CN110065434B - Pedestrian warning method and system for electric automobile - Google Patents
Pedestrian warning method and system for electric automobile Download PDFInfo
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- CN110065434B CN110065434B CN201910297301.8A CN201910297301A CN110065434B CN 110065434 B CN110065434 B CN 110065434B CN 201910297301 A CN201910297301 A CN 201910297301A CN 110065434 B CN110065434 B CN 110065434B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/008—Arrangement or adaptation of acoustic signal devices automatically actuated for signaling silent vehicles, e.g. for warning that a hybrid or electric vehicle is approaching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
Abstract
The invention discloses a pedestrian warning method and system of an electric automobile, which can better control the sound production propagation direction of a pedestrian warning device and avoid damaging the original sound field in the automobile while not reducing the sound quality. The pedestrian warning method for the electric automobile comprises the following steps: A. providing vehicle body parameters; B. synthesizing a sound source according to the vehicle body parameters; C. carrying out virtual bass processing on the synthesized sound source, removing a low-frequency part and only keeping a high-frequency part; D. and focusing the processed sound source, playing the sound through a loudspeaker array, and limiting the sound to be transmitted in a specified direction.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a pedestrian warning method and system of an electric automobile.
Background
Because the electric automobile does not use an internal combustion engine, the automobile is quite quiet when running at low speed, so when the automobile runs behind the back of a pedestrian, the pedestrian often cannot notice the existence of the automobile, and the probability of the occurrence of the automobile accident is increased. At present, China has already gone out of draft and requires that an electric vehicle is forcibly provided with a pedestrian warning device to remind the existence of the vehicle.
In practical application, the sound of the pedestrian alarm is not only transmitted outwards, but also transmitted inwards. From the application requirement, the sound of the pedestrian warning device plays a warning role, only outwards propagates and can only be heard by pedestrians, and if the sound is further inwards propagated and transmitted into the automobile, the original adjusted sound field in the automobile can be broken, so that the comfort level of a driver and passengers in the automobile is reduced.
Generally, as pedestrians are used to the sound of the traditional engine, only the sound can really play a warning role, so that in order to improve the sound quality, the sound synthesized by the pedestrian warning device should approach the sound of the traditional engine as much as possible. Most engine sounds are mainly concentrated on low frequencies, and if the propagation direction control is carried out on low-frequency signals, the array length is required to be longer, otherwise, the effect cannot be achieved. However, the space in the front cabin is limited, and the required length cannot be provided, so that the low-frequency control effect is poor, and if high sound quality is required, the effect of controlling the propagation direction cannot be achieved.
Disclosure of Invention
In order to solve the above problems, the present invention provides a pedestrian warning method and system for an electric vehicle, which can better control the sound emission direction of a pedestrian warning device without reducing the sound quality, and avoid damaging the original sound field in the vehicle.
According to the first aspect of the invention, the technical scheme adopted by the invention is as follows:
a pedestrian warning method for an electric vehicle comprises the following steps:
A. providing vehicle body parameters;
B. synthesizing a sound source according to the vehicle body parameters;
C. carrying out virtual bass processing on the synthesized sound source, removing a low-frequency part and only keeping a high-frequency part;
D. and focusing the processed sound source, playing the sound through a loudspeaker array, and limiting the sound to be transmitted in a specified direction.
Preferably, the step C specifically includes the following steps that are sequentially performed:
c1, low-pass filtering the synthesized sound source;
c2, carrying out nonlinear processing on the audio signal processed in the step C1;
c3, superposing the synthesized sound source and the audio signal processed by the step C2, and carrying out high-pass filtering.
More preferably, the cut-off frequency of the low-pass filtering in the step C1 is identical to the cut-off frequency of the high-pass filtering in the step C3.
More preferably, in the step C2, the audio signal processed in the step C1 is processed by a non-linear processing function, where the non-linear processing function is tan (x), and x is an input signal.
Preferably, in the step D, the processed sound source is focused by using a maximum sound energy ratio method.
More excellentOptionally, in step D, GbFor the acoustic transfer function matrix of the loudspeaker array to the region allowing acoustic propagation, GdFor the acoustic transfer function matrix at the area of the loudspeaker array where no acoustic propagation is allowed, the weight vector w of the loudspeaker array satisfies the optimization problem
Preferably, in the step a, the vehicle body parameter includes one or more of a vehicle speed, an ignition switch, an accelerator parameter, a gear, and the like.
Preferably, in the step B, a sound source is synthesized according to the vehicle body parameters by using a recording and reproducing method.
According to a second aspect of the present invention, a technical solution adopted by the present invention is:
a pedestrian warning system of an electric vehicle for performing the pedestrian warning method as described above, the pedestrian warning system comprising:
the vehicle body parameter interface module is used for providing vehicle body parameters;
the DSP processing module is used for synthesizing a sound source according to the vehicle body parameters and carrying out virtual bass processing and focusing processing on the synthesized sound source;
the multi-channel power amplifier module is used for driving the loudspeaker array; and
a speaker array for playing sound.
Preferably, the DSP processing module includes:
the synthesis processing module is used for synthesizing a sound source according to the vehicle body parameters;
the virtual bass processing module is used for carrying out low-pass filtering on the synthesized sound source, carrying out nonlinear processing on the processed audio signal, superposing the synthesized sound source and the nonlinear processed audio signal and carrying out high-pass filtering;
and the array signal processing module is used for carrying out focusing processing on the processed sound source and limiting the sound to be transmitted in a specified direction.
Compared with the prior art, the invention has the following advantages by adopting the scheme:
by combining array signal processing with virtual bass processing, the sounding of the pedestrian warning indicator can be controlled to be only transmitted outwards, but not transmitted inwards, and the possibility of damaging the original sound field in the vehicle is avoided. The sound of the pedestrian warning device can play a role of warning pedestrians, and can not cause the trouble of drivers and passengers in the automobile; the low-frequency part can be removed, only the high-frequency part is reserved, the array length can be reduced under the condition of the same directivity, the space occupied by the front cabin in the vehicle is smaller, the cost is effectively reduced, meanwhile, although only the high-frequency part is reserved, pedestrians can still feel the low-frequency existence due to psychological and auditory factors, the sounding quality is not reduced, and the strong warning effect can be still achieved. Therefore, the pedestrian warning method and the system can use a shorter array, can better control the sound production propagation direction of the pedestrian warning device while not reducing the sound quality, only play the role of pedestrian warning, do not increase the annoyance degree of people in the vehicle, can effectively reduce the cost, and have more practicability.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of virtual bass processing of a pedestrian warning method according to the present invention;
FIG. 2 is a schematic view of the direction of sound propagation for a loudspeaker array;
FIG. 3 shows a directivity diagram of sound propagation for the loudspeaker array of FIG. 2 at frequencies of 100Hz, 400Hz and 800Hz, respectively;
fig. 4 shows a block diagram of a pedestrian warning system according to the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the invention may be more readily understood by those skilled in the art. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment provides a pedestrian warning method for an electric vehicle, which includes the following specific steps.
(1) And relevant vehicle body parameters such as vehicle speed, an ignition switch, an accelerator and the like are received through a CAN network or a hard wire and the like.
(2) And synthesizing, namely synthesizing the corresponding sound source through an algorithm according to the vehicle body parameters, wherein the known algorithm, such as a record playback mode, can be adopted.
(3) As shown in fig. 1, the virtual bass processing includes the following three steps performed in sequence:
a. performing low-pass filtering, wherein the cut-off frequency of the low-pass filtering is selected according to the length of the array, the cut-off frequency is generally in inverse proportion to the length of the array, the longer the length of the array is, the lower the cut-off frequency is selectable, and the shorter the length of the array is, the higher the cut-off frequency is selectable;
b. and (c) carrying out nonlinear processing on the audio signal after the processing of the (a) to generate harmonic waves. Known non-linear processing functions may be employed, such as tan (x), where x is the input signal.
c. And (4) superposing the audio signal processed by the B and the original audio, carrying out a high-pass filter, removing a low-frequency part, and enabling the cut-off frequency to be consistent with the frequency in the A.
(4) The array signal processing is performed by limiting the sound to be propagated in a certain direction through the focusing processing, and the processing is performed by using the ratio of the maximum sound energy in this embodiment.
Specifically, as shown in fig. 2, the speaker array is an array of 8 speakers, and ". smallcircle" of the surround speaker array represents a direction and a region in which sound propagation is allowed, and "x" represents a direction and a region in which sound propagation is not allowed. GbFor the loudspeaker arrayAcoustic transfer function matrix at the column to acoustic propagation-allowed region, GdFor the acoustic transfer function matrix at the area of the loudspeaker array where no acoustic propagation is allowed, the weight vector w of the loudspeaker array satisfies the optimization problem
The pitch of each adjacent loudspeaker in the loudspeaker array is 4cm, and the directivity pattern of the loudspeaker array at frequencies of 100Hz, 400Hz and 800Hz is shown in FIG. 3. As can be seen from fig. 3, the loudspeaker array basically has no directivity effect at 100Hz, while the traditional fundamental wave of the engine sound is mainly concentrated below 200Hz, so if the array signal processing is directly adopted, the low frequency of the engine sound basically has no control effect, and the inward propagation of the engine sound cannot be blocked, and after the virtual bass processing, only the high frequency part is reserved, so that under the same array length, a better directivity control effect can still be obtained, and meanwhile, due to the existence of psychoacoustic factors, pedestrians can still feel the existence of the low frequency, and the quality of the synthesized sound of the engine cannot be reduced.
(5) And sending the processed audio signal to a channel power amplifier to drive a loudspeaker array to play, wherein the sound played by the loudspeaker array is the warning sound pointing to the pedestrian outside the vehicle.
Referring to fig. 4, a pedestrian warning system of an electric vehicle, the pedestrian warning system being configured to perform the pedestrian warning method as described above, the pedestrian warning system including:
the vehicle body parameter interface module is used for providing vehicle body parameters, is connected in a CAN (controller area network) or hard line mode, receives vehicle body parameters such as vehicle speed, an ignition switch and an accelerator and transmits the vehicle body parameters to the subsequent DSP (digital signal processor) processing module;
the DSP processing module is used for synthesizing a sound source according to the vehicle body parameters and carrying out virtual bass processing and focusing processing on the synthesized sound source, and specifically is a DSP processing chip;
the multi-channel power amplifier module is used for driving the loudspeaker array; and
a speaker array for playing sound is formed of a plurality of speakers. In this embodiment, the speaker array is specifically an array formed by linearly arranging 8 speakers, and may also be a ring array or the like.
The DSP processing module specifically comprises:
the synthesis processing module is used for synthesizing a sound source according to the vehicle body parameters;
the virtual bass processing module is used for carrying out low-pass filtering on the synthesized sound source, carrying out nonlinear processing on the processed audio signal, superposing the synthesized sound source and the nonlinear processed audio signal and carrying out high-pass filtering;
and the array signal processing module is used for carrying out focusing processing on the processed sound source and limiting the sound to be transmitted in a specified direction.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are preferred embodiments, which are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. A pedestrian warning method for an electric automobile is characterized by comprising the following steps:
A. providing vehicle body parameters;
B. synthesizing a sound source according to the vehicle body parameters;
C. carrying out virtual bass processing on the synthesized sound source, removing a low-frequency part and only keeping a high-frequency part;
D. focusing the processed sound source, playing the sound through a loudspeaker array, and limiting the sound to be transmitted towards a specified direction;
the step C specifically includes the following steps that are sequentially executed:
c1, low-pass filtering the synthesized sound source;
c2, carrying out nonlinear processing on the audio signal processed in the step C1;
c3, superposing the synthesized sound source and the audio signal processed by the step C2, and carrying out high-pass filtering.
2. The pedestrian warning method of claim 1, wherein a cut-off frequency of the low-pass filter in the step C1 is identical to a cut-off frequency of the high-pass filter in the step C3.
3. The pedestrian warning method of claim 1, wherein in the step C2, the audio signal processed in the step C1 is processed nonlinearly by a nonlinear processing function, where x is an input signal, and the nonlinear processing function is tan (x).
4. The pedestrian warning method of claim 1, wherein in the step D, the processed sound source is focused by a maximum sound energy ratio method.
5. The pedestrian warning method according to claim 1, wherein in the step D, G isbFor the acoustic transfer function matrix of the loudspeaker array to the region allowing acoustic propagation, GdFor the acoustic transfer function matrix at the area of the loudspeaker array where no acoustic propagation is allowed, the weight vector w of the loudspeaker array satisfies the optimization problem
6. The pedestrian warning method according to claim 1, wherein in the step a, the vehicle body parameters include one or more of vehicle speed, ignition switch, throttle parameters and gear.
7. The pedestrian warning method according to claim 1, wherein in the step B, a sound source is synthesized according to the vehicle body parameters by using a recording and reproducing method.
8. A pedestrian warning system of an electric vehicle for performing the pedestrian warning method according to any one of claims 1 to 7, the pedestrian warning system comprising:
the vehicle body parameter interface module is used for providing vehicle body parameters;
the DSP processing module is used for synthesizing a sound source according to the vehicle body parameters and carrying out virtual bass processing and focusing processing on the synthesized sound source;
the multi-channel power amplifier module is used for driving the loudspeaker array; and
a speaker array for playing sound.
9. The pedestrian warning system of claim 8, wherein the DSP processing module comprises:
the synthesis processing module is used for synthesizing a sound source according to the vehicle body parameters;
the virtual bass processing module is used for carrying out low-pass filtering on the synthesized sound source, carrying out nonlinear processing on the processed audio signal, superposing the synthesized sound source and the nonlinear processed audio signal and carrying out high-pass filtering;
and the array signal processing module is used for carrying out focusing processing on the processed sound source and limiting the sound to be transmitted in a specified direction.
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| CN112466274B (en) * | 2020-10-29 | 2024-02-27 | 中科上声（苏州）电子有限公司 | In-vehicle active sounding method and system of electric vehicle |
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| JP6083347B2 (en) * | 2013-07-30 | 2017-02-22 | アンデン株式会社 | Vehicle approach notification device |
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| JP2008168676A (en) * | 2007-01-09 | 2008-07-24 | Toyota Motor Corp | Vehicle approaching informing device |
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