CN116311836A - A vehicle warning reminder method, reminder device and vehicle - Google Patents

Abstract

The embodiment of the application discloses a vehicle warning reminding method, a warning device and a vehicle, relates to the technical field of vehicles, and can solve the problems of inaccurate positioning range, insufficient avoidance preparation time and small application range. The vehicle warning reminding method comprises the steps of receiving sound information outside a vehicle, identifying whether the sound information comprises target sound information, and controlling at least one of at least two identification modules to acquire sound object information corresponding to the target sound information according to sound source localization of the target sound information if the sound information comprises the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module which are respectively used for acquiring sounding object information in a first preset distance range and a second preset distance range; the vehicle is taken as a center and is far from or near to the center, and the first preset distance range is larger than the second preset distance range; and generating and outputting warning reminding information according to the sounding object information. The vehicle warning reminding method is used for avoiding the target object.

Description

A vehicle warning reminder method, reminder device and vehicle

technical field

The embodiments of the present application relate to the technical field of vehicles, and in particular, to a vehicle warning reminder method, a reminder device and a vehicle.

Background technique

At present, vehicles usually use sound-proof materials to make sound-proof glass, and usually turn on the air conditioner and close the windows in summer and winter, so that the sound outside the car is isolated, and entertainment equipment is usually installed in the car to immerse users in entertainment, making it easier for users Ignore the sounds outside the car. Therefore, when the car encounters special vehicles such as ambulances, fire trucks, and police cars and needs to avoid the siren, the car driver may not be able to hear it, so that it is impossible to make preparations for avoiding or avoiding in advance, which seriously affects driving. security.

And the reminding device in the prior art, such as, only rely on a single sound source localization module or a single image acquisition module to obtain the approximate position of the target object outside the vehicle, and there is generally the problem of inaccurate positioning range; Due to the limited field of view of the image acquired by the module, when the position of the target object is acquired, it is already very close to the own vehicle, resulting in insufficient avoidance preparation time and small application range.

Contents of the invention

In order to solve the above problems, the embodiments of the present application provide a vehicle warning reminder method, a reminder device and a vehicle, which can improve the accuracy of the positioning range, increase the preparation time for avoidance, and have a wide range of applications.

In the first aspect, an embodiment of the present application provides a vehicle warning reminder method, the vehicle warning reminder method includes receiving sound information outside the vehicle; identifying whether the sound information outside the vehicle includes target sound information, and if the sound information outside the vehicle includes target sound information, then According to the sound source location of the target sound information, at least one of the at least two recognition modules is controlled to obtain the sounding object information corresponding to the target sound information; the at least two recognition modules include a first recognition module and a second recognition module, and the first recognition module is used for Obtain the sounding object information within the first preset distance range, and the second identification module is used to obtain the sounding object information within the second preset distance range; greater than the second preset distance range; generating and outputting warning reminder information according to the sounding object information.

Specifically, first receive the sound information outside the vehicle; identify whether the sound information outside the vehicle includes target sound information, where the target sound information can be the sound information of a special vehicle outside the own vehicle, or the sound information of people, animals, etc. outside the own vehicle. The sound, such as the sound of a child outside the self-vehicle, the sound of a dog barking, etc., is not specifically limited. If the sound information outside the vehicle includes the target sound information, the position of the target sound information can be located according to the sound source of the target sound information, and the sounding object information corresponding to the target sound information can be obtained by controlling at least one of at least two identification modules. Here, the at least two recognition modules include a first recognition module and a second recognition module, the first recognition module is used to obtain the sounding object information within the first preset distance range, and the second recognition module is used to obtain the second preset distance range The sound-emitting object information in the vehicle, and the self-vehicle as the center from far to near, the first preset distance range is greater than the second preset distance range.

Here, it should be noted that the utterance object information may include at least one of area location information of the utterance object, specific location information of the utterance object, and image information of the utterance object. For example, if the location of the target sound source is outside the first preset distance range, that is, the sounding object is far away from the own vehicle, then it is determined that the sounding object information is the area information of the sounding object; If the sound source location of the target sound information is within the range from the second preset distance range to the first preset distance range, the first identification module can be controlled to acquire specific location information of the sounding object. Wherein, the area information of the sounding object can be acquired through the sound source localization module, and the recognition module can be a laser radar module, an infrared image processing module, a 3D recognition module, etc., and its specific form is not limited. For example, the first recognition module may be a laser radar module used to obtain specific location information of the target sound information; the second recognition module may be an image processing module used to obtain image information of the target sound information. Since the second identification module is used to obtain the sounding object information within the second preset distance range, that is, it is used to obtain the sounding object information within a relatively short range from the self-vehicle, that is, it needs to be within the second preset distance Acquire more accurate sounding object information within the range, therefore, preferably, the second recognition module can use an image processing module to obtain image information of the sounding object within the second preset distance range, correspondingly, the first recognition module A laser radar module may be used to obtain specific location information of the sounding object within the first preset distance range. The above method adopts the positioning logic from far to near, and can selectively select the first recognition module or the second recognition module to obtain the location information of the sounding object according to the area where the sounding object is at a certain moment, and can present Different analysis information, such as, can selectively present any one of the specific location information, area information, and image information of the sounding object, thereby avoiding the problem of inaccurate positioning caused by a single recognition module, and can first In a relatively far range, such as the first preset distance range, the location information of the sounding object is known first, that is, the user is reminded of the existence of the sounding object at an earlier time, and then the second identification module is used to obtain the sounding object information in a closer range, so as to Provide users with sufficient avoidance preparation time.

In addition, it should be noted that the first preset distance range is greater than the second preset distance range specifically refers to the self-vehicle as the center from far to near, and the maximum distance to the self-vehicle in the first preset distance range is greater than the second preset distance. Set the maximum distance to the own vehicle in the distance range; the first preset distance range is the range between the maximum distance from the own vehicle and the position of the own vehicle in the first preset distance range, and the second preset distance range is the first preset distance range. 2. The range between the maximum distance from the own vehicle and the position of the own vehicle in the preset distance range.

In a possible implementation of the present application, the target voice information includes preset voiceprint information; identify whether the external voice information includes the target voice information, and if the external voice information includes the target voice information, then according to the voice information of the target voice information Source location, the step of controlling at least one of the at least two identification modules to obtain the sounding object information corresponding to the target sound information, including: identifying whether the voiceprint information of the sound information outside the vehicle includes preset voiceprint information, if the voiceprint information of the sound information outside the vehicle If the fingerprint information includes preset voiceprint information, at least one of the at least two identification modules is controlled to acquire the utterance object information corresponding to the preset voiceprint information according to the sound source location of the preset voiceprint information. Here, the preset voiceprint information may be voiceprint information of whistles outside the own vehicle or voiceprint information of children.

In a possible implementation manner of the present application, the utterance object information includes at least one of area location information of the utterance object and specific location information of the utterance object. Wherein, the occurrence object information can also include the sound type, sound intensity, etc. of the sound object, such as the sound type can include the siren sound of an alarm car, a fire truck, an ambulance, etc., so that when such object information is recognized, the user can be monitored. Reminder, so as to avoid special vehicles such as alarm cars, fire trucks and ambulances driving forward through the red and yellow traffic signals due to emergency situations, especially at intersections, when the user's vehicle cannot see the dangerous situation of the above types of vehicles occur.

In a possible implementation of the present application, according to the sound source localization of the target sound information, the step of controlling at least one of the at least two recognition modules to obtain the sounding object information corresponding to the target sound information includes: if the sound source of the target sound information If the source location is within the first preset distance range, the first recognition module is controlled to obtain the specific location information of the sounding object; if the sound source location of the target sound information is outside the first preset distance range, then determine The sounding object information is area location information of the sounding object.

In a possible implementation manner of the present application, the receiving range of sound information outside the vehicle is a third preset distance range, wherein, centering on the own vehicle from far to near, the third preset distance range is greater than the first preset distance range. Distance range: the step of determining the sounding object information as the area position information of the sounding object includes: using the area range from the first preset distance range to the third preset distance range as the area position information of the sounding object to obtain the sounding object information. Here, the area ranges from the first preset distance range to the third preset distance range are the area ranges farther away from the own vehicle, and the sound source localization module can be used to obtain its approximate area location information, so as to realize that there is a sounding object Appear, and then obtain the specific location information of the object within a short range from the own vehicle, that is, use the first identification module to obtain the specific location information of the object within the first preset distance range.

In a possible implementation manner of the present application, the utterance object information includes at least one of area location information of the utterance object, specific location information of the utterance object, and image information of the utterance object. In this way, it is convenient to selectively present the utterance object information to the user.

In a possible implementation of the present application, according to the sound source localization of the target sound information, the step of controlling at least one of the at least two recognition modules to obtain the sounding object information corresponding to the target sound information includes: if the sound source of the target sound information If the source location is within the second preset distance range, the second recognition module is controlled to acquire the image information of the sounding object; if the sound source location of the target sound information is within the area range from the second preset distance range to the first preset distance range , then control the first identification module to obtain specific location information of the sounding object; if the sound source location of the target sound information is outside the first preset distance range, then determine the sounding object information as the area location information of the sounding object. In this way, the logic of acquiring the information of the object from far to near can be formed, that is, according to the area position of the object at a certain moment, at least one of the specific position information, area information, and image information of the object can be selectively presented. One, thereby avoiding the problem of inaccurate positioning caused by a single identification module, and the specific location information of the sounding object can be known first within a relatively long range, such as the first preset distance range, that is, the user can be reminded earlier The existence of the sounding object, and then use the second identification module to obtain the information of the sounding object in a closer range, so as to provide the user with sufficient time to avoid preparations.

In a possible implementation manner of the present application, the at least two identification modules further include a third identification module, and the third identification module is used to obtain the information of the sounding object within the fourth preset distance range; wherein, the self-vehicle is the center From far to near, the fourth preset distance range is smaller than the second preset distance range; according to the sound source location of the target sound information, the step of controlling at least one of the at least two identification modules to obtain the sounding object information corresponding to the target sound information includes: : if the sound source location of the target sound information is within the fourth preset distance range, then control the third identification module to obtain the sound object information; if the sound source location of the target sound information is outside the fourth preset distance range, then control The first identification module or the second identification module acquires the information of the utterance object. In this way, on the basis of the first identification module and the second identification module being used to identify the sounding object information within the first preset distance range and the second preset distance range respectively, a third identification module is added to identify the distance from itself The sounding object information in the closer range of the vehicle further increases the ways to obtain the sounding object information, and further improves the positioning accuracy of the target object.

In a second aspect, the present application provides a reminder device, which includes a receiving module, an identification module, a control module, a reminder module and at least two identification modules. Wherein, the receiving module is used to receive sound information outside the vehicle; the identification module is used to identify whether the sound information outside the vehicle includes target sound information, such as, the identification module can be a sound recognition module with a sound wave processing unit, which can identify whether the sound information outside the vehicle includes Target sound information; the control module is used to control at least one of the at least two identification modules to obtain the sounding object information corresponding to the target sound information according to the sound source location of the target sound information if the sound information outside the vehicle includes the target sound information; at least two The recognition module includes a first recognition module and a second recognition module, the first recognition module is used to obtain the information of the sounding object within the first preset distance range, and the second recognition module is used to obtain the sounding object within the second preset distance range Information; wherein, centering on the self-vehicle from far to near, the first preset distance range is greater than the second preset distance range; a reminder module is used to generate and output warning reminder information according to the occurrence object information. In this way, it is possible to obtain target object information in different distance ranges from far to near, so as to improve the accuracy of target object positioning, provide sufficient avoidance preparation time, and increase adaptability.

In a third aspect, the present application provides a vehicle, which includes a sound collection module, a sound source localization module, at least two identification modules, a processor and a memory, wherein the sound collection module is used to collect sound information outside the vehicle, such as, Here the sound collection module can be a microphone, and a plurality of microphones can be arranged outside the vehicle to collect sound information outside the vehicle; the sound source location module is used to locate the sound source of the target sound information; at least two identification modules include the first identification module and the second identification module. Two recognition modules, the first recognition module is used to obtain the sounding object information within the first preset distance range, and the second recognition module is used to obtain the sounding object information within the second preset distance range; Far and near, the first preset distance range is greater than the second preset distance range; the processor is used to execute the vehicle warning reminder method in the first aspect above, and the memory is used to store executable instructions that can run on the processor. When processing When the processor runs the executable instructions, the processor can implement the vehicle warning reminder method in the first aspect. Since the processor of the vehicle can run and implement the vehicle warning and reminding method in the first aspect, it has the same effect, that is, the accuracy of obtaining information on the target object can be improved, and sufficient preparation time for avoidance can be provided for the user.

Description of drawings

Fig. 1 is a schematic diagram of the implementation flow of a vehicle warning reminder method provided by the embodiment of the present application;

Fig. 2 is a schematic diagram of the implementation flow of a vehicle warning and reminding method provided by the embodiment of the present application;

Fig. 3 is a schematic diagram of the implementation flow of a vehicle warning reminder method provided by the embodiment of the present application;

Fig. 4 is a schematic diagram 4 of the implementation flow of a vehicle warning reminder method provided by the embodiment of the present application;

FIG. 5 is a schematic diagram of the implementation flow of a vehicle warning reminder method provided by the embodiment of the present application;

FIG. 6 is a sixth schematic diagram of the implementation flow of a vehicle warning reminder method provided by the embodiment of the present application;

FIG. 7 is a schematic diagram of an optional implementation scenario provided by the embodiment of the present application;

FIG. 8 is a schematic diagram of an optional implementation scenario provided by the embodiment of the present application;

FIG. 9 is a schematic structural diagram of an optional sound processing module provided by the embodiment of the present application;

FIG. 10 is a schematic structural diagram of an optional reminding device provided in the embodiment of the present application;

Fig. 11 is a schematic diagram of the operation logic of the composition and structure of a reminder device provided by the embodiment of the present application;

FIG. 12 is a system schematic diagram of a vehicle warning reminder method provided by an embodiment of the present application.

Reference signs:

1-sound processing module; 10-sound collection module; 11-receiving module; 12-sound recognition module; 13-sound source localization module; 2-lidar module; 3-image processing module; 4-3D recognition module; 5 -information processing module; 6-reminder module; 7-power supply module; 8-control module; D1-first preset distance; D2-second preset distance; D3-third preset distance; D4-fourth preset distance.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

In the embodiments of the present application, the terms "first" and "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left" and "right" are defined relative to the schematic placement orientations of components in the drawings. It should be understood that these orientations The terminology is a relative concept, and they are used for description and clarification relative to each other, which may change correspondingly according to the change of orientation of parts placed in the drawings.

In this embodiment of the application, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral body; it can be a direct connection , can also be indirectly connected through an intermediary.

In the embodiments of the present application, the term "comprising", "comprising" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements, but also includes Including other elements not expressly listed, or also including elements inherent in such process, method, article or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

In the embodiments of the present application, words such as "exemplary" or "for example" are used as examples, illustrations or illustrations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application shall not be interpreted as being more preferred or more advantageous than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete manner.

Special vehicles, such as firefighting vehicles, emergency vehicles, school buses for children, police cars, etc., when passing through urban roads, use specific alarm sounds and lights to remind surrounding users to give way, or sometimes need to give way to people who are close to their own vehicles and animals to give way to avoid collisions with them. However, the density of vehicles on urban roads is high, the surrounding buildings are dense, and the acoustic environment is complex and noisy. In order to cope with the noise itself, the airtightness and sound insulation performance of the vehicles are becoming more and more perfect, which makes the alarm sounds issued by special vehicles or the sounds issued by people and animals when performing tasks. The sound is difficult to be heard by the driver, or the sound is heard, but there are many surrounding vehicles that interfere with the line of sight, so it is not clear which direction the sound is coming from, or even if special vehicles or people and animals are observed, it is not consistent with the sound. The own vehicle is already very close, so that the driver does not have enough time to avoid it.

Therefore, the embodiment of the present application provides a vehicle equipped with a reminder device, which can be used to locate the exact position of the target object, so as to provide the driver with sufficient avoidance time. The vehicle in the embodiment of the present application includes a sound collection module 10, a sound source localization module 13, at least two identification modules, a processor and a memory, wherein the sound collection module 10 is used to collect sound information outside the vehicle, such as the sound collection module here 10 can be a microphone, and multiple microphones can be arranged outside the vehicle to collect sound information outside the vehicle; the sound source localization module 13 is used to localize the sound source of the target sound information; at least two identification modules include a first identification module and a second identification module module, the first identification module is used to obtain the information of the sounding object within the first preset distance D1, and the second identification module is used to obtain the information of the sounding object within the second preset distance D2; Far and near, the range of the first preset distance D1 is greater than the range of the second preset distance D2. Wherein, the memory is used to store executable instructions that can be run on the processor. When the processor runs the executable instructions, the processor can realize The vehicle warning reminder method provided by the application. The vehicle warning and reminding method can improve the accuracy of obtaining information on the target object, and can provide the user with sufficient avoidance preparation time, so as to increase the safety during driving.

It should be noted that the target object in the embodiment of the present application is not limited, such as special vehicles, such as fire vehicles, emergency vehicles, children's school buses, police cars, etc.; or people and animals, such as children, cats around their own vehicles , dog etc. For ease of description, in the embodiments of the present application, a special vehicle is used as a target object for description.

The reminder device in the prior art only relies on a single sound source location module to obtain the approximate location of the special vehicle, which has insufficient positioning range and poor accuracy, especially in the application scenario of intelligent vehicle unmanned driving. For example, when the special vehicle is approaching the unmanned vehicle, the position information of the special vehicle relative to it cannot be accurately known, so that it cannot avoid it in time. In addition, there are also some reminder devices that only rely on the video module to capture video frames of the set area around the vehicle in real time, and determine the position of the target object by judging in real time whether there is a target object in the video frame captured at the corresponding time, but the video shooting field of view is limited. , the target object information far away cannot be obtained, so that when the target object appears, the target object is already very close to the own vehicle, and the preparation time for the occupants in the vehicle to avoid is very short, so it is difficult to avoid the target object in time .

To this end, the embodiment of the present application provides a reminding device. Referring to FIG. 9 and FIG. 10 , the reminding device includes a receiving module 11 , an identification module, a control module 8 , a reminder module 6 and at least two identification modules. Wherein, the sound collection module 10 for sound collection, the sound source localization module 13 , the receiving module 11 and the sound recognition module 12 for sound source localization can be integrated in the sound processing module 1 . The identification module is used to identify whether the sound information outside the vehicle includes target sound information, such as, the identification module can be a sound recognition module 12 with a sound wave processing unit, which can identify whether the sound information outside the vehicle includes target sound information; If the external sound information includes the target sound information, then according to the sound source location of the target sound information, at least one of the at least two recognition modules is controlled to obtain the sounding object information corresponding to the target sound information; the at least two recognition modules include the first recognition module and the second recognition module. Two recognition modules, the first recognition module is used to obtain the sounding object information within the first preset distance D1, and the second recognition module is used to obtain the sounding object information within the second preset distance D2; From far to near, the range of the first preset distance D1 is greater than the range of the second preset distance D2. In addition, in some embodiments, the reminder device also includes an information processing module 5, which is used to receive and process the area information, distance information and image information and sound source location information of the target sound information; the reminder module 6 is used to convert the target sound information The area information, distance information and image information of the system are output as warning reminder information. In addition, the power supply module 7 is electrically connected to each module for providing power to each module. In this way, different combinations of the first identification module and the second identification module can be used to obtain target object information in different distance ranges from far to near, so as to improve the accuracy of the target object positioning range and provide sufficient avoidance preparation time And increase the scope of adaptation, can be widely used in the situation of avoiding the target object.

In addition, it should be noted that the recognition module may be a laser radar module, an infrared image processing module, a 3D recognition module, etc., and its specific form is not limited. Unless otherwise specified in this application, the first recognition module is described by taking the laser radar module 2 as an example, and the second recognition module is described by taking the image processing module 3 as an example.

The embodiment of the present application also provides a vehicle warning reminder method, referring to Figure 1, Figure 7, Figure 9 and Figure 10, the vehicle warning reminder method includes the following steps:

Step S100: receiving sound information outside the vehicle;

Step S200: Identify whether the sound information outside the vehicle includes the target sound information, and if the sound information outside the vehicle includes the target sound information, then control at least one of the at least two recognition modules to acquire the utterance corresponding to the target sound information according to the sound source location of the target sound information Object information; at least two recognition modules include a first recognition module and a second recognition module, the first recognition module is used to obtain the sounding object information within the first preset distance range, and the second recognition module is used to obtain the second preset distance Sounding object information within the range;

Step S300: Generate and output warning reminder information according to the utterance object information.

Specifically, through step S100, the sound information outside the vehicle is received. Continue, through step S200, identify whether the sound information outside the vehicle includes the target sound information, wherein the target sound information can be the sound information of a special vehicle outside the own vehicle, or the sound of people, animals, etc. outside the own vehicle, such as , the sounds of children outside the own vehicle, the sounds of animals, etc., are not specifically limited. If the sound information outside the vehicle includes the target sound information, the position of the target sound information can be located according to the sound source of the target sound information, for example, the position of the target sound information can be positioned by the sound source localization module 13, and then one of the identification modules can be controlled to to obtain the sounding object information corresponding to the target sound information. Here, the recognition module includes a first recognition module and a second recognition module, the first recognition module is used to obtain the sounding object information within the range of the first preset distance D1, and the second recognition module is used to obtain the information of the sounding object within the range of the second preset distance D2. The sounding object information, and centering on the self-vehicle from far to near, the range of the first preset distance D1 is greater than the range of the second preset distance D2. Finally, through step S300, generate and output warning reminder information based on the utterance target information. Here, the warning reminder information includes at least one of text warning reminder information, sound warning reminder information, and image warning reminder information. For example, it may be a combination of sound warning reminder information and image warning reminder information.

Here, it should be noted that the utterance object information may include at least one of area location information of the utterance object, specific location information of the utterance object, and image information of the utterance object. For example, if the location of the target sound source is outside the range of the first preset distance D1, that is, the sounding object is far away from the own vehicle, then it is determined that the sounding object information is the area information of the sounding object; and for example, if the target sound information If the sound source is located within the range from the second preset distance D2 to the first preset distance D1, the first recognition module can be controlled to acquire specific location information of the sounding object. Wherein, the area information of the sounding object can be acquired through the sound source localization module 13, such as . The first identification module can be the laser radar module 2 to obtain the specific position information of the target sound information; the second recognition module can be the image processing module 3 to obtain the image information of the target sound information. Since the second identification module is used to obtain the sounding object information within the second preset distance D2, that is, it is used to obtain the sounding object information within a relatively close range from the self-vehicle, that is, it needs to be within the second preset distance D2. Obtain more accurate sounding object information within the distance range. Therefore, preferably, the second identification module uses the image processing module 3 to obtain image information of the sounding object within the second preset distance D2. Correspondingly, the first The recognition module can use the laser radar module 2 to obtain specific location information of the sounding object. The above method adopts the positioning logic from far to near, and can selectively select the first recognition module or the second recognition module to obtain the location information of the sounding object according to the area where the sounding object is at a certain moment, and can present different analysis information, such as at least one of the specific location information, area information, and image information of the sounding object can be selectively presented, thereby avoiding the problem of inaccurate positioning caused by a single recognition module, and can be used in the first In a relatively far range, such as the first preset distance range, the location information of the sounding object is known first, that is, the user is reminded of the existence of the sounding object at an earlier time, and then the second identification module is used to obtain the sounding object information in a closer range, so as to Provide users with sufficient avoidance preparation time.

In addition, it should be noted that the range of the first preset distance D1 is greater than the range of the second preset distance D2 specifically refers to the range from far to near with the own vehicle as the center, and the maximum distance to the own vehicle in the first preset distance D1 range is greater than The maximum distance to the own vehicle in the second preset distance D2 range; the first preset distance D1 range is the range between the maximum distance from the own vehicle and the position of the own vehicle in the first preset distance D1 range, and the second The preset distance D2 range is the range between the maximum distance from the own vehicle and the location of the own vehicle in the second preset distance D2 range.

Referring to Fig. 2, in step S200, include:

Step S201: Identify whether the voiceprint information of the voice information outside the vehicle includes preset voiceprint information, and if the voiceprint information of the voice information outside the vehicle includes preset voiceprint information, control at least At least one of the two recognition modules acquires the utterance object information corresponding to the preset voiceprint information.

Here, the preset voiceprint information of the target object may be whistle-blowing voiceprint information of the target object or voiceprint information of children, etc. After the above-mentioned voiceprint information is recognized, the target object is tracked and located to determine the location information of the target object. Specifically, in some embodiments, referring to FIG. 9, FIG. 9 is a schematic structural diagram of the sound processing module 1 in the reminder device, wherein the sound processing module 1 includes a plurality of sound collection modules 11, such as microphones, voice recognition Module 12 and sound source localization module 13, wherein a plurality of microphones are respectively installed on the outside of the own vehicle, and are set towards a plurality of different directions. In step S100, the sound signals outside the vehicle are continuously collected through the plurality of microphones; in step S201 The voice recognition module 12 can continuously identify whether the voiceprint information of the voice signal includes preset voiceprint information, wherein preset voiceprint information is pre-stored in vehicles, such as emergency vehicles, kindergarten school buses, fire trucks, police cars, etc. The preset voiceprint information, the method of identifying the voiceprint information can be by comparing the spectrum of the received voiceprint information with the spectrum of the preset voiceprint information. If the preset voiceprint information is included, the sound source can be located The module 13 tracks the location information of the positioning target object.

In some embodiments, referring to FIG. 7 , the first recognition module is a laser radar module 2, which is used to obtain specific position information of a target object within the first preset distance D1, and the second recognition module is an image processing module 3, which is used The image information of the target object within the range of the first preset distance D2 is acquired. Since the range of the second preset distance D2 is smaller than the range of the first preset distance D1, that is, it is closer to the self-vehicle, compared with using the same method as the first identification module, the exact position of the target object can be determined more accurately.

In some embodiments, the utterance object information includes at least one of area location information of the utterance object and specific location information of the utterance object. Wherein, the occurrence object information can also include the sound type, sound intensity, etc. of the sounding object, such as the sound type can include the siren sound of an alarm car, a fire truck, an ambulance, etc., so that when such information about the sounding object is recognized, the user can be monitored. Reminder, so as to avoid special vehicles such as alarm cars, fire trucks and ambulances driving forward through the red and yellow traffic signals due to emergency situations, especially at intersections, when the user's vehicle cannot see the dangerous situation of the above types of vehicles occur.

In some embodiments, referring to FIG. 1 and FIG. 3, step S200 includes step S202: judging whether the sound source localization of the target sound information is within the first preset distance range, if the sound source localization of the target sound information is within the first preset distance range Within the range of a preset distance D1, proceed to step S2021: control the first recognition module to obtain specific location information of the sounding object; if the sound source location of the target sound information is outside the range of the first preset distance D1, proceed to step S2022 : Determine the sounding object information as the area location information of the sounding object. Specifically, when the sound source location is within the range of the first preset distance D1, the first identification module can be controlled, for example, the first identification module is a laser radar module 2, through which the specific position information of the sounding object can be obtained; If the sound source of the target sound information is located outside the first preset distance D1, it means that the target sound information is relatively far away from the own vehicle, and the sound source localization module 13 can be used to determine the area position information of the sounding object.

Referring to Fig. 5 and Fig. 7, after step S2022, step S2022a is also included: using the area range from the first preset distance D1 to the third preset distance D3 as the area position information of the utterance object to obtain the utterance object information. Among them, the receiving range of the sound information outside the vehicle is the range of the third preset distance D3, centering on the own vehicle from far to near, the range of the third preset distance D3 is greater than the range of the first preset distance D1; thus, the area can be clearly defined The area range of the location information is convenient for selectively obtaining the information of the sounding object from far to near.

In some embodiments, referring to FIG. 6 and FIG. 7, step S200 also includes step S200a: if the sound source location of the target sound information is within the second preset distance D2, control the second recognition module to obtain the sound object Image information, and the image information can be output as warning reminder information, wherein, although the sound source localization module 13 and the first identification module can both obtain the sounding object information of the target object, but because the target object has entered into a distance from the own vehicle Within the range of the second preset distance D2, therefore, outputting the image information obtained by the second identification module can enable the user to obtain the sound object information more accurately; Step S200b: If the sound source location of the target sound information is within the second preset Set the area range from the distance D2 range to the first preset distance D1 range, then control the first recognition module to obtain the specific location information of the sounding object, at this time, the specific location information can be output as warning reminder information; step S200c: if the target voice If the sound source location of the information is outside the range of the first preset distance D1, then it is determined that the sounding object information is the area position information of the sounding object, that is, the target object is far away from the own vehicle at this time, and has not yet entered the first preset distance D1 Within the range, only the area location information of the sounding object can be obtained, and the obtained area location information can be output as warning reminder information.

In some embodiments, referring to FIG. 8 and FIG. 10 , the at least two identification modules further include a third identification module, and the third identification module is used to obtain information about sounding objects within a fourth preset distance range, where the self-vehicle is used as the The center is from far to near, and the range of the fourth preset distance D4 is smaller than the range of the second preset distance D2; referring to FIG. 6, step S200 also includes step S203: judging whether the sound source location of the target sound information is within the range of the fourth preset distance D4 within; if the sound source location of the target sound information is within the fourth preset distance D4, proceed to step S2031: control the third identification module to obtain the sounding object information; if the sound source location of the target sound information is within the fourth preset distance If the distance is outside the range of D4, proceed to step S2032: control the first identification module or the second identification module to acquire the information of the utterance object. In this way, on the basis that the first identification module and the second identification module are used to identify the vocal object information within the first preset distance D1 and the second preset distance D2 respectively, a third identification module is added to Identifying the sounding object information within a closer range to the self-vehicle further increases the ways to obtain the sounding object information, and further improves the positioning accuracy of the target object.

Further, referring to FIG. 8 , the third recognition module 4 may be a 3D recognition module, such as, preferably, the 3D recognition module may adopt a 3D binocular infrared recognition module with high recognition accuracy and high reliability. In this way, on the basis that the second recognition module can obtain the image information of the sounding object closer to the self-vehicle, the addition of the third recognition module enables it to obtain the information of the sounding object closer than the second recognition module, that is, The accuracy of determining the information of the target object is further increased, thereby improving the safety of the user in the process of driving the vehicle.

Continuing, in some embodiments, the sounding object information within the second preset distance range is the image information of the sounding object. In this way, the position of the target object can be observed in real time through the image information within this distance range, and the position information of the target object relative to the own vehicle can be more accurately confirmed within a closer range to the own vehicle, so as to facilitate early avoidance.

In some embodiments, referring to FIG. 7 and FIG. 10 , the specific location information of the target object is acquired through the laser radar module 2 of the own vehicle. Here, compared to using millimeter-wave radar sensors and ultrasonic radar sensors, it is preferable to use laser radar sensors, which are the most accurate in ranging and identifying obstacles, and can also work in the dark, and have strong stability. , Moderate detection distance, convenient installation, small size and light weight. In this way, by adding the laser radar module 2 for ranging, compared with only using sound source positioning, its positioning accuracy is higher, and it is used to obtain the specific position information of the target object within the first preset distance D1, that is, The position closer to the self-vehicle can significantly improve the accuracy of the positioning range of the target object; in addition, since the target object is not particularly close to the self-vehicle when the laser radar module 2 is used to locate it, it can also give the vehicle Provide sufficient avoidance preparation time for internal users.

Among them, with reference to Fig. 7 and Fig. 10, the image information can be obtained by the image processing module 3 in the reminder device of the embodiment of the present application. In some embodiments, the image processing module 3 can be a vehicle camera, a driving recorder, etc. Functional equipment, the range of the second preset distance D2 can be divided according to the actual situation, and the shooting area can be one or more of the following areas: the rear area of the vehicle, the left area of the vehicle, the front area of the vehicle, etc. The information processing module 5 of the reminding device can obtain the video frame of the image processing module 3 setting the shooting area around the vehicle, and then pre-process the video frame such as filtering and denoising to improve the quality of the video frame so as to judge the corresponding time Whether there is a reminder target object in the captured video frame.

In addition, the image information acquired by the image processing module 3 may be a visible light image or an infrared light image. In this way, the adaptability of the reminder method can be improved, that is, the image information of the target object can be obtained regardless of the light intensity outside the vehicle.

In some embodiments, referring to FIG. 7 , the third preset distance D3 , the first preset distance D1 , and the second preset distance D2 decrease sequentially from far to near with the own vehicle as the center. Because the second preset distance D2 is smaller than the first preset distance D1, that is, when the target object moves within the range of the second preset distance D2, it is in a place closer to the own vehicle, that is, it may need to be within the second preset distance D2 To avoid the target object within the range, it is necessary to confirm the position information of the target object relative to the own vehicle more accurately, and within this distance range, the method of obtaining the image information of the target object can be used to observe the position of the target object in real time , so as to make avoidance in advance. Referring to Fig. 8, on the basis of Fig. 7, a third identification module 4 is introduced, which can obtain the information of the utterance object within the fourth preset distance D4, further increasing the accuracy and safety of the reminder device in obtaining the information of the utterance object .

With reference to Fig. 11, it is the operating logic schematic diagram of the composition structure of reminding device in the embodiment of the present application, earlier by the sound collection 10 in the sound processing module 1 recording the sound signal outside the vehicle and delivering to the sound recognition module 12; The sound recognition module 12 is responsible for Compare and identify the external sound with the alarm voiceprint information of the special vehicle, and determine whether it is the alarm sound issued by the special vehicle, and if it is the alarm sound, transmit the information to the downstream link; for example, the sound source location module 13 can obtain the third preset distance D3 For area location information within the range, the first recognition module and the second recognition module are the laser radar module 2 and the image processing module 3 respectively, and one of the control recognition modules obtains the sounding object information of the target object to be responsible for locating the position of the special vehicle.

Specifically, within the third preset distance range, that is, the target object is far away from the own vehicle, the area information of the target object can be obtained through the sound source localization module 13; within the first preset distance D1 range, that is, the target object is far away from the vehicle. When the self-vehicle is closer, the laser radar module 2 can be selected to obtain the specific position information of the target object; within the second preset distance D2, that is, the target object is closer to the self-vehicle, the image processing module 3 can be selected to be controlled to obtain the target The image information of the object; the information processing module 5 is responsible for receiving the signals input by the sound processing module 1, the laser radar module 2 and the image processing module 3 and performing priority sorting, such as, when the image processing module 3 acquires the image information of the target object , the image information can be output as warning reminder information; the image processing module 3 does not obtain the image information of the target object, and when the laser radar module 2 obtains the target object information, the specific position information of the target object obtained by it can be used as the warning reminder information Output; similarly, if the target object appears outside the range of the first preset distance D1, that is, neither the laser radar module 2 nor the image processing module 3 has acquired the target object information, the area position information of the target object is used as a warning prompt Information output, that is, centering on the self-vehicle, from near to far, the recognition module acquires the information of the sounding object, such as the image information of the sounding object, the specific location information of the sounding object, and the priority of the regional location information of the sounding object is gradually reduced. After being processed by the information processing module 5, the information is fed back to the reminder module 6, and the reminder module 6 outputs it; among them, the power supply module 6 is electrically connected with each module system and provides electric energy for it.

In addition, referring to FIG. 12 , the memory and the communication interface in the vehicle communicate with each other through the communication bus, and the memory is used to store at least one executable instruction, which enables the processor to execute the above vehicle warning method.

The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments. The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structures or equivalent process transformations made by using the description of the application and the accompanying drawings are directly or indirectly used in other related technical fields. , are all included in the patent protection scope of the present application in the same way.

Claims (10)

1. A vehicle warning reminder method, characterized in that, comprising: Receive sound information outside the car; Identifying whether the sound information outside the vehicle includes target sound information; If the sound information outside the vehicle includes the target sound information, then according to the sound source location of the target sound information, at least one of the at least two identification modules is controlled to acquire the sounding object information corresponding to the target sound information; The at least two recognition modules include a first recognition module and a second recognition module, the first recognition module is used to obtain the sounding object information within the first preset distance range, and the second recognition module is used to obtain the second Sounding object information within the preset distance range; Wherein, centering on the self-vehicle from far to near, the first preset distance range is greater than the second preset distance range; Generate and output warning reminder information according to the sounding object information. 2. The vehicle warning and reminding method according to claim 1, wherein the target sound information includes preset voiceprint information; the identifying whether the sound information outside the vehicle includes the target sound information, if the If the sound information outside the vehicle includes the target sound information, then according to the sound source location of the target sound information, the step of controlling at least one of the at least two identification modules to obtain the sounding object information corresponding to the target sound information includes: Identify whether the voiceprint information of the external voice information includes the preset voiceprint information, and if the voiceprint information of the external voice information includes the preset voiceprint information, then according to the preset voiceprint information The localization of the sound source, controlling at least one of the at least two recognition modules to obtain the sounding object information corresponding to the preset voiceprint information. 3 . The vehicle warning reminder method according to claim 1 , wherein the sounding object information includes at least one of area location information of the sounding object and specific location information of the sounding object. 4 . 4. The vehicle warning and reminding method according to claim 3, characterized in that, according to the sound source location of the target sound information, at least one of the at least two recognition modules is controlled to acquire the sounding object corresponding to the target sound information Information steps, including: If the sound source location of the target sound information is within the first preset distance range, then controlling the first identification module to obtain specific location information of the sounding object; If the sound source location of the target sound information is outside the first preset distance range, the sounding object information is determined as area position information of the sounding object. 5. The vehicle warning and reminding method according to claim 4, characterized in that, the receiving range of the sound information outside the vehicle is a third preset distance range, wherein, centering on the own vehicle from far to near, the first Three preset distance ranges are greater than the first preset distance range; The step of determining the sounding object information as the area position information of the sounding object includes: Using the area range from the first preset distance range to the third preset distance range as the area position information of the utterance object to obtain the utterance object information. 6 . The vehicle warning reminder method according to claim 1 , wherein the sounding object information includes at least one of area location information of the sounding object, specific location information of the sounding object, and image information of the sounding object. 7. The vehicle warning and reminding method according to claim 6, characterized in that, according to the sound source location of the target sound information, at least one of the at least two recognition modules is controlled to acquire the sounding object corresponding to the target sound information Information steps, including: If the sound source location of the target sound information is within the second preset distance range, controlling the second identification module to acquire image information of the sounding object; If the sound source location of the target sound information is within the range from the second preset distance range to the first preset distance range, then controlling the first identification module to acquire specific location information of the sounding object; If the sound source location of the target sound information is outside the first preset distance range, the sounding object information is determined as area position information of the sounding object. 8. The vehicle warning and reminding method according to claim 1, wherein the at least two identification modules further include a third identification module, and the third identification module is used to obtain sounding sounds within a fourth preset distance range. Object information; wherein, centering on the self-vehicle from far to near, the fourth preset distance range is smaller than the second preset distance range; The step of controlling at least one of the at least two identification modules to obtain the sounding object information corresponding to the target sound information according to the sound source location of the target sound information includes: If the sound source location of the target sound information is within the fourth preset distance range, controlling the third identification module to acquire the sounding object information; If the sound source location of the target sound information is outside the fourth preset distance range, the first identification module or the second identification module is controlled to obtain the sound object information. 9. A reminder device, characterized in that it comprises: The receiving module is used to receive sound information outside the vehicle; A sound recognition module, used to identify whether the sound information outside the vehicle includes target sound information; A control module, configured to control at least one of the at least two recognition modules to acquire the sounding object corresponding to the target sound information according to the sound source location of the target sound information if the sound information outside the vehicle includes the target sound information information; The at least two recognition modules include a first recognition module and a second recognition module, the first recognition module is used to obtain the sounding object information within the first preset distance range, and the second recognition module is used to obtain the second Sounding object information within a preset distance range; where the first preset distance range is greater than the second preset distance range, centering on the own vehicle from far to near; The reminder module is used to generate and output warning reminder information according to the occurrence object information. 10. A vehicle, characterized in that it comprises: The sound collection module is used to collect sound information outside the vehicle; A sound source localization module, configured to localize the sound source of the target sound information; At least two recognition modules, including a first recognition module and a second recognition module, the first recognition module is used to obtain the sounding object information within the first preset distance range, and the second recognition module is used to obtain the second preset distance Set the sounding object information within the distance range; wherein, centering on the self-vehicle from far to near, the first preset distance range is greater than the second preset distance range; A processor, configured to execute the vehicle warning reminder method according to any one of claims 1-8; memory for storing executable instructions executable on said processor; Wherein, when the processor executes the executable instructions, the processor can realize the vehicle warning reminder method in any one of claims 1-8.

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