CN119611214A

CN119611214A - Vehicle control method, device, electronic device, storage medium and vehicle

Info

Publication number: CN119611214A
Application number: CN202510037225.2A
Authority: CN
Inventors: 李辉; 庞剑; 罗乐; 廖祥凝; 李捷
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2025-01-09
Filing date: 2025-01-09
Publication date: 2025-03-14

Abstract

The invention relates to a vehicle control method, a device, electronic equipment, a storage medium and a vehicle, and relates to the field of vehicles; the target object is positioned in the sound field area, a plurality of loudspeakers of the vehicle are controlled to output corresponding prompt audios, the amplitude of the audio after being overlapped in the sound field area is not 0, and the amplitude of the audio after being overlapped in the mute area is 0. Directional emission of sound can thus be achieved.

Description

Vehicle control method and device, electronic equipment, storage medium and vehicle

Technical Field

The present invention relates to the field of vehicles, and in particular, to a vehicle control method, a device, an electronic apparatus, a storage medium, and a vehicle.

Background

With the popularization of electric vehicles, low noise characteristics thereof are gradually developed. Compared with the traditional internal combustion engine vehicle, when the electric vehicle runs at a low speed in a pure electric mode, the noise outside the vehicle is obviously reduced. This low noise characteristic makes it imperceptible to other users of the road, including pedestrians, cyclists, children, and vision-impaired people, when the vehicle approaches, thereby increasing the risk of traffic accidents.

The prior art can send out low-speed warning sound for reminding passers-by to pay attention to the existence of the vehicle under the condition that the vehicle runs at a low speed. The prior art can give out low-speed warning sounds in a low-speed running state of the vehicle, and can effectively protect passersby safety.

But in some cases may also become noise that pollutes the urban environment. For example, in an area where silence is required in a residential area or a school or the like, frequent low-speed driving warning sounds of vehicles may interfere with normal rest of residents or learning of students. In addition, if the volume or frequency of the warning sound is set improperly, unnecessary trouble may be caused to surrounding residents.

Disclosure of Invention

The application provides a vehicle control method, a device, electronic equipment, a storage medium and a vehicle, relates to the field of vehicles, and is used for directionally transmitting low-speed warning sounds to pedestrians in front of a low-speed running vehicle and reducing noise in other areas.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

In a first aspect, the present application provides a vehicle control method, including:

The method comprises the steps of determining a sound field area and a mute area of a prompt area of a vehicle according to the relative position between a target object and the vehicle, wherein the target object is located in the sound field area, controlling a plurality of speakers of the vehicle to output corresponding prompt audios, wherein the amplitude of the audio after the superposition of the prompt audios in the sound field area is not 0, and the amplitude of the audio after the superposition in the mute area is 0.

According to the technical means, the sound field area and the mute area can be determined according to the relative position between the target object and the vehicle, and then the plurality of speakers of the vehicle are controlled to output corresponding prompt audio, wherein the amplitude of the audio after the superposition of the prompt audio output by the plurality of speakers in the sound field area is not 0, and the amplitude of the audio after the superposition in the mute area is 0. Accordingly, the object in the sound field region can be prompted to pay attention to the vehicle, and at the same time, noise in the mute region can be eliminated.

In one possible implementation, a driving coefficient corresponding to the relative position is determined according to the relative position between the target object and the vehicle, and the amplitude and/or the phase of the audio output by the plurality of speakers are adjusted according to the driving coefficient so as to control the plurality of speakers of the vehicle to output corresponding prompt audio.

According to the technical means, the driving coefficient corresponding to the relative position can be determined according to the relative position between the target object and the vehicle, and the amplitude and/or the phase of the original warning sound signal can be adjusted. The sound waves emitted by the plurality of loudspeakers are enabled to realize interference enhancement in the target object area, and interference cancellation is achieved in other areas. Thereby realizing directional transmission of audio.

In one possible implementation, a first sound transfer matrix between the plurality of speakers and the sound field region and a second sound transfer matrix between the plurality of speakers and the sound field region are determined, and the driving coefficients are determined based on the first sound transfer matrix and the second sound transfer matrix.

According to the above technical means, the method for confirming the driving coefficient of the present application can calculate the driving coefficient of the corresponding speaker array when each region is used as the sound field region in advance in an off-line condition. Under the actual application scene, the directional emission of the audio can be realized only by calling the pre-calculated driving coefficient according to the sound field region, and the efficiency of the directional emission of the audio is improved.

In one possible implementation, a frequency domain driving signal of a speaker of a vehicle is determined according to a first sound transmission matrix and a second sound transmission matrix, and an inverse Fourier transform is performed on the frequency domain driving signal to obtain a driving coefficient.

According to the technical means, the driving coefficient can be obtained through inverse Fourier transform according to the frequency domain driving signal, so that the driving coefficient contains the amplitude and/or phase adjustment information of different sound waves emitted by different loudspeakers.

In one possible implementation manner, the frequency domain driving signal is a feature vector corresponding to a maximum feature value of a preset matrix, where the preset matrix is:

Wherein T _b represents a first sound transmission matrix, T _d represents a second sound transmission matrix, λ is a preset parameter, and I represents an identity matrix.

According to the technical means, the frequency domain driving signal can be calculated through the preset matrix.

In a possible implementation manner, according to the moving track of the target object, the amplitude and/or phase of the audio output by the speaker of the vehicle are adjusted, the sum of the amplitudes of the audio output by the adjusted speaker in the area where the target object is located is not 0, and the sum of the amplitudes in other areas is kept to be 0.

According to the technical means, the sound field area can be changed according to the moving track of the target object, and the self-adaptive orientation function of the audio is realized. The method does not need the driver to control and adjust the transmitting direction of the audio by himself, and improves the driving experience of the driver.

In a possible implementation manner, a speaker of the vehicle is disposed on a front side of the vehicle, and a sound field region of the vehicle is a front region of the vehicle.

According to the technical means, the range of the sound field area can be limited, and noise pollution of the warning sound to the urban environment is avoided.

According to a second aspect of the present application, there is provided a vehicle control apparatus including an acquisition unit and a determination unit;

An acquisition unit configured to acquire a relative position between a target object and a vehicle;

and the determining unit is used for determining a sound field area and a mute area of the prompt area of the vehicle, and the target object is positioned in the sound field area.

And the determining unit is also used for controlling a plurality of speakers of the vehicle to output corresponding prompt audios, wherein the amplitudes of the audios overlapped in the sound field area of the prompt audios output by the speakers are not 0, and the amplitudes of the audios overlapped in the mute area are 0.

In one possible implementation manner, the determining unit is further configured to determine a driving coefficient corresponding to the relative position according to the relative position between the target object and the vehicle, and the determining unit is further configured to adjust the amplitude and/or the phase of the audio output by the plurality of speakers according to the driving coefficient, so as to control the plurality of speakers of the vehicle to output corresponding prompt audio.

In a possible implementation, the determining unit is further configured to determine a first sound transmission matrix between the plurality of loudspeakers and the sound field region and a second sound transmission matrix between the plurality of loudspeakers and the sound field region, and determine the driving coefficients based on the first sound transmission matrix and the second sound transmission matrix.

In a possible implementation manner, the determining unit is further configured to determine a frequency domain driving signal of a speaker of the vehicle according to the first acoustic transmission matrix and the second acoustic transmission matrix, and the determining unit is further configured to perform inverse fourier transform on the frequency domain driving signal to obtain a driving coefficient.

Wherein T _d represents a first sound transmission matrix, T _b represents a second sound transmission matrix, λ is a preset parameter, and I represents an identity matrix.

In a possible implementation manner, the determining unit is further configured to adjust, according to a movement track of the target object, an amplitude and/or a phase of audio output by a speaker of the vehicle, where a sum of amplitudes of the audio output by the speaker after adjustment in an area where the target object is located is not 0, and a sum of amplitudes in other areas is kept to be 0.

According to a third aspect of the present application there is provided an electronic device comprising a processor, a memory for storing processor executable instructions, wherein the processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation thereof.

According to a fourth aspect of the application, there is provided a computer readable storage medium, which when executed by a processor of a vehicle, enables the vehicle to perform the method of any one of the above-mentioned first aspects and any one of its possible embodiments.

According to a fifth aspect of the present application, there is provided a computer program product comprising computer instructions which, when run on a vehicle, cause the vehicle to carry out the method of the first aspect and any one of its possible embodiments.

According to a sixth aspect of the present application, there is provided a vehicle having a vehicle control device.

Therefore, the technical characteristics of the application have the following beneficial effects:

(1) According to the technical means, the sound field area and the mute area can be determined according to the relative position between the target object and the vehicle, and then the plurality of speakers of the vehicle are controlled to output corresponding prompt audio, wherein the amplitude of the audio overlapped in the sound field area is not 0, and the amplitude of the audio overlapped in the mute area is 0. Accordingly, the object in the sound field region can be prompted to pay attention to the vehicle, and at the same time, noise in the mute region can be eliminated.

(2) According to the technical means, the driving coefficient corresponding to the relative position can be determined according to the relative position between the target object and the vehicle, and the amplitude and/or the phase of the original warning sound signal can be adjusted. The sound waves emitted by the plurality of loudspeakers are enabled to realize interference enhancement in the target object area, and interference cancellation is achieved in other areas. Thereby realizing directional transmission of audio.

(3) According to the above technical means, the method for confirming the driving coefficient of the present application can calculate the driving coefficient of the corresponding speaker array when each region is used as the sound field region in advance in an off-line condition. Under the actual application scene, the directional emission of the audio can be realized only by calling the pre-calculated driving coefficient according to the sound field region, and the efficiency of the directional emission of the audio is improved.

(4) According to the technical means, the driving coefficient can be obtained through inverse Fourier transform according to the frequency domain driving signal, so that the driving coefficient contains the amplitude and/or phase adjustment information of different sound waves emitted by different loudspeakers.

(5) According to the technical means, the frequency domain driving signal can be calculated through the preset matrix.

(6) According to the technical means, the sound field area can be changed according to the moving track of the target object, and the self-adaptive orientation function of the audio is realized. The method does not need the driver to control and adjust the transmitting direction of the audio by himself, and improves the driving experience of the driver.

(7) According to the technical means, the range of the sound field area can be limited, and noise pollution of the warning sound to the urban environment is avoided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute a undue limitation on the application.

Fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;

fig. 2 is a schematic diagram of sound field region judgment according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a deployment method of a vehicle radar/vision system according to an embodiment of the present application;

Fig. 4 is a schematic diagram of a speaker array deployment method according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a vehicle control method according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a driving coefficient calculating method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of directional emitted audio according to an embodiment of the present application;

fig. 8 is a block diagram of a vehicle control apparatus according to an embodiment of the present application;

fig. 9 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to enable a person skilled in the art to better understand the technical solutions of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

First, the application scenario related to the present application will be briefly described.

In the field of vehicles, as electric vehicles are rapidly spreading, low noise characteristics thereof are increasingly developed. When the electric automobile runs at a low speed, the noise level of the electric automobile is low, and the electric automobile is not easy to be perceived by pedestrians, bicycle riders, children, vision handicapped persons and other traffic participants, so that the risk of traffic accidents is increased. The low-speed warning sound can improve the perceptibility of the electric automobile and reduce the collision risk by simulating the sound of the traditional internal combustion engine vehicle or sending out other sound signals easy to identify. However, the low-speed warning sound is suitable for different environments, and needs to have certain penetrating power and identification degree so as to ensure that the low-speed warning sound can be clearly heard in various environments. So that in some cases the low speed warning sounds will be referred to as urban environment noise. For example, in an area where silence is required in a residential area or a school or the like, frequent low-speed driving warning sounds of vehicles may interfere with normal rest of residents or learning of students. In addition, if the volume or frequency of the warning sound is set improperly, unnecessary trouble may be caused to surrounding residents.

The user can make a judgment according to the scene, and the front-end controller for directional sounding is operated to drive the loudspeaker array to realize the directional sounding function. There are a number of difficulties in orienting the low speed warning sounds by the vehicle. For example, in order to direct low speed warning sounds to a vehicle pedestrian, the driver needs to operate the controller multiple times to accommodate the vehicle pedestrian position change, which seriously affects the driving safety.

In order to solve the problems, the embodiment of the application provides a vehicle control method, which comprises the steps of determining a sound field area and a mute area of a prompt area of a vehicle according to the relative position between a target object and the vehicle, wherein the target object is located in the sound field area, controlling a plurality of speakers of the vehicle to output corresponding prompt audios, wherein the amplitudes of the prompt audios output by the speakers are not 0 after being overlapped in the sound field area, and the amplitudes of the prompt audios are 0 after being overlapped in the mute area.

According to the technical means, the sound field area and the mute area can be determined according to the relative position between the target object and the vehicle. The audio is directed to the sound field area in front of the vehicle, while the area in front of the vehicle where no pedestrians are present is a mute area. The emitting direction of the audio can be automatically changed according to the position change of pedestrians, and the low-speed warning sound is prevented from becoming noise polluting the environment.

For easy understanding, the vehicle control method provided by the application is specifically described below with reference to the accompanying drawings.

The execution body of the present application may be a vehicle or a component of a vehicle, for example, may be an in-vehicle terminal, and the execution body will be described below as an in-vehicle terminal.

Fig. 1 is a flow chart illustrating a vehicle control method according to an exemplary embodiment. As shown in FIG. 1, the exception handling method includes S101-S102.

S101, the vehicle-mounted terminal determines a sound field area and a mute area of a prompt area of the vehicle according to the relative position between the target object and the vehicle.

Wherein the target object is located within the acoustic field region. For example, the target object may be another traffic participant, and the relative position is the position coordinates of the target object relative to the vehicle. The position coordinates may be coordinates in a coordinate system. The coordinate system may be a vehicle coordinate system of the vehicle.

In one example, the vehicle's own coordinate system takes the midpoint of the vehicle's head as the origin, the vehicle's front axis horizontal line as the x-axis of the own coordinate system, and the x-axis direction is to the right of the horizontal line. And judging the sound field area to be the right front side of the vehicle under the condition that the included angle between the position coordinate and the x-axis is smaller than 60 degrees. And under the condition that the included angle between the position coordinate and the x-axis is larger than 60 degrees and smaller than 120 degrees, judging that the sound field area is the front side of the vehicle. And judging the sound field area as the left front side of the vehicle under the condition that the included angle between the position coordinate and the x-axis is larger than 120 degrees.

In the embodiment of the application, the prompt area in front of the vehicle can be divided into the sound field area and the mute area based on the relative position between the target object and the vehicle. The sound field region may be a region where the target object is located, and the mute region is a region where the cue sound needs to be reduced/reduced.

For example, as shown in fig. 2, the presentation area may be an area 180 ° ahead of the vehicle. The presentation area may be divided into a plurality of areas, dividing the vehicle front area into 3 areas of 60 °. The sound field region is a region where the target object is located, and the mute region is other regions except the sound field region.

In one example, the vehicle may obtain the relative position between the target object and the vehicle through an on-board radar/vision system. The vehicle-mounted radar/vision system can emit sound waves through the vehicle-mounted radar, and the distance between the target object and the vehicle is determined according to the rebound time of the sound waves. The vehicle radar/vision system can also acquire the direction information of the target object relative to the vehicle through the camera. And determining the coordinate position of the target object according to the direction information and the distance of the target object relative to the vehicle.

The vehicle radar/vision system may include, among other things, a 360 degree radar/vision system, a remote camera/radar, and a plurality of peripheral radar/vision systems. For example, the in-vehicle radar/vision system may refer to a conventional intelligent driving vehicle in-vehicle radar/vision system as shown in fig. 3. The vehicle radar/vision system can monitor the front of the vehicle to determine whether a target object is present. In the case where the target object appears in front of the vehicle, the relative position of the target object is determined.

It should be noted that, in the embodiment of the present application, the vehicle radar/vision system provided in the embodiment of the present application may adopt the deployment manner shown in fig. 3, or may adopt other manners, which is not limited.

S102, the vehicle-mounted terminal controls a plurality of speakers of the vehicle to output corresponding prompt audio.

The amplitude of the audio superimposed in the sound field area of the prompt audio output by the plurality of loudspeakers is not 0, and the amplitude of the audio superimposed in the mute area is 0. The corresponding alert audio may be a low-speed alert tone with a modified amplitude and/or phase after filtering. The sum of the amplitudes of the corresponding audios emitted by the plurality of loudspeakers is not 0 in the sound field area, and the sum of the amplitudes is 0 in the mute area.

It should be noted that, as known from the laws of physics, the volume of audio is related to the amplitude of sound waves propagating in space, and two or more sound waves with the same frequency appear in the same space to interfere, and when two or more sound waves meet in some regions of space, they are superimposed on each other. If the frequency of the sound waves is the same, the vibration directions are the same and the phase difference is constant, the vibration of the sound waves can be enhanced in certain areas to form an interference enhancement phenomenon, and in other areas, the vibration directions are opposite, the vibration of the sound waves can be weakened or even counteracted to form an interference counteraction phenomenon.

Based on this principle, since the sum of the magnitudes of the audio emitted from the plurality of speakers to the sound field region is not 0 and the sum of the magnitudes of the audio emitted from the plurality of speakers to the mute region is 0, the interference of the audio emitted from the plurality of speakers in the sound field region is enhanced and the interference is canceled in the mute region. Therefore, the sound field area can hear the low-speed warning sound, and the mute area can not hear the low-speed warning sound, so that the directional emission of the low-speed warning sound is realized.

In one example, 4 speakers are deployed in front of the vehicle, and in the acoustic field region, the audio output by the 4 speakers satisfies equation one. In the mute region, the audio output from the 4 speakers satisfies the formula two.

P ₁+P₂+P₃+P₄ is not equal to 0 formula

Equation two with P ₁+P₂+P₃+P₄ =0

Wherein, P ₁、P₂、P₃、P₄ is the amplitude of the sound of 4 speakers in the prompt area respectively. Equation one indicates that the amplitude is not 0 after a plurality of audios are superimposed in the sound field region. Equation two shows that the amplitude is equal to 0 after the superposition of multiple tones in the mute region.

It should be noted that, because of the error in the actual situation, in the mute area, the situation that the result obtained by overlapping the amplitudes of the plurality of audios is approximately 0 but not equal to 0 may occur, so that the low-speed warning sound in the mute area may be reduced, and the purpose of reducing the noise in the mute area may be achieved.

Based on the technical scheme of fig. 1, according to the technical means, the sound field area and the mute area can be determined according to the relative position between the target object and the vehicle, then a plurality of speakers of the vehicle are controlled to output corresponding prompt audio, the amplitude of the audio overlapped in the sound field area of the prompt audio output by the speakers is not 0, and the amplitude of the audio overlapped in the mute area is 0. Accordingly, the object in the sound field region can be prompted to pay attention to the vehicle, and at the same time, noise in the mute region can be eliminated.

In one embodiment, as shown in fig. 4, the speakers may be disposed on the front side of the vehicle, and a plurality of speakers may constitute a speaker array. For example, fig. 4 shows a layout of a speaker array, where the number of speakers may be four, the spacing between adjacent speakers may be 0.2m, and the height of the speakers from the ground may be 0.3m.

In one example, as shown in fig. 5, the in-vehicle terminal determines a driving coefficient corresponding to a sound field region from the sound field region. And the vehicle-mounted terminal modulates the original audio through filtering according to the driving coefficient. The vehicle-mounted terminal controls a plurality of speakers of the vehicle to output corresponding prompt audio.

Wherein the driving coefficient is obtained by pre-calculation. Specifically, the calculation process of the driving coefficient may refer to the description of the second embodiment, which is not repeated here. The drive coefficients may include the amount of amplitude and/or phase change of the audio signal that the plurality of speakers need to play from the original audio signal. The sum of the amplitudes of the audio output by the adjusted loudspeaker in the area where the target object is located is not 0, and the sum of the amplitudes in other areas is kept to be 0. The vehicle-mounted terminal controls the plurality of speakers to emit the adjusted prompt audio through the excitation signals of the speakers. After the original audio signals are adjusted through filtering processing, excitation signals of a plurality of speakers are generated, one speaker corresponds to the excitation signal of one speaker, and the excitation signals of the speakers form speaker excitation signal streams. Each speaker excitation signal may excite the adjusted audio played by the corresponding speaker.

In yet another embodiment (embodiment two), the driving coefficient calculation process includes S601-603.

S601, the vehicle-mounted terminal determines a first sound transmission matrix between a plurality of loudspeakers and a sound field area and a second sound transmission matrix between the loudspeakers and a mute area.

Wherein the acoustic transfer matrix may consist of transfer functions of the acoustic sensor and the loudspeaker array. The transfer function consists of the ratio of the loudspeaker excitation signal to the response signal at the acoustic sensor. A speaker corresponds to a transfer function of an acoustic sensor. The acoustic sensor is arranged at the border of the cue area.

In one example, as shown in FIG. 6, acoustic sensors are positioned at the boundaries of the cue areas. The included angle between the connecting lines of two adjacent acoustic sensors and the origin of the own vehicle coordinate system is 5 degrees, and 37 acoustic sensors are arranged in total. The sound transfer matrix from the speaker array to the acoustic sensor included in the sound field region is a first sound transfer matrix, and the sound transfer matrix from the speaker array to the acoustic sensor included in the mute region is a second sound transfer matrix. For example, in the case where the relative position of the target object is on the left side with respect to the vehicle traveling direction, the sound transfer matrix of the speaker array to the acoustic sensors 26 to 37 is the first sound transfer matrix, and the sound transfer matrix of the speaker array to the acoustic sensors 1to 25 is the second sound transfer matrix.

S602, the vehicle-mounted terminal determines a frequency domain driving signal of a loudspeaker of the vehicle according to the first sound transmission matrix and the second sound transmission matrix.

The frequency domain driving signal refers to a signal in a frequency domain, and may include frequency distribution, amplitude, and phase.

In one example, the vehicle terminal determines a frequency domain drive signal for a speaker of the vehicle based on the first acoustic transfer matrix and the second acoustic transfer matrix. And performing inverse Fourier transform on the frequency domain driving signals to obtain driving coefficients. The frequency domain driving signal q (f) is a feature vector corresponding to the maximum feature value of the preset matrix. The preset matrix is:

Wherein T _b represents a first sound transmission matrix, T _d represents a second sound transmission matrix, I represents an identity matrix, and H is a matrix transpose symbol. Lambda is a real number for improving the accuracy of the calculation result, and is obtained by multiple times of calculation optimization.

And S603, the vehicle-mounted terminal performs inverse Fourier transform according to the frequency domain driving signal to obtain a driving coefficient corresponding to the sound field region.

In one example, the vehicle-mounted terminal may calculate a driving coefficient corresponding to each region as a sound field region based on the frequency domain driving signal q (f)For example, in the case where the target object is on the front left side of the vehicle, the driving coefficient isIn the case where the target object is directly in front of the vehicle, the driving coefficient isIn the case where the target object is on the front right side of the vehicle, the driving coefficient is

Wherein, the frequency domain driving signal q (f) is subjected to inverse Fourier transform to obtain driving coefficients corresponding to the sound field regionThe frequency domain drive signal may be converted from a representation in the frequency domain to drive coefficients represented in the time domain

In an example, as shown in fig. 7, in the case where a pedestrian is on the front left side of the vehicle, the plurality of sound waves subjected to the drive coefficient processing are enhanced in the area interference on the front left side of the vehicle, and the other area interference is canceled. When a pedestrian is on the front right side of the vehicle, the interference of the plurality of sound waves subjected to the drive coefficient processing is enhanced in the front right side region of the vehicle, and the interference of other regions is canceled.

Based on the above technical scheme, the method for confirming the driving coefficient of the application can calculate the driving coefficient of the corresponding speaker array when each region is used as the sound field region in advance under the off-line condition. Under the actual application scene, the directional emission of the audio can be realized only by calling the pre-calculated driving coefficient according to the sound field region, and the efficiency of the directional emission of the audio is improved. According to the moving track of the target object, the sound field area is changed, and the self-adaptive orientation function of the audio is realized. The method does not need the driver to control and adjust the transmitting direction of the audio by himself, and improves the driving experience of the driver.

The foregoing description of the solution provided by the embodiments of the present application has been mainly presented in terms of a method. In order to achieve the above functions, the vehicle control apparatus or the electronic device includes a hardware structure and/or a software module corresponding to each function. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The embodiment of the application can divide the functional modules of the vehicle control device or the electronic device according to the method, for example, the vehicle control device or the electronic device can comprise each functional module corresponding to each functional division, or two or more functions can be integrated in one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.

Fig. 8 is a block diagram of a vehicle control apparatus according to an exemplary embodiment. Referring to fig. 8, the vehicle control apparatus 80 may include an acquisition unit 801, a determination unit 802.

An acquisition unit 801 for acquiring a relative position between a target object and a vehicle;

a determining unit 802 for determining a sound field area and a mute area of a cue area of the vehicle, the target object being located in the sound field area.

The determining unit 802 is further configured to control a plurality of speakers of the vehicle to output corresponding alert audios, where the alert audios output by the plurality of speakers have an amplitude of audio superimposed in a sound field area other than 0, and the audio superimposed in a mute area has an amplitude of 0.

In a possible implementation manner, the determining unit 802 is further configured to determine a driving coefficient corresponding to the relative position according to the relative position between the target object and the vehicle, and the determining unit is further configured to adjust the amplitude and/or the phase of the audio output by the plurality of speakers according to the driving coefficient, so as to control the plurality of speakers of the vehicle to output corresponding prompt audio.

In a possible implementation manner, the determining unit 802 is further configured to determine a first sound transmission matrix between the plurality of speakers and the sound field area, and a second sound transmission matrix between the plurality of speakers and the sound field area, and determine the driving coefficient based on the first sound transmission matrix and the second sound transmission matrix.

In a possible implementation manner, the determining unit 802 is further configured to determine a frequency domain driving signal of a speaker of the vehicle according to the first acoustic transmission matrix and the second acoustic transmission matrix, and the determining unit 802 is further configured to perform inverse fourier transform on the frequency domain driving signal to obtain a driving coefficient.

In a possible implementation manner, the determining unit 802 is further configured to adjust, according to a movement track of the target object, an amplitude and/or a phase of audio output by a speaker of the vehicle, where a sum of amplitudes of the audio output by the adjusted speaker in a region where the target object is located is not 0, and a sum of amplitudes in other regions is kept to be 0.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Fig. 9 is a block diagram of an electronic device, according to an example embodiment. As shown in fig. 9, the electronic device 90 includes, but is not limited to, a processor 901 and a memory 902.

The memory 902 is configured to store executable instructions of the processor 901. It is to be understood that the above-described processor 901 is configured to execute instructions to implement the vehicle control method in the above-described embodiment.

It should be noted that the electronic device structure shown in fig. 9 is not limited to the electronic device, and the electronic device may include more or less components than those shown in fig. 9, or may combine some components, or may have different arrangements of components, as will be appreciated by those skilled in the art.

The processor 901 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 902 and calling data stored in the memory 902, thereby performing overall monitoring of the electronic device. The processor 901 may include one or more processing units. Alternatively, the processor 901 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 901.

The memory 902 may be used to store software programs as well as various data. The memory 902 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs (such as a determination unit, a processing unit, etc.) required for at least one functional module, and the like. In addition, the memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

In an exemplary embodiment, a computer readable storage medium is also provided, e.g., a memory 902, comprising instructions executable by the processor 901 of the electronic device 90 to implement the methods of the embodiments described above.

In actual implementation, the functions of the acquisition unit 801 and the determination unit 802 in fig. 8 may be implemented by the processor 901 in fig. 9 calling a computer program stored in the memory 902. For specific implementation, reference may be made to the description of the method in the above embodiment, and details are not repeated here.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, when the computer executes the instructions, the computer executes each step in the vehicle control method flow shown in the method embodiment.

The embodiment of the application also provides a computer program product containing instructions, which when run on a computer, cause the computer to execute the vehicle control method in the method embodiment.

Alternatively, the computer readable storage medium may be a non-transitory computer readable storage medium, for example, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, embodiments of the application also provide a computer program product comprising one or more instructions executable by the processor 901 of an electronic device to perform the method of the above-described embodiments.

It should be noted that, when the instructions in the computer readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the processes of the foregoing method embodiments are implemented, and the technical effects similar to those of the foregoing method can be achieved, so that repetition is avoided, and no further description is provided herein.

From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules, so as to perform all the classification parts or part of the functions described above.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and the parts shown as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. The purpose of the embodiment scheme can be achieved by selecting part or all of the classification part units according to actual needs.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application, or the portion contributing to the prior art or the whole classification portion or portion of the technical solution, may be embodied in the form of a software product stored in a storage medium, where the software product includes several instructions to cause a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to execute the whole classification portion or part of the steps of the method of the embodiments of the present application. The storage medium includes various media capable of storing program codes such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk.

The present application is not limited to the above embodiments, and any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that the method comprises:

Determining a sound field area and a mute area of a prompt area of a vehicle according to the relative position between a target object and the vehicle, wherein the target object is positioned in the sound field area;

And controlling a plurality of speakers of the vehicle to output corresponding prompt audio, wherein the amplitude of the audio overlapped in the sound field area is not 0, and the amplitude of the audio overlapped in the mute area is 0.

2. The method of claim 1, wherein controlling a plurality of speakers of the vehicle to output corresponding alert audio comprises:

Determining a driving coefficient corresponding to the relative position according to the relative position between the target object and the vehicle;

And adjusting the amplitude and/or the phase of the audio output by the plurality of speakers according to the driving coefficient so as to control the plurality of speakers of the vehicle to output corresponding prompt audio.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

Determining a first sound transfer matrix between the plurality of speakers and the sound field region, and a second sound transfer matrix between the plurality of speakers and the silence region;

The drive coefficients are determined based on the first acoustic transfer matrix and the second acoustic transfer matrix.

4. A method according to claim 3, wherein the determining the drive coefficients based on the first and second acoustic transfer matrices comprises:

Determining a frequency domain driving signal of a speaker of the vehicle according to the first sound transmission matrix and the second sound transmission matrix;

And performing inverse Fourier transform on the frequency domain driving signal to obtain the driving coefficient.

5. The method of claim 4, wherein the frequency domain driving signal is a eigenvector corresponding to a maximum eigenvalue of a preset matrix, the preset matrix being:

Wherein T _b represents the first sound transmission matrix, T _d represents the second sound transmission matrix, λ is a preset parameter, and I represents an identity matrix.

6. The method of any one of claims 1,2,4, or 5, further comprising:

And adjusting the amplitude and/or phase of the audio output by the loudspeaker of the vehicle according to the moving track of the target object, wherein the sum of the amplitudes of the audio output by the adjusted loudspeaker in the area where the target object is positioned is not 0, and the sum of the amplitudes in other areas is kept to be 0.

7. The method according to any one of claims 1,2,4 or 5, wherein the vehicle's speakers are disposed on the front side of the vehicle, and the vehicle's sound field region is the front region of the vehicle.

8. A vehicle control apparatus characterized by comprising an acquisition unit and a determination unit;

an acquisition unit configured to acquire a relative position between the target object and the vehicle;

A determining unit configured to determine a sound field region and a mute region of a cue region of the vehicle, the target object being located within the sound field region;

The vehicle sound field region comprises a sound field region, a determining unit and a sound source region, wherein the sound field region is used for generating sound field, the determining unit is also used for controlling a plurality of loudspeakers of the vehicle to output corresponding prompt audios, the amplitude of the audio after being overlapped in the sound field region is not 0, and the amplitude of the audio after being overlapped in the sound field region is 0.

9. An electronic device, comprising:

a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the method of any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that the electronic device is capable of performing the method of any one of claims 1 to 7 when computer-executable instructions stored in the computer readable storage medium are executed by a processor of a vehicle.

11. A computer program product, characterized in that it comprises computer instructions which, when run on a vehicle, cause the vehicle to carry out the method according to any one of claims 1 to 7.

12. A vehicle characterized by comprising the vehicle control device according to claim 8.