In-vehicle sound field optimization method and apparatus, and audio control system

Abstract

The present invention provides an in-vehicle sound field optimization method and apparatus, and an audio control system. The method comprises: when a warning target is detected in a warning area corresponding to a target vehicle, acquiring relative position parameters between the warning target in the warning area and the target vehicle; on the basis of the relative position parameters, reconstructing a sound field in a cabin of the target vehicle to obtain a corresponding target warning sound source file; and on the basis of the target warning sound source file, outputting to each speaker a corresponding audio control signal. The audio control signal is used to enable a warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form, inside the target vehicle, a sound field that reflects the position and movement direction of the warning target. By implementing the present invention, vehicle occupants can easily obtain orientation and motion information of a warning target via a 3D warning sound emitted by the audio control system.

Description

A method, device, and audio control system for optimizing in-vehicle sound field Technical Field

[0001] This invention relates to the field of sound field control technology, and in particular to a method, device and audio control system for optimizing in-vehicle sound field. Background Technology

[0002] As car cabins become increasingly intelligent, users and the market have new demands for vehicles in terms of visual, auditory, and tactile experiences. Vehicle warning sounds are a crucial component of in-car audio systems. Currently, most gasoline-powered vehicles still use traditional audio playback control schemes. These schemes typically involve reproducing sound from fixed sources, with fixed configuration parameters, and in fixed locations using in-car speakers after a vehicle warning signal is triggered. This only provides a partial warning effect and does not acoustically reflect the location and movement characteristics of the warning target.

[0003] To address these shortcomings, some new energy vehicles employ a 3D warning sound design. This involves using a variable sound source to respond to different scenarios after a vehicle warning signal is triggered, or controlling the order in which different speakers in the cabin emit sound to meet varying warning needs. However, this 3D warning sound solution only alleviates the problem to a certain extent; it struggles to accurately and in real-time reflect the location and movement characteristics of the warning target, resulting in a subpar acoustic experience. Technical issues

[0004] The purpose of this invention is to provide a method, device, and audio control system for optimizing the in-vehicle sound field, which can at least solve the problem in the related art that the warning sound of the in-vehicle audio system is difficult to reflect the location information and movement characteristics of the warning target in a realistic and real-time manner. Technical solutions

[0005] The first aspect of this invention provides an in-vehicle sound field optimization method, applied to the audio control system of a target vehicle. The audio control system is equipped with multiple speakers, which are installed in different positions within the passenger compartment of the target vehicle. The in-vehicle sound field optimization method includes:

[0006] When a warning target is detected in the warning area corresponding to the target vehicle, the relative position parameters between the warning target and the target vehicle within the warning area are obtained; the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle.

[0007] The sound field inside the target vehicle's cabin is reconstructed based on relative position parameters to obtain the corresponding target warning sound source file;

[0008] Based on the target warning sound source file, corresponding audio control signals are output to each speaker. The audio control signals are used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and direction of movement of the warning target in the target vehicle. The acoustic characteristics include at least one of phase, amplitude, and frequency.

[0009] A second aspect of this invention provides an in-vehicle sound field optimization device, applied to the audio control system of a target vehicle. The audio control system is equipped with multiple speakers, each installed at a different location within the target vehicle's cabin. The in-vehicle sound field optimization device includes:

[0010] The parameter acquisition module is used to acquire the relative position parameters between the warning target and the target vehicle within the warning area when a warning target is detected in the warning area corresponding to the target vehicle; the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle.

[0011] The sound field reconstruction module is used to reconstruct the sound field inside the target vehicle's cabin based on relative position parameters, and obtain the corresponding target warning sound source file;

[0012] The signal output module is used to output corresponding audio control signals to each speaker based on the target warning sound source file. The audio control signals are used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and direction of movement of the warning target in the target vehicle. The acoustic characteristics include at least one of phase, amplitude and frequency.

[0013] A third aspect of the present invention provides an audio control system, comprising: a memory, a processor, and a plurality of speakers, wherein: different speakers are respectively installed at different positions in the cabin of a target vehicle, and each speaker is used to play a warning sound based on a corresponding audio control signal; the processor is used to execute a computer program stored in the memory, and when the processor executes the computer program, it implements each step of the in-vehicle sound field optimization method provided in the first aspect of the present invention.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the steps of the in-vehicle sound field optimization method provided in the first aspect of the present invention. Beneficial effects

[0015] As can be seen from the above, according to the in-vehicle sound field optimization method, device, and audio control system provided in the embodiments of the present invention, when a warning target is detected in the warning area corresponding to the target vehicle, the relative position parameters between the warning target and the target vehicle in the warning area are obtained; wherein, the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle; the sound field in the cabin of the target vehicle is reconstructed based on the relative position parameters to obtain the corresponding target warning sound source file; based on the target warning sound source file, corresponding audio control signals are output to each speaker respectively; wherein, the audio control signals are used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and movement direction of the warning target in the target vehicle; the indicators of acoustic characteristics include at least one of phase, amplitude, and frequency. By implementing the solution of this invention, the sound field inside the target vehicle is reconstructed based on the relative position parameters of the warning target and the target vehicle, thereby controlling the acoustic characteristics of each speaker and synthesizing the required sound field to generate a specific 3D warning sound. This allows drivers and passengers to know the location information and movement characteristics of the warning target through the warning sound, providing a more complete in-vehicle warning and reminder function and improving the user experience of in-vehicle acoustics. Attached Figure Description

[0016] Figure 1 is a schematic diagram of the basic process of an in-vehicle sound field optimization method provided in the first embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the layout of an in-cabin speaker provided in the first embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of an application scenario of an in-vehicle sound field optimization method provided in the first embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of a sound field reconstruction model provided in the first embodiment of the present invention;

[0020] Figure 5 is a schematic diagram of an in-vehicle sound field optimization device provided in the second embodiment of the present invention;

[0021] Figure 6 is a schematic diagram of the structure of an audio control system provided in the third embodiment of the present invention. Embodiments of the present invention

[0022] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0026] To address the problem that warning sounds in in-vehicle audio systems often fail to accurately and in real-time reflect the location and movement characteristics of the warning target, the first embodiment of this invention provides an in-vehicle sound field optimization method applied to the audio control system of a target vehicle. The audio control system is equipped with multiple speakers, each installed in a different location within the target vehicle's cabin.

[0027] Figure 1 shows a basic flowchart of the in-vehicle sound field optimization method provided in this embodiment. The in-vehicle sound field optimization method includes the following steps:

[0028] Step 101: When a warning target is detected in the warning area corresponding to the target vehicle, obtain the relative position parameters between the warning target in the warning area and the target vehicle.

[0029] Specifically, the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle. These parameters can be acquired using sensors installed on the vehicle body, including but not limited to acoustic sensors, optical sensors, vibration sensors, and temperature sensors. This embodiment can also acquire the relative position parameters in real time. In this embodiment, the warning area can be a dynamically changing area, its position shifting as the target vehicle moves. The warning target can refer to a vehicle, pedestrian, or obstacle, etc.; no limitation is imposed here.

[0030] Step 102: Reconstruct the sound field inside the target vehicle's cabin based on relative position parameters to obtain the corresponding target warning sound source file.

[0031] Specifically, the sound field reconstruction process can be completed by the in-vehicle audio domain controller. That is, the control unit within the audio domain controller can handle steps such as receiving relative position parameters and calculating the parameters for sound field reconstruction. The audio domain controller can be a standalone audio domain controller (e.g., a standalone in-vehicle audio power amplifier), an integrated (e.g., an in-vehicle SoC), or a distributed (e.g., a speaker module composed of multiple active speakers) audio domain controller; there are no restrictions here. The audio domain controller can receive relative position parameters through the in-vehicle bus, which includes, but is not limited to, CAN bus, LIN bus, FlexRay bus, MOST bus, CAN FD, in-vehicle Ethernet, UART, etc.

[0032] In this embodiment, the warning sound source file refers to the audio file used to generate 3D warning sounds. It can typically be stored in a digital audio format (such as WAV, MP3, or proprietary format) and contains audio data that matches the movement state, direction of movement, and environmental conditions of the warning target. The warning sound source file is used to generate responsive stereo effects, allowing drivers and passengers to also perceive information such as the location and direction of movement of the warning target through acoustic hearing.

[0033] Step 103: Based on the target warning sound source file, output the corresponding audio control signal to each speaker.

[0034] Specifically, in this embodiment, the audio control signal is used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and direction of movement of the warning target in the target vehicle; the indicators of the acoustic characteristics include at least one of phase, amplitude, and frequency.

[0035] In some embodiments of this example, the warning target is other vehicles entering the warning area; the step of obtaining the relative position parameters between the warning target and the target vehicle within the warning area when a warning target is detected in the warning area corresponding to the target vehicle includes: when a warning target is detected in the warning area corresponding to the target vehicle, obtaining the positioning information of the target vehicle and the sampled position parameters of other vehicles within a preset time period; predicting the movement trajectory of other vehicles based on the sampled position parameters; and determining the relative position parameters between other vehicles and the target vehicle at any time within the warning period by combining the positioning information and the movement trajectory; wherein, the warning period is the time period experienced by other vehicles from entering the warning area to leaving the warning area, and the warning period is longer than the preset time period.

[0036] Specifically, by sampling the location information of the warning target within a short period of time (i.e., the aforementioned preset time period), the movement trajectory of the warning target can be fitted, thereby determining the relative position parameters of the warning target within the warning area at any given time. In some specific implementations, image data of the warning area can be continuously acquired, and image processing algorithms can be used to identify, track, and analyze the movement changes of the warning target, thereby fitting the movement trajectory of the warning target. More specifically, the algorithm used to predict the movement trajectory of the warning target can be the Kalman filtering algorithm or the optical flow method, without any limitations. Of course, in some implementations, the sensor can also be directly controlled to acquire the position parameters of the warning target in real time and feed them back to the audio domain controller in real time, so as to obtain the relative position parameters of the warning target at different times and update the warning sound source file in real time.

[0037] In some embodiments of this example, the step of reconstructing the sound field in the target vehicle cabin based on relative position parameters to obtain the corresponding target warning sound source file includes: fitting the acoustic characteristics of the acoustic response of the warning target in the target sound field in the target vehicle cabin and the acoustic response in the ideal sound field based on the relative position parameters, and determining the target transfer function of the digital filter acting on each speaker; wherein, the acoustic environment of the ideal sound field includes at least one of an anechoic chamber, a listening room, and a reverberation chamber; updating the target transfer function to the warning sound source file corresponding to the audio control system to obtain the target warning sound source file.

[0038] Specifically, in this embodiment, the acoustic environment of an ideal sound field refers to an acoustic environment that meets certain acoustic characteristic requirements. In this embodiment, the acoustic environment of an ideal sound field includes, but is not limited to, an anechoic chamber, a listening room, a reverberation chamber, or a specific acoustic laboratory or environment that simulates certain preset scenarios. Acoustic characteristic fitting refers to simulating the position and movement of a warning target in the acoustic environment of an ideal sound field based on the physical environment inside the vehicle, in terms of acoustic response, so that the difference between the acoustic response corresponding to the target sound field inside the vehicle and the acoustic response corresponding to the ideal sound field is minimized.

[0039] Furthermore, in some embodiments of this example, the first acoustic response corresponding to the target sound field is expressed as:

[0040] Where S represents the acoustic characteristic index corresponding to the audio control signal; (x m ,y m ) represents the relative positional parameter between the warning target and the target vehicle; H F (n,m) represents the relative position between the warning target and the target vehicle as (x...m...). m ,y m When ), the target transfer function of the digital filter applied to the nth loudspeaker; H S (n) represents the electroacoustic transfer function of the nth loudspeaker, the magnitude of which is determined by the physical characteristics of the corresponding loudspeaker; H T (n) represents the acoustic transfer function from the nth loudspeaker to the target listening position, the magnitude of which is determined by the actual sound field environment factors inside the target vehicle cabin; N represents the number of loudspeakers inside the target vehicle cabin.

[0041] Furthermore, in some embodiments of this example, after the step of outputting corresponding audio control signals to each speaker based on the target warning sound source file, the method further includes: calculating a second acoustic response corresponding to the warning sound actually received at the target listening position based on a first acoustic response of the target sound field; wherein, the second acoustic response is used to optimize the generation model of the audio control signal in the target warning sound source file, and the second acoustic response is expressed as:

[0042] Where t represents time; S Driver δ(t) represents the second acoustic response at time t; δ(t) represents the unit sample sequence or unit pulse sequence. M represents the reference value for the number of samples, m represents the variable of the summation function, m∈[0,M]; T s Indicates the sampling period; T represents the time period from when the warning target enters the warning area to when it leaves the warning area.

[0043] Specifically, based on the above implementation method in this embodiment, during the product design stage, the actual effect of the 3D warning sound at the target listening position can be analyzed by calculating the second acoustic response, thereby assisting developers in better designing the warning sound source file and achieving a better 3D warning effect.

[0044] Furthermore, in some embodiments of this example, the audio control system is equipped with five speakers, as shown in Figure 2. The five speakers are: speaker 1 fixed in the central area of ​​the center console inside the target vehicle's cabin, speaker 2 fixed in the right front door area, speaker 3 fixed in the left front door area, speaker 4 fixed in the left rear door area, and speaker 5 fixed in the right rear door area. Assuming the driver's seat is the target listening position 6, the acoustic response of the warning sound signal received at the target listening position can be expressed as:

[0045] Among them, H T (1) H T (2) H T (3) H T (4) H T (5) These are the acoustic transfer functions from loudspeaker 1, loudspeaker 2, loudspeaker 3, loudspeaker 4, and loudspeaker 5 to the target listening position 6. The transfer function is the ratio of the Laplace transform (or z-transform) of the response (output) of a linear system under zero initial conditions to the Laplace transform of the excitation (input); denoted as H = Y / U, where Y represents the Laplace transform of the output and U represents the Laplace transform of the input. S (1) H S (2) H S (3) H S (4) H S (5) These are the electroacoustic transfer functions of loudspeaker 1, loudspeaker 2, loudspeaker 3, loudspeaker 4, and loudspeaker 5, respectively. H F (1) H F (2) H F (3) H F (4) H F (5) These are the transfer functions of the acoustic digital filters acting on loudspeakers 1, 2, 3, 4, and 5, respectively. [] T H represents the calculation of the transpose of a matrix. T (1) H T (2) H T (3) H T (4) H T (5) Determined by the actual acoustic environment inside the vehicle, it can be obtained through direct measurement or through theoretical calculation and modeling; H S (1) HS (2) H S (3) H S (4) H S (5) Determined by the physical characteristics of the corresponding loudspeaker itself, it can be obtained through direct measurement of the loudspeaker or through theoretical calculation and modeling. Sound field reconstruction is the reconstruction of the transfer function H of the digital filter applied to the loudspeaker. F (1) H F (2) H F (3) H F (4) H F (5) Perform real-time calculations and updates.

[0046] It is understood that in other implementations, the number of speakers can also be set to two, three, four, six, eight, etc., and the installation positions of the speakers can also be designed in other distribution ways, which are not limited here.

[0047] In some embodiments of this example, the step of fitting the acoustic characteristics of the acoustic response of the warning target in the target sound field within the target vehicle cabin and in the ideal sound field based on relative position parameters to determine the target transfer function of the digital filter acting on each speaker includes: substituting the relative position parameters into the first target calculation formula to calculate the target transfer function of the digital filter acting on each speaker; wherein, the first target calculation formula is expressed as:

[0048] Wherein, H(x) m ,y m ) represents the acoustic transfer function from the warning target to the reference listening position in an ideal sound field.

[0049] Specifically, in a specific application scenario, as shown in Figure 3, a coordinate system is established based on the target vehicle (in driving states such as reversing, high-speed overtaking, turning, and lane changing). A circular area with the target vehicle 8 as the center and a radius of r is defined as the warning area 7. When a warning target enters the warning area 7, a vehicle warning sound is triggered, requiring a warning reminder to the passenger at the target's listening position 6 inside the vehicle. Taking high-speed overtaking as an example, the coordinate system is used to represent the relative positional relationship between the warning target 9 and the target vehicle 8. Let the coordinates of vehicle 8 always be (0,0). When the warning target 9 enters the warning area 7, the coordinates of the warning target are (x0,y0), and the warning sound reminder function of the target vehicle 8 is triggered; when the warning target 9 moves to a relative position with coordinates (x0,y0), the warning sound reminder function of the target vehicle 8 is triggered. M ,y M When the vehicle leaves warning area 7, the warning sound reminder function of target vehicle 8 will end.

[0050] In some specific implementations, the relative position parameter (x) of the warning target 9 within the warning area 7 at any given time period is... m ,y m All of these can be identified and captured by sensors on the body of the target vehicle 8. These sensors can be acoustic sensors, optical sensors, vibration sensors, temperature sensors, etc., and there are no restrictions. The warning target 9 moves from its relative position (x0, y0) to its relative position (x... M ,y M The movement trajectory of the object can be captured and recorded in real time by the vehicle body sensors as M+1 coordinate information. This information represents the position and movement characteristics of the object being monitored (measured 9) at various moments during the period when the warning sound function is activated. Therefore:

[0051] Where T represents the warning vehicle 9 moving from relative position (x0, y0) to relative position (x... M ,y M The time period (as mentioned above) for the warning; T S This indicates the sampling interval or sampling period for the sensors on the vehicle body to collect information from the outside world.

[0052] Furthermore, taking an anechoic chamber as an example: As shown in Figure 4, within the anechoic chamber 10, with coordinates (0,0) as the center point and radius r, the range of the warning area 7 is simulated. The warning target originates from the relative position (x0,y0) within the anechoic chamber 10 and passes through the relative position (x... m ,y m ) Move to the relative position (x) M ,y M During the simultaneous issuance of the warning sound, the acoustic response of the warning sound signals received at different locations at the center point (0,0) is as follows:

[0053] S·H(x0,y0)

[0054] S·H(x m ,y m )

[0055] S·H(x M ,y M )

[0056] Where S is the preset acoustic characteristic index (e.g., phase, frequency, amplitude, etc.) corresponding to the audio control signal, and H(x0,y0), H(x m ,y m H(x) M ,y M ) are from each relative position (x0, y0), (x m ,y m ), (x M ,yM The acoustic transfer function from the center point (0,0) inside the anechoic chamber 10 can be directly measured from the actual acoustic environment inside the anechoic chamber 10.

[0057] To make the warning sound more clearly reflect and distinguish the relative position and motion state of the warning target, S can be designed as a function of position information, denoted as S(x,y). S can be adjusted according to different positions of the warning target to change the acoustic characteristics of the warning sound, such as phase, amplitude, and frequency. Based on this, the acoustic response of the warning sound signal received at the center point (0,0) at different positions can be obtained:

[0058] S(x0,y0)·H(x0,y0)

[0059] S(x m ,y m )·H(x m ,y m )

[0060] S(x M ,y M )·H(x M ,y M )

[0061] For the relative position (x) of the warning target at any given time m ,y m Based on the acoustic environment inside the vehicle, by fitting the acoustic response in the ideal sound field environment, the formula for calculating the sound field reconstruction under ideal conditions can be obtained:

[0062] Furthermore, by simplifying the above sound field reconstruction calculation formula, we can obtain the calculation formula for the first objective:

[0063] Furthermore, a solution can be determined for the transfer function of the digital filter acting on the loudspeaker:

[0064] Among them, H F (1,m)H F (2,m)H F (3,m)H F (4,m)H F (5, m) represent the transfer function of the digital filter acting on the loudspeaker, and the relative position (x, m) of the current warning target. m ,y m Related to, and will be based on relative position (x) m ,y m Updated in real time. -1 This indicates the calculation of the inverse matrix.

[0065] Furthermore, in some embodiments of this example, after the step of substituting the relative position parameters into the first target calculation formula, the method further includes: if the solution of the first target calculation formula is not unique, then substituting the relative position parameters into the second target calculation formula to calculate the target transfer function of the digital filter acting on each loudspeaker; wherein, the second target calculation formula is expressed as:

[0066] Where Min{} represents taking the minimum value, and || represents the magnitude of the vector.

[0067] Specifically, when the solution of the first objective calculation formula is not unique, the above-mentioned second objective calculation formula can be used to calculate the objective transfer function corresponding to each loudspeaker. The objective transfer function obtained by this calculation method is more conducive to meeting the convergence and feasibility requirements of acoustic filter design.

[0068] Compared with related technologies, the in-vehicle sound field optimization method provided in this embodiment, when a warning target is detected in the warning area corresponding to the target vehicle, obtains the relative position parameters between the warning target and the target vehicle within the warning area; wherein, the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle; based on the relative position parameters, the sound field in the cabin of the target vehicle is reconstructed to obtain the corresponding target warning sound source file; based on the target warning sound source file, corresponding audio control signals are output to each speaker; wherein, the audio control signals are used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and movement direction of the warning target in the target vehicle; the acoustic characteristics include at least one of phase, amplitude, and frequency. Through the implementation of this invention, based on the relative position of the warning target and the target vehicle, the sound field in the target vehicle is reconstructed, which can generate specific 3D warning sounds, allowing drivers and passengers to perceive the movement direction and position of the warning target through acoustic hearing, providing a more complete in-vehicle warning reminder function, and improving the user experience of in-vehicle acoustics. Furthermore, the acoustic response calculation method of this embodiment can also be used to analyze the actual effect of 3D warning sounds during the product design stage, thereby assisting developers in better designing warning sound source files.

[0069] It should be understood that the sequence number of each step in this embodiment does not imply an absolute order of execution. The execution order of each step should be determined by its function and internal logic, and should not constitute a unique limitation on the implementation process of this embodiment.

[0070] Figure 5 is a schematic diagram of an in-vehicle sound field optimization device according to a second embodiment of the present invention, applied to the audio control system of a target vehicle. The audio control system is equipped with multiple speakers, which are installed in different positions within the cabin of the target vehicle. This in-vehicle sound field optimization device can be applied to the aforementioned in-vehicle sound field optimization method. As shown in Figure 5, the in-vehicle sound field optimization device mainly includes:

[0071] The information acquisition module 501 is used to acquire the relative position parameters between the warning target and the target vehicle within the warning area when a warning target is detected in the warning area corresponding to the target vehicle; wherein, the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle;

[0072] The sound field reconstruction module 502 is used to reconstruct the sound field in the cabin of the target vehicle based on relative position parameters to obtain the corresponding target warning sound source file;

[0073] The signal output module 503 is used to output corresponding audio control signals to each speaker based on the target warning sound source file; wherein, the audio control signal is used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and direction of movement of the warning target in the target vehicle; the acoustic characteristics include at least one of phase, amplitude and frequency.

[0074] In some embodiments of this example, the warning target is other vehicles entering the warning area; correspondingly, the parameter acquisition module is specifically used to: when a warning target is detected in the warning area corresponding to the target vehicle, acquire the positioning information of the target vehicle and the sampling position parameters of other vehicles within a preset time period; predict the movement trajectory of other vehicles based on the sampling position parameters; and determine the relative position parameters between other vehicles and the target vehicle at any time within the warning period by combining the positioning information and the movement trajectory; wherein, the warning period is the time period experienced by other vehicles from entering the warning area to leaving the warning area, and the warning period is longer than the preset time period.

[0075] In some embodiments of this example, when the sound field reconstruction module performs the function of reconstructing the sound field in the target vehicle cabin based on relative position parameters to obtain the corresponding target warning sound source file, it is specifically used to: fit the acoustic characteristics of the acoustic response of the warning target in the target sound field in the target vehicle cabin and the acoustic response in the ideal sound field based on the relative position parameters, and determine the target transfer function of the digital filter acting on each speaker; wherein, the acoustic environment of the ideal sound field includes at least one of an anechoic chamber, a listening room, and a reverberation chamber; update the target transfer function to the warning sound source file corresponding to the audio control system to obtain the target warning sound source file.

[0076] Furthermore, in some embodiments of this example, the sound field reconstruction module further includes an acoustic response calculation model. The acoustic response calculation model is configured with a first acoustic response corresponding to the target sound field, and the first acoustic response is represented as follows:

[0077] Where S represents the acoustic characteristic index corresponding to the audio control signal; (x m ,y m ) represents the relative positional parameter between the warning target and the target vehicle; H F (n,m) represents the relative position between the warning target and the target vehicle as (x...m...). m ,y m When ), the target transfer function of the digital filter applied to the nth loudspeaker; H S (n) represents the electroacoustic transfer function of the nth loudspeaker, the magnitude of which is determined by the physical characteristics of the corresponding loudspeaker; H T (n) represents the acoustic transfer function from the nth loudspeaker to the target listening position, the magnitude of which is determined by the actual sound field environment factors inside the target vehicle's cabin; N represents the number of loudspeakers inside the target vehicle's cabin.

[0078] Furthermore, in some embodiments of this example, the audio control system is equipped with five speakers, which are respectively fixed in the central area of ​​the center console, the right front door area, the left front door area, the left rear door area, and the right rear door area within the target vehicle's cabin. Correspondingly, when the sound field reconstruction module performs the aforementioned function of fitting the acoustic characteristics of the warning target's acoustic response in the target sound field within the target vehicle's cabin and its acoustic response in the ideal sound field based on relative position parameters, and determining the target transfer function of the digital filter acting on each speaker, it is specifically used to: substitute the relative position parameters into the first target calculation formula to calculate the target transfer function of the digital filter acting on each speaker; wherein, the first target calculation formula is expressed as:

[0079] Wherein, H(x) m ,y m ) represents the acoustic transfer function from the warning target to the reference listening position in an ideal sound field.

[0080] Furthermore, in some embodiments of this example, after performing the function of substituting the relative position parameters into the first target calculation formula, the sound field reconstruction module is further specifically used to: if the solution of the first target calculation formula is not unique, then substitute the relative position parameters into the second target calculation formula to calculate the target transfer function of the digital filter acting on each loudspeaker; wherein, the second target calculation formula is expressed as:

[0081] Where Min{} represents taking the minimum value, and || represents the magnitude of the vector.

[0082] In some embodiments of this example, the in-vehicle sound field optimization device further includes an optimization module. The optimization module is used to: after outputting corresponding audio control signals to each speaker based on the target warning sound source file, calculate the second acoustic response corresponding to the warning sound actually received at the target listening position based on the first acoustic response of the target sound field; wherein the second acoustic response is used to optimize the generation model of the audio control signals in the target warning sound source file, and the second acoustic response is expressed as:

[0083] Among them, S Driver δ(t) represents the second acoustic response at time t; δ(t) represents the unit sample sequence or unit pulse sequence. M represents the reference value for the number of samples, m represents the variable for calculating the first summation function, m∈[0,M]; T s Indicates the sampling period; T represents the time period from when the warning target enters the warning area to when it leaves the warning area.

[0084] According to the in-vehicle sound field optimization device provided in this embodiment, when a warning target is detected in the warning area corresponding to the target vehicle, the relative position parameters between the warning target and the target vehicle within the warning area are obtained. The relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle. Based on the relative position parameters, the sound field in the target vehicle's cabin is reconstructed to obtain a corresponding target warning sound source file. Based on the target warning sound source file, corresponding audio control signals are output to each speaker. The audio control signals are used to enable the warning sound emitted by the corresponding speaker to possess corresponding acoustic characteristics, thereby forming a sound field within the target vehicle that reflects the position and direction of movement of the warning target. The acoustic characteristics include at least one of phase, amplitude, and frequency. Through the implementation of this invention, the sound field within the target vehicle is reconstructed based on the relative position of the warning target and the target vehicle, generating specific 3D warning sounds. This allows drivers and passengers to perceive the direction and position of the warning target through acoustic hearing, providing a more complete in-vehicle warning and reminder function, and improving the user experience of in-vehicle acoustics. Furthermore, the acoustic response calculation method of this embodiment can also be used to analyze the actual effect of 3D warning sounds during the product design stage, thereby assisting developers in better designing warning sound source files.

[0085] Figure 6 illustrates an audio control system provided in the third embodiment of the present invention. This audio control system can be used to implement the in-vehicle sound field optimization method in the aforementioned embodiments, and mainly includes: a memory 601, a processor 602, a computer program 603 stored in the memory 601 and executable on the processor 602, and multiple speakers 604; each speaker 604 is communicatively connected to the processor 602, and different speakers 604 are installed in different positions within the target vehicle's cabin, each speaker 604 being used to play warning sounds based on corresponding audio control signals; the memory 601 and the processor 602 are communicatively connected. When the processor 602 executes the computer program 603, it implements the method in the first embodiment. The number of processors can be one or more.

[0086] The memory 601 can be a high-speed random access memory (RAM) or a non-volatile memory, such as a disk storage device. The memory 601 is used to store executable program code, and the processor 602 is coupled to the memory 601.

[0087] Furthermore, this embodiment of the invention also provides a computer-readable storage medium, which may be disposed in the aforementioned audio control system, and may be the memory in the embodiment shown in FIG6 above.

[0088] The computer-readable storage medium stores a computer program that, when executed by a processor, implements the in-vehicle sound field optimization method described in the foregoing embodiments. Furthermore, the computer-readable storage medium can also be a USB flash drive, external hard drive, read-only memory (ROM), RAM, magnetic disk, or optical disk, or any other medium capable of storing program code.

[0089] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0090] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0091] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0092] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, external hard drives, ROM, RAM, magnetic disks, or optical disks.

[0093] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0094] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0095] The above is a description of the in-vehicle sound field optimization method, device, and audio control system provided by the present invention. For those skilled in the art, based on the ideas of the embodiments of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for optimizing the in-vehicle sound field, applied to the audio control system of a target vehicle, wherein the audio control system is equipped with multiple speakers, and the different speakers are respectively installed in different positions within the cabin of the target vehicle; characterized in that, The in-vehicle sound field optimization method includes: When a warning target is detected in the warning area corresponding to the target vehicle, the relative position parameters between the warning target in the warning area and the target vehicle are obtained; wherein, the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle; Based on the relative position parameters, the sound field inside the target vehicle's cabin is reconstructed to obtain the corresponding target warning sound source file; Based on the target warning sound source file, corresponding audio control signals are output to each of the speakers; wherein, the audio control signals are used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and direction of movement of the warning target in the target vehicle; the indicators of the acoustic characteristics include at least one of phase, amplitude, and frequency.

2. The in-vehicle sound field optimization method according to claim 1, characterized in that, The process of reconstructing the sound field within the target vehicle's cabin based on the relative position parameters to obtain a corresponding target warning sound source file includes: Based on the relative position parameters, the acoustic response of the warning target in the target sound field within the target vehicle cabin and in the ideal sound field are fitted with acoustic characteristics to determine the target transfer function of the digital filter acting on each of the loudspeakers; wherein, the acoustic environment of the ideal sound field includes at least one of an anechoic chamber, an audition room, and a reverberation chamber. The target transfer function is updated to the warning sound source file corresponding to the audio control system to obtain the target warning sound source file.

3. The in-vehicle sound field optimization method according to claim 2, characterized in that, The first acoustic response corresponding to the target sound field is expressed as: Where S represents the acoustic characteristic index corresponding to the audio control signal; (x m ,y m ) represents the relative position parameter between the warning target and the target vehicle; H F (n,m) represents the relative position of the warning target and the target vehicle as (x,m). m ,y m When ), the target transfer function of the digital filter applied to the nth loudspeaker; H S (n) represents the electroacoustic transfer function of the nth loudspeaker, the magnitude of which is determined by the physical characteristics of the corresponding loudspeaker; H T (n) represents the acoustic transfer function from the nth loudspeaker to the target listening position, the magnitude of which is determined by the actual sound field environment factors inside the target vehicle cabin; N represents the number of loudspeakers inside the target vehicle cabin.

4. The in-vehicle sound field optimization method according to claim 3, characterized in that, The audio control system is equipped with five speakers, which are respectively fixed in the central area of ​​the center console, the right front door area, the left front door area, the left rear door area, and the right rear door area in the target vehicle's cabin. The step of fitting acoustic characteristics of the acoustic response of the warning target in the target sound field within the target vehicle cabin and in the ideal sound field based on the relative position parameters, and determining the target transfer function of the digital filter acting on each of the speakers, includes: Substituting the relative position parameters into the first target calculation formula, the target transfer function of the digital filter acting on each of the loudspeakers is calculated; wherein, the first target calculation formula is expressed as: Wherein, H(x) m ,y m ) represents the acoustic transfer function from the warning target to the reference listening position in the ideal sound field.

5. The in-vehicle sound field optimization method according to claim 4, characterized in that, After substituting the relative position parameters into the first target calculation formula, the method further includes: If the solution to the first target calculation formula is not unique, then the relative position parameters are substituted into the second target calculation formula to calculate the target transfer function of the digital filter acting on each of the loudspeakers; wherein, the second target calculation formula is expressed as: Where Min{} represents taking the minimum value, and || represents the magnitude of the vector.

6. The in-vehicle sound field optimization method according to claim 3, characterized in that, After outputting corresponding audio control signals to each of the speakers based on the target warning audio source file, the method further includes: Based on the first acoustic response of the target sound field, a second acoustic response corresponding to the warning sound actually received at the target listening position is calculated; wherein, the second acoustic response is used to optimize the generation model of the audio control signal in the target warning sound source file, and the second acoustic response is expressed as: Where t represents time; S Driver δ(t) represents the second acoustic response at time t; δ(t) represents the unit sample sequence or unit pulse sequence. M represents the reference value for the number of samples, m represents the variable of the summation function, m∈[0,M]; T s Indicates the sampling period; T s Indicates the sampling period; T represents the time period from when the warning target enters the warning area to when it leaves the warning area.

7. The in-vehicle sound field optimization method according to claim 1, characterized in that, The warning target is other vehicles that enter the warning area; When a warning target is detected in the warning area corresponding to the target vehicle, the relative position parameters between the warning target in the warning area and the target vehicle are obtained, including: When a warning target is detected in the warning area corresponding to the target vehicle, the location information of the target vehicle and the sampling location parameters of the other vehicles within a preset time period are obtained. Based on the sampled position parameters, predict the movement trajectories of the other vehicles; By combining the positioning information and the movement trajectory, the relative position parameters between the other vehicles and the target vehicle at any time within the warning period are determined; wherein, the warning period is the time period experienced by the other vehicles from entering the warning area to leaving the warning area, and the warning period is longer than the preset period.

8. An in-vehicle sound field optimization device, applied to the audio control system of a target vehicle, wherein the audio control system is equipped with multiple speakers, each speaker being installed at a different location within the passenger compartment of the target vehicle; characterized in that, The in-vehicle sound field optimization device includes: The parameter acquisition module is used to acquire the relative position parameters between the warning target in the warning area and the target vehicle when a warning target is detected in the warning area corresponding to the target vehicle; wherein, the relative position parameters reflect the orientation and distance attributes between the warning target and the target vehicle; The sound field reconstruction module is used to reconstruct the sound field in the cabin of the target vehicle based on the relative position parameters, and obtain the corresponding target warning sound source file; The signal output module is used to output corresponding audio control signals to each of the speakers based on the target warning sound source file; wherein, the audio control signals are used to enable the warning sound emitted by the corresponding speaker to have corresponding acoustic characteristics, so as to form a sound field reflecting the position and direction of movement of the warning target in the target vehicle; the indicators of the acoustic characteristics include at least one of phase, amplitude, and frequency.

9. A sound control system, characterized in that, Includes memory, processor, and multiple speakers, among which: The different speakers are installed in different positions in the cabin of the target vehicle, and each speaker is used to play a warning sound based on a corresponding audio control signal. The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the in-vehicle sound field optimization method of claim 1.

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