amplitude of the signal to be superimposed corresponding to the velocity at the current moment. The second signal to be superimposed is the signal generated by the frequency and / or amplitude of the signal to be superimposed corresponding to the velocity at the previous moment. After the second signal to be superimposed is generated at the previous moment, it can be stored for direct reading later.

[0203] In this embodiment, a phase smoothing algorithm can be used. By extracting the phase of the last sample point of the second signal to be superimposed at the previous moment, and when the phases of the last sample point of the first signal to be superimposed and the second signal to be superimposed are equal at the current moment, the first signal to be superimposed is read or generated, so that the phases are continuous when the signals at the two moments are spliced. The first signal to be superimposed at the current moment can be represented by the following formula:

[0204] Where n represents the signal sampling points, n = 0, 1, 2, ..., N-1, N is the total number of sampling points for the currently processed sound signal, x2[n] is the first signal to be superimposed at the current moment, A is the signal amplitude, f2 is the frequency of the first signal to be superimposed at the current moment, and φ 1,end It represents the phase of the last sampled point in the previous time step.

[0205] In this embodiment, for splicing signals with different amplitudes at two consecutive moments, a vector-weighted amplitude smoothing algorithm can be used to avoid abrupt amplitude changes. Let x 1i As an extension of the second signal to be superimposed in the previous moment, x 2i λ represents the starting point of the first signal to be superimposed at the current moment.i Let y be the smoothing coefficient, i = 1, 2, ..., M, and M be the number of sampling points in the smoothing segment. Then the smoothing segment is y. i =λ i x 1i +(1-λ i )x 2i The smoothing coefficient can be λ. i =i / M.

[0206] This embodiment of the application, by splicing the amplitude and phase of the signal to be superimposed at different times, can ensure the continuity of the phase and amplitude of the signal to be superimposed, avoiding discordant sounds with sudden impulses and abrupt changes during sound playback. Furthermore, splicing only the amplitude and phase of the signal to be superimposed at different times can also reduce the amount of computation and improve computational efficiency.

[0207] This application also provides an audio source generation system. As shown in FIG9, the system may include a vehicle infotainment system device 1100, a storage device 1200, a display device 1300, a control device 1400, a processing device 1500, a power amplifier device 1600, a speaker device 1700, and a transmission device.

[0208] The vehicle infotainment system 1100 includes Android, Linux, Windows, and HarmonyOS systems, providing users with an interactive platform. Users can select settings for the low-speed warning sound system, choose custom sound signals, edit and trim these signals, control volume, create personalized sound signals, and generate their own. It can connect to the internet and provide cloud download services. Furthermore, it can decode multi-channel sound signal files and perform downmixing algorithms.

[0209] Storage devices 1200, such as RAM, ROM, PROM, SSD, and HDD, are used to store audio signals and basic calibration parameters, setting parameters, etc. The vehicle infotainment system 1100 can store or retrieve data and information within it. For example, external storage devices such as USB flash drives and hard drives store audio signal data, while internal storage devices such as Flash, ROM, RAM, HDD, and SSD store audio signal data downloaded by the user from the internet cloud, as well as data created, recorded, or produced by the user within the vehicle infotainment system. Furthermore, it can also store control commands, and store calibration parameter information, frequency information, and generated signals to be superimposed at various speeds for the processing device.

[0210] The display device 1300 includes a screen, which provides users with an intuitive interactive interface, allowing users to intuitively control and select the functions and operations they need.

[0211] The control device 1400 includes an MCU (Microcontroller Unit) and a SOC (System on a Chip), which are used to transmit data and control commands with the vehicle infotainment system. For example, the MCU receives and executes commands from the vehicle infotainment system and receives control commands and data sent to the processing device.

[0212] The processing device 1500 includes a DSP (Digital Signal Processor), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), and a GPU (Graphics Processing Unit), etc., used for reading or algorithmic processing to generate the necessary signals in real time. The processing device provides sufficient computing power for the implementation of the proposed algorithms and methods. For example, the aforementioned analysis of sound signals, the matching algorithm between the sound signal and the signal to be superimposed, the real-time generation algorithm of the signal to be superimposed, the cancellation algorithm of the sound signal's frequency points relative to the signal to be superimposed, the sound pressure level control algorithm of the sound signal, and the mixing of the sound signal and the signal to be superimposed, etc.

[0213] The power amplifier 1600 includes a Class AB power amplifier and a Class D power amplifier, which are used to provide sufficient power amplification signals. It can perform A / D conversion on the signal from the DSP, convert it into an analog signal, and then output it to the speaker for sound generation through power amplification.

[0214] The speaker unit 1700 is used to play the sound emitted by the AVAS sound source, which can meet the needs of the vehicle low speed warning sound. It can diffuse the signal output from the power amplifier through physical sound waves, and finally complete the sound emission of the vehicle low speed warning sound system.

[0215] Transmission devices such as SPI (Serial Peripheral Interface), I2S (Inter-IC Sound), and A2B (Automotive Audio Bus) are used to transmit the basic parameters, sound signals, and control commands required by the AVAS real-time audio source generation method.

[0216] This application also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the method as described in any of the above method embodiments.

[0217] This application also provides an electronic device, as shown in FIG10. The electronic device 2000 includes a memory 2100 and a processor 2200. The memory 2100 is used to store computer instructions, and the processor 2200 is used to retrieve computer instructions from the memory 2100 to execute any of the methods described in the above method embodiments.

[0218] This application also provides a vehicle including the electronic device 2000 described above.

[0219] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and apparatus embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0220] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0221] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0222] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0223] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0224] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages. Programming languages ​​include object-oriented programming languages—such as Smalltalk, C++, etc.—and conventional procedural programming languages—such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of this application.

[0225] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0226] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0227] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0228] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be well known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0229] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this application is defined by the appended claims.

Claims

1. A method for generating a sound source, characterized in that, include: In response to the user's first operation command, the first sound signal is processed to obtain the sound source of the vehicle's low speed warning sound; The first sound signal is obtained by the user performing a first custom operation.

2. The method according to claim 1, characterized in that, The process of processing the first sound signal to obtain the sound source of the vehicle low-speed warning sound includes: Remove the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal; The sound source for the vehicle low-speed warning sound is generated based on the target sound signal and the signal to be superimposed.

3. The method according to claim 2, characterized in that, The frequency of the signal to be superimposed is determined based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal.

4. The method according to claim 3, characterized in that, Based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum of the first sound signal, the frequency of the signal to be superimposed is determined, including: Detect whether there is sound signal energy in the adjacent frequency bands corresponding to the frequency band of the energy groove; In the presence of the sound signal energy, sub-frequency that falls within the frequency band corresponding to the energy groove is selected from the set signal frequency information to be superimposed; The frequency of the signal to be superimposed is determined based on the sub-frequency.

5. The method according to claim 4, characterized in that, The frequency information of the signal to be superimposed is set as an octave band frequency.

6. The method according to claim 4, characterized in that, Determining the frequency of the signal to be superimposed based on the sub-frequency includes: The sub-frequency is used as the initial frequency of the signal to be superimposed corresponding to the initial speed of the vehicle; Based on the initial frequency, the rate of change of frequency with velocity, and the velocity at the current moment, the frequency of the signal to be superimposed corresponding to the velocity at the current moment is determined.

7. The method according to claim 3, characterized in that, Before determining the frequency of the signal to be superimposed based on the frequency band corresponding to the energy groove in the frequency domain energy spectrum, the method further includes: Perform a short-time Fourier transform on the first sound signal to obtain the time-frequency energy spectrum of the first sound signal; The frequency domain energy spectrum of the first sound signal is obtained based on the time-frequency energy spectrum.

8. The method according to claim 2, characterized in that, The step of removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal includes: Determine the amplitude and phase of the first sound signal at the frequency of the signal to be superimposed; The signal components are generated based on the frequency, amplitude, and phase of the signal to be superimposed. The target sound signal is obtained by removing the signal component from the first sound signal.

9. The method according to claim 2, characterized in that, The step of removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal includes: The first sound signal is converted from the time domain to the frequency domain to obtain the corresponding first frequency domain signal. The signal component is removed from the first frequency domain signal to obtain the second frequency domain signal; The second frequency domain signal is converted from the frequency domain to the time domain to obtain the target sound signal.

10. The method according to claim 2, characterized in that, The step of removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal includes: An adaptive notch filter is used to cancel the signal components of the first sound signal at the frequency of the signal to be superimposed, thereby obtaining the target sound signal.

11. The method according to claim 2, characterized in that, The step of generating a low-speed warning sound source based on the target sound signal and the signal to be superimposed includes: Obtain the amplitude threshold of the target sound signal; If the amplitude of the target sound signal exceeds the amplitude threshold, the amplitude of the target sound signal is adjusted to obtain an adjusted target sound signal. Based on the adjusted target sound signal and the signal to be superimposed, a sound source for a vehicle low-speed warning sound is generated.

12. The method according to claim 11, characterized in that, The amplitude threshold of the target sound signal is determined based on the sound pressure level threshold of the signal to be superimposed and / or the sound pressure level threshold of the vehicle speaker.

13. The method according to claim 2, characterized in that, The signal to be superimposed is a first signal corresponding to the vehicle's current speed. The step of generating a low-speed warning sound source based on the target sound signal and the signal to be superimposed includes: The sound source for the vehicle low-speed warning sound is generated based on the sound signal segment at the current moment in the first signal to be superimposed and the target sound signal.

14. The method according to claim 13, characterized in that, The step of generating a sound source for a vehicle low-speed warning sound based on the sound signal segment at the current moment in the first signal to be superimposed and the target sound signal includes: The amplitude of the first signal to be superimposed is obtained, and the amplitude of the first signal to be superimposed is determined based on the mapping relationship between the amplitude of the signal to be superimposed and the vehicle speed; The first signal to be superimposed is generated based on the frequency and amplitude of the first signal to be superimposed.

15. The method according to claim 14, characterized in that, The mapping relationship between amplitude and vehicle speed is a mapping relationship between speed and amplitude within a set speed range determined based on the set sound pressure level corresponding to the first and second speeds of the vehicle.

16. The method according to claim 13, characterized in that, The step of generating a sound source for a vehicle low-speed warning sound based on the sound signal segment at the current moment in the first signal to be superimposed and the target sound signal includes: Obtain the second signal to be superimposed corresponding to the vehicle's speed at the previous moment; The first signal to be superimposed and the second signal to be superimposed are amplitude-segmented and phase-segmented to obtain the target signal to be superimposed. Based on the target signal to be superimposed and the sound signal segment, a low-speed warning sound source for the vehicle is generated.

17. The method according to claim 2, characterized in that, Before removing the signal component corresponding to the frequency of the signal to be superimposed from the first sound signal to obtain the target sound signal, the method further includes: Obtain the sound source format of the first sound signal; When the sound source format is multi-channel, the sound source format of the first sound signal is converted to single-channel.

18. The method according to claim 1, characterized in that, The first sound signal is obtained by the user performing a first custom operation, including: In response to the user's second operation command, a second sound signal is acquired; In response to a first custom operation performed by the user on the second sound signal, the second sound signal is processed to obtain the first sound signal.

19. The method according to claim 18, characterized in that, The step of acquiring the second sound signal in response to the user's second operation command includes: In response to a user's action of recording an audio signal via the vehicle's recording device, a second audio signal is acquired; or... In response to a user's operation of selecting an audio signal from an external storage medium, a second audio signal is acquired; or, In response to a user's action of downloading an audio signal while the vehicle is connected to the internet, a second audio signal is acquired; or, In response to the user's operation of uploading to the vehicle's internal storage medium and selecting an audio signal from the vehicle's internal storage medium, a second audio signal is acquired.

20. The method according to claim 18, characterized in that, The first custom operation includes at least one of the following: Select or edit the second audio signal; Listen to the second audio signal or the edited third audio signal; Adjust the volume of the second sound signal or the edited third sound signal.

21. The method according to claim 1, characterized in that, After obtaining the sound source of the vehicle low-speed warning sound, the method further includes: In response to a third user command, the audio source is played for the user to listen to; and / or, In response to the user's fourth operation command, the volume of the sound source is adjusted.

22. A storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 21.

23. An electronic device, characterized in that, Including memory and processor, The memory is used to store computer instructions, and the processor is used to retrieve the computer instructions from the memory to perform the method as described in any one of claims 1 to 21.

24. A vehicle, characterized in that, Including the electronic device as described in claim 23.

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