CN113689852B - A vehicle-mounted voice control method and system based on sound source localization - Google Patents
A vehicle-mounted voice control method and system based on sound source localization Download PDFInfo
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- CN113689852B CN113689852B CN202110906659.3A CN202110906659A CN113689852B CN 113689852 B CN113689852 B CN 113689852B CN 202110906659 A CN202110906659 A CN 202110906659A CN 113689852 B CN113689852 B CN 113689852B
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
- H04R2201/00—Details of transducers, loudspeakers or microphones covered by H04R1/00 but not provided for in any of its subgroups
- H04R2201/40—Details of arrangements for obtaining desired directional characteristic by combining a number of identical transducers covered by H04R1/40 but not provided for in any of its subgroups
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
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- Acoustics & Sound (AREA)
- Otolaryngology (AREA)
- Computational Linguistics (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The invention provides a vehicle-mounted voice control method and a vehicle-mounted voice control system based on sound source localization, which aim at the competitiveness of voice commands of drivers and passengers in a vehicle, judge the position of a voice source in the vehicle by a time difference method, select whether to execute according to a setting, enrich man-machine interaction functions and scenes while ensuring the running safety, realize the control of appointed vehicle functions by appointed personnel, and increase the safety of vehicle use. The invention can select various users and is flexible to use by customizing the voice command users comprising the main driving, the auxiliary driving and the rear passengers. The invention has simple calculation example, does not need complex operation and improves response sensitivity. The invention can realize the free switching of functions, enrich the functions of the vehicle-mounted terminal and improve the sense of high-grade. The invention has simple structure and low cost.
Description
Technical Field
The invention belongs to the technical field of sound source localization, and particularly relates to a vehicle-mounted voice control method and system based on sound source localization.
Background
As autopilot and intelligent cabin concepts get hotter and call for higher and higher, requirements for on-board devices get higher and higher, not only functions need to be implemented, but also functions need to be refined. The vehicle-mounted IVI on the market can realize the basic voice interaction function, which is convenient for drivers and passengers to a certain extent, but the current product can not judge the source of voice, namely, no matter who is, only a voice command is sent, the system can automatically execute the related function, the function is relatively single, and the designated personnel send out more safety aiming at some voice commands related to driving safety. Therefore, the invention provides the voice control system based on the sound source localization, which can rapidly localize the voice source without complex calculation, realizes safer operation and enriches functions of the vehicle and the machine.
Disclosure of Invention
The invention aims to solve the technical problems that: a vehicle-mounted voice control method and system based on sound source localization are provided, and are used for realizing that appointed personnel control appointed vehicle functions.
The technical scheme adopted by the invention for solving the technical problems is as follows: a vehicle-mounted voice control method based on sound source localization comprises the following steps:
s1: building a vehicle-mounted voice control system based on sound source positioning, wherein the vehicle-mounted voice control system comprises a left front microphone, a right front microphone, a rear microphone and a voice control unit; the left front microphone and the right front microphone are symmetrically arranged on the left and right sides of the longitudinal axis of the automobile; the right front microphone and the rear microphone are symmetrically arranged in front-rear direction relative to the transverse shaft of the automobile; the signal input end of the voice control unit is respectively connected with the signal output ends of the left front microphone, the right front microphone and the rear microphone;
s2: the driver and the passenger send out a voice control instruction in the form of sound waves, and the sound waves are respectively transmitted to the left front microphone, the right front microphone and the rear microphone;
s3: the left front microphone, the right front microphone and the rear microphone respectively convert the received sound signals into electric signals and transmit the electric signals to the voice control unit;
s4: the voice control unit analyzes the electric signal into a voice control instruction and marks a time stamp as a sequence mark;
s5: the voice control unit judges the position of a sound source of the voice control instruction through region estimation according to the sequence of the received voice control instruction; under the condition that the sound source does not move, the distance difference between the sound source and any two microphones is constant; the sound source is simultaneously positioned on a left hyperbola and a right hyperbola which take a left front microphone and a right front microphone as focuses and an upper hyperbola and a lower hyperbola which take a right front microphone and a rear microphone as focuses; judging whether the sound source is positioned on a left half curve or a right half curve of the left hyperbola or the right half curve according to the distance difference between the sound source and the left front microphone and the right front microphone; judging whether the sound source is positioned on the upper half curve or the lower half curve of the upper hyperbola and the lower half curve according to the distance difference between the sound source and the right front microphone and the rear microphone; the coordinates of the intersection points of the left hyperbola, the right hyperbola and the upper hyperbola and the lower hyperbola are the coordinates of the sound source.
According to the above scheme, in the step S2, the specific steps are as follows:
setting the points of the sound source, the left front microphone, the right front microphone and the rear microphone as B, A, D, F respectively, and setting the sound wave transmission routes as BA, BD and BF respectively; let C and E be the distance equivalent points of A and D on lines BD, BF, respectively, then:
L BA ＝L BC (1)，
L BD ＝L BE (2)，
let the propagation velocity of sound in air be v, the time for the sound wave to pass from B to a is:
T BA ＝L BA /v (3)，
the time for the sound wave to travel from B to D is:
T BD ＝L BD /v (4)，
the time for the sound wave to travel from B to F is:
T BF ＝L BF /v (5)。
further, in the step S5, the specific steps are as follows:
s51: if T BD ＞T BA L is then BD ＞L BA The left front microphone receives signals before the right front microphone, and a sound source is positioned on the left half curve of a hyperbola taking the left front microphone and the right front microphone as focuses;
if T BD ＜T BA L is then BD ＜L BA The right front microphone receives signals before the left front microphone, and a sound source is positioned on the right half curve of the hyperbola taking the left front microphone and the right front microphone as focuses;
s52: if T BF ＞T BD L is then BF ＞L BD The right front microphone receives signals before the rear microphone, and a sound source is positioned on the upper half curve of the hyperbola taking the right front microphone and the rear microphone as focuses;
if T BF ＜T BD L is then BF ＜L BD The rear microphone receives signals before the right front microphone, and a sound source is positioned on the lower half curve of the hyperbola taking the right front microphone and the rear microphone as focuses;
s53: the sound source is positioned on the left half curve of the hyperbola taking the left front microphone and the right front microphone as focuses, and is positioned on the upper half curve of the hyperbola taking the right front microphone and the rear microphone as focuses, and the sound source is a main driver seat personnel;
the sound source is positioned on the right half curve of the hyperbola taking the left front microphone and the right front microphone as focuses, and is positioned on the upper half curve of the hyperbola taking the right front microphone and the rear microphone as focuses, and the sound source is a passenger seat personnel;
the sound source is positioned on the left half curve of the hyperbola taking the left front microphone and the right front microphone as focuses, and is positioned on the lower half curve of the hyperbola taking the right front microphone and the rear microphone as focuses, and the sound source is a rear left seat person;
the sound source is located in the right half curve of the hyperbola with the front left and front right microphones as the focus, and is located in the lower half curve of the hyperbola with the front right and rear microphones as the focus, the sound source is the rear right seat person.
According to the above scheme, in the step S3, the specific steps are as follows: the signal transmission adopts a FIFO first-in first-out mode.
According to the scheme, the method further comprises the following steps:
s6: the voice control unit ignores voice control instructions issued by other positions by setting the authority of the voice control instructions of the specific positions for executing the vehicle functions, and decides whether to execute the received voice control instructions.
A vehicle-mounted voice control system based on sound source localization comprises a left front microphone, a right front microphone, a rear microphone and a voice control unit; the left front microphone and the right front microphone are symmetrically arranged on the left and right sides of the longitudinal axis of the automobile; the right front microphone and the rear microphone are symmetrically arranged in front-rear direction relative to the transverse shaft of the automobile; the signal input end of the voice control unit is respectively connected with the signal output ends of the left front microphone, the right front microphone and the rear microphone.
A computer storage medium having stored therein a computer program executable by a computer processor for performing a sound source localization based on-vehicle voice control method.
The beneficial effects of the invention are as follows:
1. according to the vehicle-mounted voice control method and system based on sound source localization, the position of a voice source in a vehicle is judged according to the time difference method aiming at the competitiveness of voice commands of drivers and passengers in the vehicle, whether the voice source is executed or not is selected according to the setting, the running safety performance is ensured, meanwhile, man-machine interaction functions and scenes are enriched, the functions of the specified vehicle are controlled and specified by specified personnel, and the safety of the use of the vehicle is improved.
2. The invention can select various users and is flexible to use by customizing the voice command users comprising the main driving, the auxiliary driving and the rear passengers.
3. The invention has simple calculation example, does not need complex operation and improves response sensitivity.
4. The invention can realize the free switching of functions, enrich the functions of the vehicle-mounted terminal and improve the sense of high-grade.
5. The invention has simple structure and low cost.
Drawings
Fig. 1 is a diagram of a microphone mounting position according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the area location of an embodiment of the present invention.
FIG. 3 is a region locating flowchart of an embodiment of the present invention.
In the figure: 1. a left front microphone; 2. a right front microphone; 3. a rear microphone; 4. a sound source.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
Referring to fig. 3, an embodiment of the present invention includes a front left microphone 1, a front right microphone 2, a rear microphone 3, a voice control unit, and the like. The left front microphone 1 and the right front microphone 2 are symmetrically arranged on the left and right sides of the longitudinal axis of the automobile, and the right front microphone 2 and the rear microphone 3 are symmetrically arranged on the front and rear sides of the transverse axis of the automobile.
The working principle of the invention is described as follows:
referring to fig. 1, a left front microphone 1, a right front microphone 2, and a rear microphone 3 are fixedly installed, that is, the coordinate positions are known, and the sound source 4 is not known. Although the sound source position is unknown, in the case that the sound source 4 does not move, the distance difference between the sound source 4 and the front left microphone 1 and the front right microphone 2 is constant, and according to the geometric knowledge, it is known that the sound source 4 must be on a hyperbola with the front left microphone 1 and the front right microphone 2 as the focus, and similarly, the sound source 4 must also be on a hyperbola with the front right microphone 2 and the rear microphone 3 as the focus, and the intersection point of the two hyperbolas is the coordinates of the sound source 4.
Referring to fig. 2, assume that the sound source 4 is located at the driving position. When a driver gives out a voice command, sound waves are transmitted to the left front microphone 1, the right front microphone 2 and the rear microphone 3, the transmission routes are BA, BD and BF respectively, C and E in the figure are equivalent points of the distances A and D on the routes BD and BF, and the following formula can be obtained:
L BA ＝L BC ①
L BD ＝L BE ②
the time for transmitting sound wave from B to A is T BA ＝L BA /v ③
The time for transmitting sound wave from B to D is T BD ＝L BD /v ④
The time for the sound wave to pass from B to F is T BF ＝L BF /v ⑤
Where v denotes the propagation velocity of sound in air.
When L BD >L BA At the time T BD >T BA The front left microphone 1 receives a signal before the front right microphone 2, i.e. the sound source 4 should be located on the left curve of the hyperbola with 1 and 2 as focus, when L BF >L BD At the time T BF >T BD The front right microphone 2 receives a signal before the rear microphone 3 and the sound source 4 should be located on the upper half curve of the hyperbola with the front right microphone 2 and the rear microphone 3 as the focus, whereby it can be derived that the sound source 4 should be located in the front left area, consistent with the illustration. Other locations may be correctly located in this way.
After the voice control instruction is issued, the left front microphone 1, the right front microphone 2 and the rear microphone 3 convert the sound signals into electric signals and transmit the electric signals to the voice control unit, and the signal transmission adopts a FIFO first-in first-out mode. The voice control unit analyzes the electric signals into corresponding commands and marks the commands with a time stamp as a sequence mark. The voice control unit judges whether the position of the sound source 4 of the voice control instruction is the main driver seat, the auxiliary driver seat, the back left or the back right according to the sequence of the commands of the three microphones and determines whether to execute the voice control instruction according to the current setting. The driving safety can be improved by setting a control command which can only be sent by a driver when the lane keeping is started and omitting similar commands sent by other positions.
The region location algorithm is as follows:
the above embodiments are merely for illustrating the design concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, the scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications according to the principles and design ideas of the present invention are within the scope of the present invention.
Claims (5)
1. A vehicle-mounted voice control method based on sound source localization is characterized by comprising the following steps: the method comprises the following steps:
s1: building a vehicle-mounted voice control system based on sound source positioning, wherein the vehicle-mounted voice control system comprises a left front microphone, a right front microphone, a rear microphone and a voice control unit; the left front microphone and the right front microphone are symmetrically arranged on the left and right sides of the longitudinal axis of the automobile; the right front microphone and the rear microphone are symmetrically arranged in front-rear direction relative to the transverse shaft of the automobile; the signal input end of the voice control unit is respectively connected with the signal output ends of the left front microphone, the right front microphone and the rear microphone;
s2: the driver and the passenger send out a voice control instruction in the form of sound waves, and the sound waves are respectively transmitted to the left front microphone, the right front microphone and the rear microphone; the method comprises the following specific steps:
setting the points of the sound source, the left front microphone, the right front microphone and the rear microphone as B, A, D, F respectively, and setting the sound wave transmission routes as BA, BD and BF respectively; let C and E be the distance equivalent points of A and D on lines BD, BF, respectively, then:
L BA ＝L BC (1)，
L BD ＝L BE (2)，
let the propagation velocity of sound in air be v, the time for the sound wave to pass from B to a is:
T BA ＝L BA /v (3)，
the time for the sound wave to travel from B to D is:
T BD ＝L BD /v (4)，
the time for the sound wave to travel from B to F is:
T BF ＝L BF /v (5)；
s3: the left front microphone, the right front microphone and the rear microphone respectively convert the received sound signals into electric signals and transmit the electric signals to the voice control unit;
s4: the voice control unit analyzes the electric signal into a voice control instruction and marks a time stamp as a sequence mark;
s5: the voice control unit judges the position of a sound source of the voice control instruction through region estimation according to the sequence of the received voice control instruction; under the condition that the sound source does not move, the distance difference between the sound source and any two microphones is constant; the sound source is simultaneously positioned on a left hyperbola and a right hyperbola which take a left front microphone and a right front microphone as focuses and an upper hyperbola and a lower hyperbola which take a right front microphone and a rear microphone as focuses; judging whether the sound source is positioned on a left half curve or a right half curve of the left hyperbola or the right half curve according to the distance difference between the sound source and the left front microphone and the right front microphone; judging whether the sound source is positioned on the upper half curve or the lower half curve of the upper hyperbola and the lower half curve according to the distance difference between the sound source and the right front microphone and the rear microphone; the coordinates of the intersection points of the left hyperbola, the right hyperbola, the upper hyperbola and the lower hyperbola are the coordinates of a sound source; the method comprises the following specific steps:
s51: if T BD ＞T BA L is then BD ＞L BA The left front microphone receives signals before the right front microphone, and a sound source is positioned on the left half curve of a hyperbola taking the left front microphone and the right front microphone as focuses;
if T BD ＜T BA L is then BD ＜L BA The right front microphone receives signals before the left front microphone, and a sound source is positioned on the right half curve of the hyperbola taking the left front microphone and the right front microphone as focuses;
s52: if T BF ＞T BD L is then BF ＞L BD The right front microphone receives signals before the rear microphone, and a sound source is positioned on the upper half curve of the hyperbola taking the right front microphone and the rear microphone as focuses;
if T BF ＜T BD L is then BF ＜L BD The rear microphone receives signals before the right front microphone, and a sound source is positioned on the lower half curve of the hyperbola taking the right front microphone and the rear microphone as focuses;
s53: the sound source is positioned on the left half curve of the hyperbola taking the left front microphone and the right front microphone as focuses, and is positioned on the upper half curve of the hyperbola taking the right front microphone and the rear microphone as focuses, and the sound source is a main driver seat personnel;
the sound source is positioned on the right half curve of the hyperbola taking the left front microphone and the right front microphone as focuses, and is positioned on the upper half curve of the hyperbola taking the right front microphone and the rear microphone as focuses, and the sound source is a passenger seat personnel;
the sound source is positioned on the left half curve of the hyperbola taking the left front microphone and the right front microphone as focuses, and is positioned on the lower half curve of the hyperbola taking the right front microphone and the rear microphone as focuses, and the sound source is a rear left seat person; the sound source is located in the right half curve of the hyperbola with the front left and front right microphones as the focus, and is located in the lower half curve of the hyperbola with the front right and rear microphones as the focus, the sound source is the rear right seat person.
2. The vehicle-mounted voice control method based on sound source localization according to claim 1, wherein: in the step S3, the specific steps are as follows: the signal transmission adopts a FIFO first-in first-out mode.
3. The vehicle-mounted voice control method based on sound source localization according to claim 1, wherein: the method also comprises the following steps:
s6: the voice control unit ignores voice control instructions issued by other positions by setting the authority of the voice control instructions of the specific positions for executing the vehicle functions, and decides whether to execute the received voice control instructions.
4. A vehicle-mounted voice control system for the sound source localization-based vehicle-mounted voice control method as claimed in any one of claims 1 to 3, characterized in that: comprises a left front microphone, a right front microphone, a rear microphone and a voice control unit; the left front microphone and the right front microphone are symmetrically arranged on the left and right sides of the longitudinal axis of the automobile; the right front microphone and the rear microphone are symmetrically arranged in front-rear direction relative to the transverse shaft of the automobile; the signal input end of the voice control unit is respectively connected with the signal output ends of the left front microphone, the right front microphone and the rear microphone.
5. A computer storage medium, characterized by: a computer program executable by a computer processor is stored therein, the computer program executing a sound source localization-based vehicle-mounted voice control method as claimed in any one of claims 1 to 3.
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