CN109490834A - A kind of sound localization method, sound source locating device and vehicle - Google Patents
A kind of sound localization method, sound source locating device and vehicle Download PDFInfo
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- CN109490834A CN109490834A CN201811208542.2A CN201811208542A CN109490834A CN 109490834 A CN109490834 A CN 109490834A CN 201811208542 A CN201811208542 A CN 201811208542A CN 109490834 A CN109490834 A CN 109490834A
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- seat
- sound source
- source position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
Abstract
The invention discloses a kind of sound localization method, sound source locating device and vehicles, this method comprises: carrying out auditory localization to the voice signal in the vehicle, draft sound source position with obtain the voice signal；Whether drafted on the first seat corresponding to sound source position described in inspection has occupant；According to the inspection result to first seat, target sound source position is determined.In this way, whether having occupant when carrying out auditory localization to the voice in vehicle on the seat by detecting auditory localization position, to calibrate by testing result to auditory localization position, obtaining accurate sound source position.As it can be seen that the accuracy rate of interior auditory localization can be improved in the embodiment of the present invention.
Description
Technical field
The present invention relates to automobile technical field more particularly to a kind of sound localization methods, sound source locating device and vehicle.
Background technique
Auditory localization refers to the sense of hearing (acoustics) system to the deterministic process of sound producing body position, it includes that horizontal sound source is fixed
Position and vertical auditory localization and the identification of sound source distance.Current sonic location system is by multiple microphones according to certain suitable
Sequence is distributed in the different location in space, and by handling the received voice signal of each microphone, finally according to calculating
Obtain the final position of sound source.
In existing vehicle-mounted voice interaction schemes, usually in the car different location (as interior main driving side, copilot side and
Heel row middle position) arrange several microphones, the time of voice signal, the language received are then received according to each microphone
Sound signal intensity etc. positions interior sound source.However, this scheme to the blind source separating Capability Requirement of microphone array very
Height, so that limitation of the locating scheme vulnerable to microphone array, causes the accuracy rate of auditory localization not high.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of sound localization method, sound source locating device and vehicle, solves
The not high problem of the accuracy rate of existing car auditory localization scheme.
In order to achieve the above object, the embodiment of the present invention provides a kind of sound localization method, is applied to vehicle, the method
Include:
Auditory localization is carried out to the voice signal in the vehicle, drafts sound source position with obtain the voice signal；
Whether drafted on the first seat corresponding to sound source position described in inspection has occupant；
According to the inspection result to first seat, target sound source position is determined.
Optionally, the basis determines target sound source position to the inspection result of first seat, comprising:
If having occupant on first seat, the voice signal is drafted into sound source position as the voice signal
Target sound source position；
If not having occupant on first seat, the sound source position of drafting of the voice signal is calibrated, with
To the target sound source position of the voice signal.
Optionally, the sound source position of drafting to the voice signal is calibrated, to obtain the voice signal
Target sound source position, comprising:
Check on the second seat nearest apart from first seat whether there is occupant；
If having occupant on second seat, using the corresponding sound source position of second seat as the voice signal
Target sound source position.
Optionally, the method also includes:
If not having occupant on second seat, auditory localization is carried out to the voice signal again.
Optionally, microphone array is disposed in the vehicle, the voice signal in the vehicle passes through the microphone
Array acquisition.
Optionally, the seat of the vehicle is provided with pressure sensor, and the pressure sensor is for detecting on seat
There is occupant.
Optionally, the voice signal in the vehicle carries out auditory localization, to obtain the quasi- of the voice signal
Before determining sound source position, the method also includes:
The state of each seat in the vehicle is detected, and records the state of each seat according to the result of detection, is obtained
To seat state table, the state of the seat includes occupant or without occupant.
Optionally, draft on the first seat corresponding to sound source position whether having occupant described in the inspection, comprising:
Draft on the first seat corresponding to sound source position whether having occupant described in checking in the seat state table.
The embodiment of the present invention also provides a kind of sound source locating device, is applied to vehicle, and the sound source locating device includes:
Auditory localization module, for carrying out auditory localization to the voice signal in the vehicle, to obtain the voice letter
Number draft sound source position；
It checks module, described drafts on the first seat corresponding to sound source position whether having occupant for checking；
Determining module, for determining target sound source position according to the inspection result to first seat.
Optionally, the determining module includes:
It determines submodule, if having occupant on first seat, the voice signal is drafted into sound source position
Target sound source position as the voice signal；
It calibrates submodule and sound source position is drafted to the voice signal if not having occupant on first seat
It sets and is calibrated, to obtain the target sound source position of the voice signal.
Optionally, the calibration submodule includes:
Whether detection unit has occupant on the second seat of the first seat described in detecting distance recently；
Determination unit makees the corresponding sound source position of second seat if having occupant on second seat
For the target sound source position of the voice signal.
Optionally, the sound source locating device further include:
Module is relocated, if not having occupant on second seat, sound source is carried out to the voice signal again
Positioning.
Optionally, microphone array is disposed in the vehicle, the voice signal in the vehicle passes through the microphone
Array acquisition.
Optionally, the seat of the vehicle is provided with pressure sensor, and the pressure sensor is for detecting on seat
There is occupant.
Optionally, the sound source locating device further include:
Logging modle is detected, is detected for the state to each seat in the vehicle, and is remembered according to the result of detection
The state for recording each seat, obtains seat state table, and the state of the seat includes occupant or without occupant.
Optionally, the inspection module is used to draft corresponding to sound source position described in inspection in the seat state table
Whether there is occupant on first seat.
The embodiment of the present invention also provides a kind of vehicle, including sound source locating device provided in the embodiment of the present invention.
In the embodiment of the present invention, when carrying out auditory localization to the voice in vehicle, pass through detection auditory localization position
Whether there is occupant on seat, to calibrate by testing result to auditory localization position, obtains accurate sound source position.It can
See, the accuracy rate of interior auditory localization can be improved in the embodiment of the present invention.
Detailed description of the invention
Fig. 1 is a kind of flow chart of sound localization method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of sound source locating device provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the determining module of sound source locating device provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the calibration submodule of sound source locating device provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another sound source locating device provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of another sound source locating device provided in an embodiment of the present invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
It is that the embodiment of the present invention provides a kind of flow chart of sound localization method referring to Fig. 1, Fig. 1, is applied to vehicle, such as schemes
Shown in 1, it the described method comprises the following steps:
Step 101 carries out auditory localization to the voice signal in vehicle, drafts sound source position with obtain the voice signal
It sets.
Voice signal in above-mentioned vehicle can be the voice letter that vehicle is issued by the collected passenger of microphone
Number, above-mentioned auditory localization then can be the process for determining the sounding position of the voice signal, such as pass through more than two microphones
Time difference, the signal strength etc. for receiving the voice signal judge that the voice signal is sent out by the occupant of which position
Phonetic order out.In the present embodiment, by carrying out auditory localization, available institute's predicate to the voice signal in the vehicle
Sound signal drafts sound source position, wherein one drafted in each seat position that sound source position is the vehicle.
Specifically, microphone array is disposed in the vehicle, the voice signal in the vehicle passes through the microphone
Array acquisition, for example, the different location in the vehicle, such as main driving seat, passenger seat, back seat, it is respectively arranged
There are a microphone or microphone array, when car has occupant's sounding, the microphone or microphone array can be acquired
Voice signal in the vehicle, and auditory localization is carried out to the voice signal.
Draft on the first seat corresponding to sound source position whether having occupant described in step 102, inspection.
Above-mentioned first seat can be it is described draft sound source position indicated by sound source position, it is such as described to draft sound source position
Indicate that the voice signal derives from region corresponding to first seat.It is drafted corresponding to sound source position described in above-mentioned inspection
The first seat on whether have occupant, can be before carrying out auditory localization, just multiply to whether having on each seat in the vehicle
The state of member is detected, and is recorded, so as to quickly draft sound source described in inspection according to the seat state of record
Whether have occupant on first seat corresponding to position, be also possible to obtain it is described draft sound source position after, then detect described
Whether have occupant, to reduce vehicle to the unnecessary detection of other seats if drafting on the first seat corresponding to sound source position.
In the step, by drafting on the first seat corresponding to sound source position whether having occupant described in inspection, it can test
Draft whether sound source position is accurate described in card, determines whether that sound source position need to be drafted to described so as to the result according to inspection
It is calibrated, to improve the accuracy rate of interior auditory localization.
Optionally, the seat of the vehicle is provided with pressure sensor, and the pressure sensor is for detecting on seat
It is no to have occupant, specifically, it can be setting pressure sensor at the seat for needing to calibrate auditory localization result in the vehicle,
Such as in the cushion built in pressure sensor of main driving seat and passenger seat, with when it is described draft sound source position instruction main driving seat or
When passenger seat, it is by drafting sound source position described in the judgement of the detection data of main driving seat or the pressure sensor of passenger seat
It is no accurate.Wherein, when the pressure detection data of the pressure sensor is lower than preset threshold, it can be determined that on corresponding seat
There is no occupant, when the pressure detection data of the pressure sensor is higher than preset threshold, it can be determined that have on corresponding seat
Occupant.
Optionally, the seat of the vehicle is provided with photoelectric proximity switch, whether has occupant on seat for detecting, works as institute
State draft sound source position indicate the first seat when, can pass through the photoelectric proximity switch on first seat detection described first
Whether occupant is seated on seat, it is whether accurate to draft sound source position described in verifying.Wherein, multiply if having on first seat
Member, due to occupant's blocking or reflect to light beam on seat, the state of cut-offfing of the photoelectric proximity switch on first seat will
It changes, therefore will judge that occupant is seated on first seat.
Optionally, auditory localization is being carried out to the voice signal in the vehicle, to obtain drafting for the voice signal
Before sound source position, the method also includes:
The state of each seat in the vehicle is detected, and records the state of each seat according to the result of detection, is obtained
To seat state table, the state of the seat includes occupant or without occupant.
In the embodiment, can the state in advance to each seat in the vehicle detect, such as in vehicle launch,
Seat sensor be will pass through to whether having occupant to detect on each seat, and can be according to detection as a result, recording each seat
State, form seat state table, have recorded on each seat whether have occupant in the seat state table.In this way, detecting
When to interior voice signal, the state for whether having occupant on each seat can be directly obtained by the seat state table, without
It is detected again after auditory localization, so that the efficiency of auditory localization can be improved.
It should be noted that the seat state table can be real-time update, the state of each seat in the even described vehicle
Changed, certain such as interior occupant is moved in another seat or vehicle from a seat have been increased occupant newly and led to some
Occupant etc. is seated on vacant seat chair, then the seat state can be updated according to the detection of the state currently to seat each in vehicle
The changed seat state record of state in table.
Optionally, draft on the first seat corresponding to sound source position whether having occupant described in the inspection, comprising:
Draft on the first seat corresponding to sound source position whether having occupant described in checking in the seat state table.
Since before carrying out auditory localization to the voice signal in the vehicle, just record forms the seat state
Table, thus obtain the voice signal draft sound source position after, can be checked directly from the seat state table described in
Whether draft on the first seat corresponding to sound source position has occupant, so as to quickly determine described in whether draft sound source position
Accurately.
Step 103, basis determine target sound source position to the inspection result of first seat.
Above-mentioned basis determines target sound source position to the inspection result of first seat, can be according to described the
The inspection result of one seat, determine described in whether draft sound source position accurate, and then determine whether that sound source position need to be drafted to described
It sets and is calibrated, if having occupant on first seat, then can determine that the sound source position of drafting is accurate, without calibration, such as
There is no occupant on first seat, then can determine that the sound source position of drafting is inaccurate, need to calibrate.
Specifically, if can be on first seat has occupant, the sound source position of drafting of the voice signal is made
For the target sound source position of the voice signal.
If detecting on first seat there is occupant, it can determine that described draft on sound source position and seat has occupant
Testing result it is consistent, and then can verify it is described draft that sound source position is accurate, and the voice signal can be drafted into sound
Target sound source position of the source position as the voice signal, without further calibrating.
If not having occupant on first seat, the sound source position of drafting of the voice signal is calibrated, with
To the target sound source position of the voice signal.
If detecting on first seat there is no occupant, it can determine that the sound source position of drafting is inaccurate, need
It is calibrated, with the accurate sound source position of the determination voice signal.It is described that sound source position is drafted to the voice signal
It sets and is calibrated, can be and draft sound source position described in exclusion, the sound source position of the voice signal is positioned again,
Whether by detect with first seat adjacent other seats on have occupant, to redefine target sound source position if can be
It sets.
More specifically, the sound source position of drafting to the voice signal is calibrated, can be described in detecting distance
Whether there is occupant on the second nearest seat of first seat；If having occupant on second seat, by second seat pair
Target sound source position of the sound source position answered as the voice signal.
In the embodiment, second seat nearest with the first seat distance can be first determined, such as determine that distance is main
The nearest seat of driver's seat is heel row left-side seat, and the seat nearest apart from passenger seat is heel row right-side seat etc., is then examined
Whether have occupant, can specifically be detected and be determined by the pressure sensor on second seat if surveying on second seat.If
Determine on second seat there is occupant, then it can be using the corresponding sound source position of second seat as the voice signal
Target sound source position, that is, the sound source position after calibrating are position corresponding with second seat.
Such as: since seat is adjusted to the reclined position of the chair back rearward by the occupant on assistant driver seat, lead to microphone
The sound source position of drafting of array is designated as heel row right-side seat, but detect heel row right-side seat nobody, at this point it is possible to detect away from
The passenger seat or heel row central seat nearest from heel row right-side seat whether someone, if detecting passenger seat someone, heel row
Central seat nobody, then the corresponding position of passenger seat can be determined as target sound source position.
In this way, in the embodiment, it is described draft sound source position and deviation occur in the case where, by further detect away from
Whether there is occupant on the second seat nearest from first seat, to determine whether second seat is the voice signal
Real sound source position obtain institute's predicate to achieve the purpose that calibrate the sound source position of drafting of the voice signal
The target sound source position of sound signal.
Optionally, the method also includes:
If not having occupant on second seat, auditory localization is carried out to the voice signal again.
It further, can be again to the voice signal if detecting also without occupant on second seat
Auditory localization is carried out, specifically, can be the positioning result for excluding to draft that sound source position is first seat, to the vehicle
Interior voice signal recalculate auditory localization as a result, interior voice signal is resurveyed by the microphone in vehicle,
And auditory localization calculating is carried out again, and whether can recombine on the seat detected has the result of occupant fixed to sound source
Position result is calibrated.
In this way, it is described draft sound source position and deviation occur in the case where, can be again to the voice signal carry out sound
Source positioning, to obtain more accurate sound source position.
In this way, in the present embodiment, obtain the voice signal draft sound source position after, by being drafted described in detection
Whether there is occupant on first seat corresponding to sound source position, whether accurate, and can be with if can verify the sound source position of drafting
It is described draft sound source position inaccuracy in the case where, in conjunction with seat detection data to the target sound source position of the voice signal
It is corrected, and then achievees the purpose that improve interior auditory localization accuracy rate.
Sound localization method in the embodiment of the present invention passes through detection when carrying out auditory localization to the voice in vehicle
Whether there is occupant on the seat of auditory localization position, to be calibrated by testing result to auditory localization position, obtains calibrated
True sound source position.As it can be seen that the accuracy rate of interior auditory localization can be improved in the embodiment of the present invention.
Referring to fig. 2, Fig. 2 is a kind of structural schematic diagram of sound source locating device provided in an embodiment of the present invention, is applied to vehicle
, as shown in Fig. 2, sound source locating device 200 includes:
Auditory localization module 201, for carrying out auditory localization to the voice signal in the vehicle, to obtain the voice
Signal drafts sound source position；
It checks module 202, described drafts on the first seat corresponding to sound source position whether having occupant for checking；
Determining module 203, for determining target sound source position according to the inspection result to first seat.
Optionally, as shown in figure 3, determining module 203 includes:
It determines submodule 2031, if having occupant on first seat, the voice signal is drafted into sound source
Target sound source position of the position as the voice signal；
It calibrates submodule 2032 and sound is drafted to the voice signal if not having occupant on first seat
Source position is calibrated, to obtain the target sound source position of the voice signal.
Optionally, as shown in figure 4, calibration submodule 2032 includes:
Whether inspection unit 20321 has occupant on the second seat of the first seat described in detecting distance recently；
Determination unit 20322, if having occupant on second seat, by the corresponding sound source position of second seat
Set the target sound source position as the voice signal.
Optionally, as shown in figure 5, sound source locating device 200 further include:
Module 204 is relocated, if there is no occupant on second seat, again to the voice signal carry out sound
Source positioning.
Optionally, microphone array is disposed in the vehicle, the voice signal in the vehicle passes through the microphone
Array acquisition.
Optionally, the seat of the vehicle is provided with pressure sensor, and the pressure sensor is for detecting on seat
There is occupant.
Optionally, as shown in fig. 6, sound source locating device 200 further include:
Logging modle 205 is detected, is detected for the state to each seat in the vehicle, and according to the result of detection
The state for recording each seat, obtains seat state table, and the state of the seat includes occupant or without occupant.
Optionally, check that module 202 is drafted corresponding to sound source position described in being used in the seat state table check
Whether there is occupant on first seat.
Sound source locating device 200 can be realized each process in embodiment of the method shown in FIG. 1, to avoid repeating, this
In repeat no more.The sound source locating device 200 of the embodiment of the present invention can lead to when carrying out auditory localization to the voice in vehicle
Whether have occupant, to be calibrated by testing result to auditory localization position, obtain if crossing on the seat of detection auditory localization position
To accurate sound source position.As it can be seen that the accuracy rate of interior auditory localization can be improved in the embodiment of the present invention.
The embodiment of the present invention also provides a kind of vehicle, fixed including sound source described in Fig. 2 to any embodiment shown in fig. 6
Position device.In the present embodiment, the vehicle can reach with Fig. 2 to the identical beneficial effect of embodiment shown in fig. 6, to avoid weight
Multiple, which is not described herein again.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (17)
1. a kind of sound localization method is applied to vehicle, which is characterized in that the described method includes:
Auditory localization is carried out to the voice signal in the vehicle, drafts sound source position with obtain the voice signal；
Whether drafted on the first seat corresponding to sound source position described in inspection has occupant；
According to the inspection result to first seat, target sound source position is determined.
2. the method according to claim 1, wherein inspection result of the basis to first seat, really
Set the goal sound source position, comprising:
If having occupant on first seat, the voice signal is drafted into sound source position as the mesh of the voice signal
Mark sound source position；
If there is no occupant on first seat, the sound source position of drafting of the voice signal is calibrated, to obtain
The target sound source position of predicate sound signal.
3. according to the method described in claim 2, it is characterized in that, the sound source position of drafting to the voice signal carries out
Calibration, to obtain the target sound source position of the voice signal, comprising:
Check on the second seat nearest apart from first seat whether there is occupant；
If having occupant on second seat, using the corresponding sound source position of second seat as the mesh of the voice signal
Mark sound source position.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
If not having occupant on second seat, auditory localization is carried out to the voice signal again.
5. the method according to claim 1, wherein be disposed with microphone array in the vehicle, the vehicle
Interior voice signal is acquired by the microphone array.
6. described the method according to claim 1, wherein the seat of the vehicle is provided with pressure sensor
Pressure sensor is to have occupant on seat for detecting.
7. determining the method according to claim 1, wherein the voice signal in the vehicle carries out sound source
Position, with obtain the voice signal draft sound source position before, the method also includes:
The state of each seat in the vehicle is detected, and records the state of each seat according to the result of detection, obtains seat
Chair state table, the state of the seat include occupant or without occupant.
8. the method according to the description of claim 7 is characterized in that being drafted described in the inspection first corresponding to sound source position
Whether there is occupant on seat, comprising:
Draft on the first seat corresponding to sound source position whether having occupant described in checking in the seat state table.
9. a kind of sound source locating device, it is applied to vehicle, which is characterized in that the sound source locating device includes:
Auditory localization module, for carrying out auditory localization to the voice signal in the vehicle, to obtain the voice signal
Draft sound source position；
It checks module, described drafts on the first seat corresponding to sound source position whether having occupant for checking；
Determining module, for determining target sound source position according to the inspection result to first seat.
10. sound source locating device according to claim 9, which is characterized in that the determining module includes:
Determine submodule, if having occupant on first seat, using the voice signal draft sound source position as
The target sound source position of the voice signal；
Calibrate submodule, if there is no occupant on first seat, to the voice signal draft sound source position into
Row calibration, to obtain the target sound source position of the voice signal.
11. sound source locating device according to claim 10, which is characterized in that the calibration submodule includes:
Whether inspection unit has occupant on the second seat nearest apart from first seat for checking；
Determination unit, if having occupant on second seat, using the corresponding sound source position of second seat as institute
The target sound source position of predicate sound signal.
12. sound source locating device according to claim 11, which is characterized in that the sound source locating device further include:
Module is relocated, if not having occupant on second seat, auditory localization is carried out to the voice signal again.
13. sound source locating device according to claim 9, which is characterized in that it is disposed with microphone array in the vehicle,
Voice signal in the vehicle is acquired by the microphone array.
14. sound source locating device according to claim 9, which is characterized in that the seat of the vehicle is provided with pressure biography
Sensor, the pressure sensor are to have occupant on seat for detecting.
15. sound source locating device according to claim 9, which is characterized in that the sound source locating device further include:
Logging modle is detected, is detected for the state to each seat in the vehicle, and is recorded respectively according to the result of detection
The state of seat, obtains seat state table, and the state of the seat includes occupant or without occupant.
16. sound source locating device according to claim 15, which is characterized in that the inspection module is used in the seat
Draft on the first seat corresponding to sound source position whether having occupant described in checking in state table.
17. a kind of vehicle, which is characterized in that including sound source locating device described in any one of claim 9-16.
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| CN111599366A (en) * | 2020-05-19 | 2020-08-28 | 科大讯飞股份有限公司 | Vehicle-mounted multi-sound-zone voice processing method and related device |
| CN111694433A (en) * | 2020-06-11 | 2020-09-22 | 北京百度网讯科技有限公司 | Voice interaction method and device, electronic equipment and storage medium |
| CN115257626A (en) * | 2022-07-27 | 2022-11-01 | 中国第一汽车股份有限公司 | Seat occupation detection method and device, detection equipment and storage medium |
| WO2022239195A1 (en) * | 2021-05-13 | 2022-11-17 | 三菱電機株式会社 | Vehicle occupant detection system and vehicle occupant detection method |
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