CN105799584A - Surrounding vehicle whistling sound microprocessor, prompt device and automatic driving system - Google Patents
Surrounding vehicle whistling sound microprocessor, prompt device and automatic driving system Download PDFInfo
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- CN105799584A CN105799584A CN201410835590.XA CN201410835590A CN105799584A CN 105799584 A CN105799584 A CN 105799584A CN 201410835590 A CN201410835590 A CN 201410835590A CN 105799584 A CN105799584 A CN 105799584A
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Abstract
The invention relates to a microprocessor used for processing surrounding vehicle whistling sounds, a prompt device employing the microprocessor and an automatic driving system employing the microprocessor. The microprocessor comprises a signal receiving module, a filtering module and a signal processing module. The signal receiving module is configured to receive whistling sound signals from a sound sensor array; the filtering module is configured to filter environmental noise and only retain vehicle whistling sound signals; and the signal processing module is configured to determine the position and the speed of the whistling vehicle based on the differences among the whistling sound signals, and output information about the position and the speed of the whistling vehicle. According to the invention, the driving safety can be improved.
Description
Technical field
The application relates to a kind of blowing a whistle the microprocessor of acoustic processing and adopt suggestion device and the automated driving system of this microprocessor for surrounding vehicles.
Background technology
In vehicle travel process, driver there may come a time when can because sound interference (such as audio program, ambient sound etc.) be without noticing that other vehicle is blown a whistle, or the relative bearing of vehicle of not judging in time to blow a whistle and speed.This is likely to be danger close, and during particularly in vehicle doubling, driver is without having noticed that vehicle is blown a whistle, it is possible to have an accident.Additionally, there is certain dysaudia in some drivers, for instance provisional, it is also possible to can not clearly hear that other vehicle is blown a whistle.
Therefore, to blow a whistle or other warning sound be identified and point out, safe driving is advantageous for.According to a kind of prior art, carry out spectrum analysis to identify the frequency range in external sound source by fast Fourier transform, thus judge sound source type, and point out warning sound.According to another kind of prior art, warn sound based on external sound tag recognition is outside and thus regulates audio frequency output in car.
The common defects existed in prior art is in that, can only provide the prompting blown a whistle about outside in car, and is not provided that the information such as position and speed of vehicle of around blowing a whistle.Therefore, for driver, prior art determines that the help that best piloting strategies provides is very limited.
Summary of the invention
The application aims to blowing a whistle of surrounding vehicles provides more driving to point out for driver, the information alert of especially blow a whistle vehicle location and speed.
For this, the application provides the microprocessor of a kind of acoustic processing of blowing a whistle for surrounding vehicles in one aspect, including: signal receiving module, it is configured to receive the acoustical signal of blowing a whistle from sound transducer array；Filtration module, it is configured to filter out environmental noise, and a reservation vehicle is blown a whistle acoustical signal；And signal processing module, it is configured to determine, based on the difference respectively blowing a whistle between acoustical signal, blow a whistle vehicle location and speed, and exports the information about blow a whistle vehicle location and speed.
A kind of embodiments possible according to the application, what described microprocessor was determined blow a whistle, and vehicle location is the vehicle relative position relative to microprocessor place vehicle of blowing a whistle, and what described microprocessor was determined blow a whistle, and car speed is blows a whistle the travel speed of vehicle.
A kind of embodiments possible according to the application, the difference between acoustical signal of respectively blowing a whistle is time difference and/or the amplitude difference of the acoustical signal of blowing a whistle that each sound transducer receives in sound transducer array, for instance blow a whistle time when initiateing and/or terminate and/or the amplitude difference received.
A kind of embodiments possible according to the application, described signal processing module determine blow a whistle vehicle location and speed time, in sound transducer array, the travel speed of relative position relation between each sound transducer and microprocessor place vehicle is taken as known parameters.
The application provides on the other hand a kind of surrounding vehicles at it and blows a whistle suggestion device, including: previously described microprocessor；And the sound transducer array being connected with described microprocessor respectively and information output device；Wherein, described sound transducer array includes being arranged in the multiple sound transducers of different parts of vehicle of suggestion device of blowing a whistle equipped with this surrounding vehicles.
A kind of embodiments possible according to the application, described sound transducer array includes at least three sound transducer, and they projected positions in a horizontal plane are different from each other, it is preferable that be spaced farthest distance as far as possible.
A kind of embodiments possible according to the application, described sound transducer array includes four sound transducers, they be distributed in equipped with this surrounding vehicles blow a whistle suggestion device vehicle left front, right before, in rear left back, right.
A kind of embodiments possible according to the application, described information output device includes screen, such as Dashboard screen, it is configured to display and around blows a whistle vehicle relative to the travel speed of the position of vehicle of suggestion device of blowing a whistle equipped with this surrounding vehicles and vehicle of blowing a whistle.
A kind of embodiments possible according to the application, described screen has text prompt district, for providing the relevant word of the situation of vehicle of blowing a whistle to surrounding or graphical cues.
A kind of embodiments possible according to the application, as the alternately or additionally feature of described screen, described information output device includes seat vibration device and/or speaker.
The application provides a kind of automated driving system in it is another, including: previously described microprocessor, the danger that the information about blow a whistle vehicle location and speed of its output is used in Vehicular automatic driving is evaded.
According to the application, blow a whistle by being arranged in outside the sound transducer array detection of vehicle periphery.Processor utilizes the signal from sound transducer array to calculate position and the speed of vehicle of blowing a whistle, and by the information alert calculated to driver's (such as by screen, seat vibration device, speaker etc.) to help driver to determine best piloting strategies, or it is supplied to automated driving system, evade realizing danger.
Accompanying drawing explanation
Aforementioned and the other side of the application will be more fully understood from by being discussed in detail of doing with reference to the accompanying drawings, in the accompanying drawings:
Fig. 1 is that the surrounding vehicles according to the application is blown a whistle the schematic block diagram of basic composition of suggestion device.
Fig. 2 is that the blow a whistle sound transducer array of suggestion device of the surrounding vehicles according to the application is arranged and blow a whistle equipped with surrounding vehicles the vehicle of suggestion device and the schematic diagram of position relationship between vehicle of around blowing a whistle.
Fig. 3 is that the surrounding vehicles according to the application is blown a whistle the schematic diagram of visual prompts of suggestion device.
Detailed description of the invention
The application is intended to improve the safety in vehicle drive.Specifically, the application is based on the recognition, and namely in vehicle travel process, if there being surrounding vehicles to blow a whistle, then this operation being likely to this vehicle of blowing a whistle causes inconvenience to surrounding vehicles or danger is relevant.Such as, this vehicle travels the normal traveling excessively slowly hindering vehicle below, after vehicle be likely to blow a whistle remind driver to accelerate or get out of the way track.And for example, when this vehicle is intended to doubling, other vehicle that driver is likely to not to be noted be intended on doubling track is in the relative position and/or relative velocity that are difficult to dodge, then this other vehicle may blow a whistle to remind driver's now doubling condition immature.And for example, although the safe doubling of this vehicle, but cause that other vehicle on doubling track has to bring to a halt, then the driver of this other vehicle is likely to also can blow a whistle and notes not such doubling after reminding driver.Other reason miscellaneous is also possible to cause that surrounding vehicles is blown a whistle.Under many circumstances, driver does not notice that surrounding vehicles is blown a whistle, or although it is noted that there is vehicle to blow a whistle, but the position of the vehicle that can not quickly judge to blow a whistle and speed, this can cause unsafe condition, for instance with other automobile crash during doubling.For this, the application is based on exterior vehicle whistle signal, for the aid prompting that driver is provided with, is at least providing the prompting of the speed of the position relative to this vehicle of relevant vehicle of blowing a whistle and vehicle of blowing a whistle, and determines follow-up piloting strategies contributing to driver.
An aspect according to the application, it is provided that a kind of surrounding vehicles for vehicle is blown a whistle suggestion device, schematically shows in Fig. 1, and it mainly includes microprocessor 1 and the sound transducer array 2 being connected respectively and information output device 3 with microprocessor 1.
Sound transducer array 2 includes the multiple sound transducers (such as mike) being arranged in position, vehicle periphery, such as, in the example shown in Fig. 2, sound transducer array 2 include being arranged in vehicle 4 left front, right before, four sound transducers 2a, 2b, 2c, 2d in rear left back, right.These sound transducers are used for receiving acoustical signal, including the sound 6 of blowing a whistle of surrounding vehicles 5.Microprocessor 1 includes signal receiving module, for receiving the acoustical signal from these sound transducers, and it is processed.Also including filtration module in microprocessor 1, be used for filtering out environmental noise, a reservation vehicle is blown a whistle sound.Microprocessor 1 also includes signal processing module, for judging, according to acoustical signal of blowing a whistle, the blow a whistle position of vehicle and speed.
Ultimate principle according to the application, the difference of what each sound transducer received blow a whistle sound is used to judge to blow a whistle the position of vehicle and speed.Specifically, for this vehicle 4 of suggestion device of blowing a whistle equipped with the surrounding vehicles of the application, the time (including initial time and end time) that the sound 6 of blowing a whistle from other vehicle 5 arrives each sound transducer is different.Driving speed information according to this vehicle 4 is (such as, carry out the CAN of free vehicle) and the difference blown a whistle the time (including initial time and end time) of other vehicle that receives of each sound transducer, vehicle 5 of blowing a whistle can be calculated and (include longitudinally opposed position relative to the position of this vehicle 4, i.e. fore-and-aft direction position, and lateral attitude, i.e. left and right directions position) and the speed (including longitudinal velocity and lateral velocity, it is possible to be the absolute velocity of vehicle of blowing a whistle) of vehicle 5 of blowing a whistle.
Blow a whistle vehicle position in the two directions and speed constitutes four known variables, in order to obtain the value of these four known variables, sound transducer array needs to comprise at least three sound transducer, they projected positions in a horizontal plane are different from each other, preferably it is spaced farthest distance as far as possible, and preferred not conllinear, so that the acoustical signal starting and ending time monitored each other is different as far as possible.For example, it is possible to three sound transducers to be arranged in the front and rear portions centre position left front, right of vehicle, or be arranged in left back, right after, front medial location.In order to improve the reliability of detection, it is possible to adopt four (such as, shown in Fig. 2) or more sound transducer.
Say from the general extent, it is assumed that sound transducer array 2 includes n (n >=3) individual sound transducer, then microprocessor 1 can from they obtain n blow a whistle sound initial time and n blow a whistle the sound end time.In microprocessor 1 can using the distributing position of each sound transducer, vehicle 4 travel speed (longitudinal velocity) as known variables, the actual parameter as input variable is n-1 blow a whistle sound initial time difference and n-1 sound end time difference of blowing a whistle.Utilize this individual input parameter of 2 × (n-1), it is possible to calculate vehicle 5 of blowing a whistle relative to the longitudinally opposed position of this vehicle 4, laterally opposed position and the blow a whistle longitudinal velocity of vehicle 5, lateral velocity.The input variable of redundancy may be used for result of calculation is modified, to improve the precision of result of calculation.
In addition, owing to the amplitude of sound wave changes (decay) with propagation distance, therefore, amplitude information (amplitude when blowing a whistle initial or the difference between them of what each sound transducer received blow a whistle sound, amplitude when terminating of blowing a whistle or the difference between them, blow a whistle amplitude attenuation when terminating and difference thereof, etc.) can also be used for calculating position and the speed of vehicle of blowing a whistle as the alternately or additionally feature of aforesaid time parameter.
It is appreciated that, when sound transducer quantity is abundant, using this vehicle speed and each sound transducer location parameter as known variables, it is based only upon time when blowing a whistle initial that each sound transducer receives and/or difference in magnitude XOR is only based on time when terminating of blowing a whistle that each sound transducer receives and/or amplitude difference also can calculate position and the speed of vehicle of blowing a whistle.
Microprocessor 1 calculates, based on the acoustic information of blowing a whistle from sound transducer array 2, the blow a whistle position of vehicle and the detailed process of speed, it is easy to is realized by mathematical way, is not detailed herein.
It is appreciated that sound of blowing a whistle is likely to from this vehicle 4 self.In this case, sound time (and/or amplitude) difference when starting and terminate of blowing a whistle received due to each sound transducer is constant, and therefore, microprocessor 1 easily determines out to blow a whistle and is not from other vehicle, thus is not further processed.
Judge the relative position of surrounding vehicles blown a whistle and travel speed at microprocessor 1 after, send instruction to information output device 3, point out accordingly so as to give driver.Information output device 3 can include screen, for instance the Dashboard screen 7 shown in Fig. 3, shows this vehicle and vehicle of blowing a whistle thereon, and the two is distinguished by by different icons, for instance by deficiency and excess line, with different colors, brightness, by flash of light etc..Vehicle of blowing a whistle also is shown relative to position (vertical and horizontal position) and the speed of vehicle of blowing a whistle of this vehicle.
It may be noted that the installation site of the loudspeaker of different vehicle and differ, but being mostly positioned at front part of vehicle, such as enging cabin, therefore, the relative position of vehicle of blowing a whistle given here is position generally, but not exact position, therefore, the unit of this relative position is rice.
Additionally, when vehicle of blowing a whistle travels in the same direction with this vehicle, its traveling is substantially equal to its longitudinal velocity.When the travel direction of vehicle of blowing a whistle is different from this vehicle, its travel speed comprises two velocity components of vertical and horizontal；In such a case, it is possible to display travel speed and the direction (angle) relative to this vehicle.
Additionally, microprocessor 1 can based on the position of the vehicle of blowing a whistle calculated and velocity information, it is judged that the driving manipulation condition that this vehicle is current, for instance would be likely to occur danger etc., and give driver point out accordingly by information output device 3.For this, Dashboard screen 7 can also have text prompt district 8, to provide corresponding word or graphical cues.For example, when this vehicle attempts certain track, side doubling to the left and right, display " doubling dangerous ", " can doubling " etc..
As adjunctively or alternatively, information output device 3 can include audio-frequency information output device, in order to be blown a whistle the position of vehicle and velocity information and/or drive manipulation conditional information etc. by audio prompt.
As adjunctively or alternatively, information output device 3 can include vibration information output device, for instance is arranged in the vibrating elements etc. in pilot set.
The surrounding vehicles of the application blows a whistle suggestion device by determining position and the speed of vehicle of around blowing a whistle from the acoustic information of blowing a whistle of loudspeaker array collection, and gives driver and point out accordingly, and this greatly increases vehicle drive safety.Such as, when driver is intended to doubling, surrounding vehicles suggestion device of blowing a whistle according to the unsuitable doubling of prompting driver in time of blowing a whistle of other vehicle being intended on doubling track, can have an accident when so can be effectively prevented from doubling.
The application relates on the other hand surrounding vehicles at it and blows a whistle the microprocessor 1 of sound processing apparatus, and it is configured to judge to blow a whistle the position of vehicle and speed send corresponding hint instructions based on the acoustical signal of blowing a whistle from sound transducer array as previously mentioned.
It is appreciated that the position of vehicle is blown a whistle by the surrounding that above-mentioned microprocessor 1 is determined and velocity information can export vehicle computer or other system, for other various purposes, for instance, for the automatic Pilot of vehicle.Specifically, existing Vehicular automatic driving system utilizes video camera, radar sensor, airborne laser range finder etc. to obtain traffic around.Add the microprocessor of the acoustic processing of blowing a whistle for surrounding vehicles of the application on this basis, the surrounding that microprocessor exports is utilized to blow a whistle vehicle location and velocity information, danger can be evaded more reliably, the danger being especially likely to occur during doubling in automatic Pilot process.
Although describing the application herein with reference to specific embodiment, but scope of the present application being not limited to shown details.When not necessarily departing from the ultimate principle of the application, various amendment can be made for these details.
Claims (10)
1. blow a whistle the microprocessor of acoustic processing for surrounding vehicles, including:
Signal receiving module, it is configured to receive the acoustical signal of blowing a whistle from sound transducer array；
Filtration module, it is configured to filter out environmental noise, and a reservation vehicle is blown a whistle acoustical signal；And
Signal processing module, it is configured to determine, based on the difference respectively blowing a whistle between acoustical signal, blow a whistle vehicle location and speed, and exports the information about blow a whistle vehicle location and speed.
2. microprocessor as claimed in claim 1, wherein, what described microprocessor was determined blow a whistle, and vehicle location is the vehicle relative position relative to microprocessor place vehicle of blowing a whistle, and what described microprocessor was determined blow a whistle, and car speed is blows a whistle the travel speed of vehicle.
3. microprocessor as claimed in claim 1 or 2, wherein, the difference between acoustical signal of respectively blowing a whistle is time difference and/or the amplitude difference of the acoustical signal of blowing a whistle that each sound transducer receives in sound transducer array, for instance blow a whistle time when initiateing and/or terminate and/or the amplitude difference received.
4. microprocessor as claimed any one in claims 1 to 3, wherein, described signal processing module determine blow a whistle vehicle location and speed time, in sound transducer array, the travel speed of relative position relation between each sound transducer and microprocessor place vehicle is taken as known parameters.
5. surrounding vehicles is blown a whistle a suggestion device, including:
Microprocessor as according to any one of Claims 1-4；And
The sound transducer array being connected with described microprocessor respectively and information output device；
Wherein, described sound transducer array includes being arranged in the multiple sound transducers of different parts of vehicle of suggestion device of blowing a whistle equipped with this surrounding vehicles.
6. surrounding vehicles as claimed in claim 5 is blown a whistle suggestion device, and wherein, described sound transducer array includes at least three sound transducer, and they projected positions in a horizontal plane are different from each other, it is preferable that be spaced farthest distance as far as possible.
7. surrounding vehicles as claimed in claim 6 is blown a whistle suggestion device, and wherein, described sound transducer array includes four sound transducers, they be distributed in equipped with this surrounding vehicles blow a whistle suggestion device vehicle left front, right before, in rear left back, right.
8. the surrounding vehicles as according to any one of claim 5 to 7 is blown a whistle suggestion device, wherein, described information output device includes screen, such as Dashboard screen, it is configured to display and around blows a whistle vehicle relative to the travel speed of the position of vehicle of suggestion device of blowing a whistle equipped with this surrounding vehicles and vehicle of blowing a whistle；
Described screen can have text prompt district, for providing the relevant word of the situation of vehicle of blowing a whistle to surrounding or graphical cues.
9. surrounding vehicles as claimed in claim 8 is blown a whistle suggestion device, and wherein, described information output device includes seat vibration device and/or speaker, as the alternately or additionally feature of described screen.
10. an automated driving system, including:
Microprocessor as according to any one of Claims 1-4, wherein, the danger that the information about blow a whistle vehicle location and speed of described microprocessor output is used in Vehicular automatic driving is evaded.
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| CN201410835590.XA CN105799584B (en) | 2014-12-29 | 2014-12-29 | Surrounding vehicles whistle sound microprocessor, suggestion device and automated driving system |
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| CN201410835590.XA CN105799584B (en) | 2014-12-29 | 2014-12-29 | Surrounding vehicles whistle sound microprocessor, suggestion device and automated driving system |
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| CN105799584A true CN105799584A (en) | 2016-07-27 |
| CN105799584B CN105799584B (en) | 2019-03-15 |
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| CN107031494A (en) * | 2017-04-21 | 2017-08-11 | 晋江弘钧电子科技有限公司 | Vehicle front lighting lamp control method based on voice recognition |
| CN107843250A (en) * | 2017-10-17 | 2018-03-27 | 三星电子（中国）研发中心 | Vibration air navigation aid, device and wearable device for wearable device |
| CN108732539A (en) * | 2017-04-24 | 2018-11-02 | 腾讯科技（深圳）有限公司 | A kind of labeling method and device of whistle vehicle |
| CN110550037A (en) * | 2018-06-01 | 2019-12-10 | 奥迪股份公司 | Driving assistance system and driving assistance system method for vehicle |
| CN110573398A (en) * | 2017-05-03 | 2019-12-13 | 索尔塔雷公司 | Audio processing for vehicle sensing systems |
| CN111409644A (en) * | 2020-04-10 | 2020-07-14 | 新石器慧通（北京）科技有限公司 | Autonomous vehicle and sound feedback adjusting method thereof |
| CN112420078A (en) * | 2020-11-18 | 2021-02-26 | 青岛海尔科技有限公司 | Monitoring method, device, storage medium and electronic equipment |
| CN113829994A (en) * | 2020-06-08 | 2021-12-24 | 广州汽车集团股份有限公司 | Early warning method and device based on vehicle exterior whistle, automobile and medium |
| CN115457788A (en) * | 2022-07-29 | 2022-12-09 | 重庆长安汽车股份有限公司 | Acoustic-based vehicle driving sense enhancement system |
| CN115643547A (en) * | 2022-08-25 | 2023-01-24 | 广州汽车集团股份有限公司 | Whistling prompting method and device, vehicle and storage medium |
| CN116946010A (en) * | 2023-09-19 | 2023-10-27 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
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| CN112420078A (en) * | 2020-11-18 | 2021-02-26 | 青岛海尔科技有限公司 | Monitoring method, device, storage medium and electronic equipment |
| CN115457788A (en) * | 2022-07-29 | 2022-12-09 | 重庆长安汽车股份有限公司 | Acoustic-based vehicle driving sense enhancement system |
| CN115643547A (en) * | 2022-08-25 | 2023-01-24 | 广州汽车集团股份有限公司 | Whistling prompting method and device, vehicle and storage medium |
| CN116946010A (en) * | 2023-09-19 | 2023-10-27 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
| CN116946010B (en) * | 2023-09-19 | 2023-12-26 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
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