CN115250416A - Audio image control device and audio image control method - Google Patents

Abstract

The invention provides a new technology for providing an immersion feeling for driving to a vehicle passenger. The acoustic image control apparatus includes: an acquisition unit that acquires vehicle information relating to acceleration of a vehicle in a front-rear direction; and a sound image control unit that moves the sound image localization of the sound output from at least 2 speakers included in the vehicle in the front-rear direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

Description

Audio image control device and audio image control method

Technical Field

The present invention relates to an audio-video control apparatus and an audio-video control method.

Background

Patent document 1 discloses a method of changing the position of a specific sound source according to the speed of a vehicle or the amount of stepping on an accelerator.

Patent document 1: japanese patent laid-open No. 2007-10810

Disclosure of Invention

A technique for giving an immersion feeling to a vehicle occupant in terms of traveling by a method different from the method described in patent document 1 is desired. The present invention aims to provide a new technique for providing a driver of a vehicle with a feeling of immersion in traveling.

An acoustic image control apparatus according to an aspect of the present invention includes: an acquisition unit that acquires vehicle information relating to acceleration in the front-rear direction of a vehicle; and an acoustic image control unit that moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in a front-rear direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

An acoustic image control apparatus according to another aspect of the present invention includes: an acquisition unit that acquires vehicle information relating to acceleration of a vehicle in a left-right direction; and an acoustic image control unit that moves an acoustic image localization of sound output from at least 2 speakers included in the vehicle in a left-right direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

An acoustic image control apparatus according to another aspect of the present invention includes: an acquisition unit that acquires vehicle information relating to acceleration of a vehicle in a vertical direction; and an acoustic image control unit that moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in an up-down direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

A sound image control method according to still another aspect of the present invention is realized by a computer, and the sound image control method acquires vehicle information relating to acceleration in a front-rear direction of a vehicle, and moves a sound image localization of sound output from the at least 2 speakers in the front-rear direction of the vehicle based on the acquired vehicle information.

A sound image control method according to still another aspect of the present invention is a sound image control method for acquiring vehicle information related to acceleration of a vehicle in a left-right direction, and moving a sound image localization of a sound output from at least 2 speakers included in the vehicle in the left-right direction of the vehicle based on the acquired vehicle information.

A sound image control method according to still another aspect of the present invention is a sound image control method for acquiring vehicle information related to acceleration of a vehicle in a vertical direction, and moving a sound image localization of a sound output from at least 2 speakers included in the vehicle in the vertical direction of the vehicle based on the acquired vehicle information.

Drawings

Fig. 1 is a diagram of an example of the acoustic image control apparatus 1 according to embodiment 1.

Fig. 2 is a diagram showing an example of the vehicle 100.

Fig. 3 is a diagram showing an example of the correspondence relationship shown in the reference information e.

Fig. 4 is a diagram showing an example of the correspondence relationship shown in the 1 st reference information e 1.

Fig. 5 is a diagram showing an example of the correspondence relationship shown in the 2 nd reference information e2.

Fig. 6 is a diagram showing an example of the correspondence relationship shown in the running information g 1.

Fig. 7 is a diagram showing an example of the correspondence relationship shown in the sound information h 1.

Fig. 8 is a diagram showing an example of the operation of the acoustic image control apparatus 1.

Fig. 9 is a diagram showing an example of the relationship between the acceleration in the front direction and the sound image localization in the x-axis 8a direction.

Fig. 10 is a diagram showing a relationship Da between the sound pressure of the sound output from the speaker 5a and the acceleration in the forward direction, and a relationship Db between the sound pressure of the sound output from the speaker 5b and the acceleration in the forward direction.

Fig. 11 is a diagram showing sound pressures of sounds output from the speakers 5a and 5b, respectively.

Fig. 12 is a diagram showing an example of the relationship between the acceleration in the front direction and the sound image localization in the x-axis 8a direction.

Fig. 13 is a diagram showing a relationship Da between the sound pressure of the sound output from the speaker 5a and the acceleration in the forward direction, and a relationship Db between the sound pressure of the sound output from the speaker 5b and the acceleration in the forward direction.

Fig. 14 is a diagram showing an example of the relationship between the acceleration in the front direction and the sound image localization in the x-axis 8a direction.

Fig. 15 is a diagram showing a relationship Da between the sound pressure of the sound output from the speaker 5a and the acceleration in the forward direction, and a relationship Db between the sound pressure of the sound output from the speaker 5b and the acceleration in the forward direction.

Fig. 16 is a diagram showing an example of a vehicle 100 further including an acceleration sensor 91.

Fig. 17 is a diagram showing an example of a vehicle 100 further including an acceleration sensor 92.

Detailed Description

A: embodiment 1

A1: audio-visual control device 1

Fig. 1 is a diagram showing an example of the acoustic image control apparatus 1 according to embodiment 1. The acoustic image control apparatus 1 is mounted on a vehicle 100. The vehicle 100 is an electric vehicle without an engine. The vehicle 100 is operated by a driver of the vehicle 100. The vehicle 100 may also perform autonomous driving. The vehicle 100 includes an acoustic image control device 1, wheels 2a to 2d, a wheel control unit 3, a vehicle speed measuring instrument 3A, an operation unit 4, and speakers 5a and 5b.

Fig. 2 is a diagram showing an example of the vehicle 100. Fig. 2 shows an x-axis 8a along the front-rear direction of the vehicle 100, a y-axis 8b along the left-right direction of the vehicle 100, a1 st position i1, a2 nd position i2, and a3 rd position i3, in addition to the vehicle 100. The 1 st position i1, the 2 nd position i2, and the 3 rd position i3 are aligned in the front-rear direction (direction along the x-axis 8 a) of the vehicle 100. The 2 nd position i2 is located further forward than the 1 st position i1 in the front-rear direction of the vehicle 100. The 3 rd position i3 is located between the 1 st position i1 and the 2 nd position i2 in the front-rear direction of the vehicle 100.

The vehicle 100 includes a vehicle compartment 100a, a left front door 7a, a right front door 7b, a left rear door 7c, and a right rear door 7d. The vehicle compartment 100a includes speakers 5a and 5b, a seat (seat) 6, a part of a left front door 7a, a part of a right front door 7b, a part of a left rear door 7c, and a part of a right rear door 7d.

Each of the speakers 5a and 5b is a speaker group having a plurality of speakers. Each of the speakers 5a and 5b may be a single speaker. The speakers 5a and 5b are an example of at least 2 speakers included in the vehicle 100. The speakers 5a and 5b reproduce various sounds. For example, the speakers 5a and 5b play a virtual engine sound.

The engine sound is a sound including a sound emitted from the engine itself, an intake sound caused by intake of the engine, and an exhaust sound caused by exhaust of the engine. The engine sound may be only the sound emitted by the engine itself, may be a combination of the sound emitted by the engine itself and the intake sound, or may be a combination of the sound emitted by the engine itself and the exhaust sound. The engine sound may also include a sound representing noise.

The speaker 5a includes speakers 5a1 to 5a3. The speaker 5a1 is located in the left front door 7a. The speaker 5a2 is located in the right front door 7b. The speaker 5a3 is located at the front of the vehicle compartment 100 a. The speakers 5a, 5a1, 5a2, and 5a3 are examples of the 1 st speaker.

The speaker 5b is located behind the speaker 5a in the front-rear direction of the vehicle 100. The speaker 5b includes speakers 5b1 to 5b3. The speaker 5b1 is located in the left rear door 7c. The speaker 5b2 is located in the right rear door 7d. The speaker 5b3 is located at the rear of the vehicle compartment 100 a. The speakers 5b, 5b1, 5b2, and 5b3 are examples of the 2 nd speaker, respectively.

The acoustic image control apparatus 1 shown in fig. 1 causes the speakers 5a and 5b to reproduce a virtual engine sound. The acoustic image control apparatus 1 moves the acoustic image localization of the sound output from the speakers 5a and 5b in the front-rear direction of the vehicle 100. The sound image is a sound source perceived by a person who hears the sound output from the speakers 5a and 5b. The sound image localization refers to the position of the sound image. In the present embodiment, sound image localization is performed for any one or all of the occupants seated in the seat 6 by causing the speakers 5a and 5b to emit sound. Further, only the driver (passenger) sitting in the driver seat may be the subject of sound image localization.

The wheels 2a and 2b are front wheels of the vehicle 100, respectively. The wheels 2c and 2d are rear wheels of the vehicle 100, respectively. The vehicle 100 may have additional wheels in addition to the wheels 2a to 2d.

The wheel control unit 3 controls the rotation of each of the wheels 2a and 2b. The wheel control unit 3 may control the rotation of each of the wheels 2c and 2d instead of controlling the rotation of each of the wheels 2a and 2b. The wheel control unit 3 may control the rotation of each of the wheels 2a to 2d. The wheel control unit 3 includes a motor 31, an accelerator pedal 32, a shift lever 33, a motor control unit 34, and a power transmission unit 35.

The motor 31 generates power based on the electric power. The accelerator pedal 32 and the shift lever 33 are operated by the driver of the vehicle 100. The accelerator pedal 32 and the shift lever 33 can be automatically operated.

The position of the accelerator pedal 32 is adjusted by the driver of the vehicle 100. The position of the accelerator pedal 32 corresponds to "opening degree of accelerator". The opening degree of the accelerator increases in accordance with an increase in the difference between the position of the accelerator pedal 32 and the reference position of the accelerator pedal 32. The opening degree of the accelerator is reduced in accordance with the reduction in the difference between the position of the accelerator pedal 32 and the reference position of the accelerator pedal 32. The reference position of the accelerator pedal 32 is a position of the accelerator pedal 32 in a condition where the accelerator pedal 32 is not operated. In the case where the position of the accelerator pedal 32 coincides with the reference position of the accelerator pedal 32, the opening degree of the accelerator is "0".

The difference between the position of the accelerator pedal 32 and the reference position of the accelerator pedal 32 may be referred to as "displacement amount of the accelerator pedal 32". The displacement amount of the accelerator pedal 32 may be used as the opening degree of the accelerator.

The accelerator pedal 32 is an example of an accelerator. In the case where the vehicle 100 has an accelerator lever instead of the accelerator pedal 32, the accelerator lever is an example of an accelerator.

The shift lever 33 is alternatively set to any one of a forward range, a parking range, a reverse range, and a neutral range by a driver of the vehicle 100.

The motor control section 34 detects the position of the accelerator pedal 32 and the position of the shift lever 33. A method of detecting the position of the accelerator pedal 32 and the position of the shift lever 33 is well known, and thus detailed description is omitted.

The motor control section 34 controls the motor 31 based on the position of the accelerator pedal 32 and the position of the shift lever 33. For example, the motor control unit 34 generates rotation direction information and rotation speed information based on the position of the accelerator pedal 32 and the position of the shift lever 33. The rotation direction information is information for specifying the rotation direction of the motor 31. The rotational speed information is information that specifies the rotational speed of the motor 31. The motor control unit 34 sets the rotational direction of the motor 31 to the rotational direction specified by the rotational direction information. The motor control unit 34 sets the rotation speed of the motor 31 to the rotation speed specified by the rotation speed information. A method of controlling the rotation (rotational direction and rotational speed) of the motor 31 based on the position of the accelerator pedal 32 and the position of the shift lever 33 is well known, and therefore, a detailed description thereof is omitted.

The power transmission unit 35 is a 1-set reduction gear (reduction gear). The power transmission unit 35 transmits the power generated by the electric motor 31 to the wheels 2a and 2b. The power transmission unit 35 may transmit the power generated by the electric motor 31 to the wheels 2c and 2d instead of the wheels 2a and 2b. The power transmission unit 35 may transmit the power generated by the motor 31 to the wheels 2a to 2d.

The vehicle speed meter 3A measures the speed of the vehicle 100. The vehicle speed meter 3A generates speed information a1 based on the measurement result of the speed of the vehicle 100. The speed information a1 is information indicating the speed of the vehicle 100. The change in the speed information a1 indicates the degree of acceleration in the front-rear direction of the vehicle 100. Therefore, the speed information a1 is an example of information that defines the degree of acceleration in the front-rear direction of the vehicle 100.

The information that defines the degree of acceleration in the front-rear direction of the vehicle 100 may include information that specifies the degree of acceleration in the front-rear direction of the vehicle 100. The information that defines the degree of acceleration in the front-rear direction of the vehicle 100 is an example of vehicle information related to acceleration in the front-rear direction of the vehicle 100. The vehicle information related to the acceleration of the vehicle 100 in the front-rear direction is not limited to information that specifies the degree of acceleration of the vehicle 100 in the front-rear direction. The vehicle information related to the acceleration of the vehicle 100 in the front-rear direction may be information indicating the degree of acceleration of the vehicle 100 in the front-rear direction (for example, information indicating the acceleration of the vehicle 100 in the front-rear direction). The vehicle information related to acceleration is a concept including information defining a degree of acceleration and information indicating the degree of acceleration.

The motor control unit 34 generates accelerator information b1 based on the position of the accelerator pedal 32. The accelerator information b1 is information indicating the opening degree of the accelerator.

The operation unit 4 is, for example, a touch panel. The operation unit 4 is not limited to the touch panel, and may be an operation panel having various operation buttons. The operation unit 4 receives an operation performed by the occupant of the vehicle 100. Hereinafter, "the rider of the vehicle 100" will be simply referred to as "the rider".

The acoustic image control apparatus 1 includes a storage device 11 and a processing device 12. The storage 11 may be an external element of the acoustic image control apparatus 1.

The storage device 11 is a recording medium that can be read by a computer (for example, a non-transitory recording medium that can be read by a computer). The storage device 11 includes a nonvolatile memory and a volatile memory. Examples of the nonvolatile Memory include a ROM (Read Only Memory), an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). The volatile Memory is, for example, a RAM (Random Access Memory).

The storage device 11 stores the program p1 and various information. The program p1 defines the operation of the acoustic image control apparatus 1. The storage device 11 may store the program p1 read from a storage device of a server not shown. In this case, the storage device of the server is an example of a recording medium that can be read by the computer.

The Processing device 12 includes 1 or more CPUs (Central Processing units). 1 or more CPUs is an example of 1 or more processors. The processing device, the processor, and the CPU are each an example of a computer.

The processing device 12 reads the program p1 from the storage device 11. The processing device 12 functions as an acquisition unit 13, a generation unit 14, and an acoustic image control unit 15 by executing the program p1. At least 1 of the acquisition unit 13, the generation unit 14, and the sound image control unit 15 may be implemented by a Circuit such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array).

The acquisition unit 13 acquires speed information a1 from the vehicle speed measurement instrument 3A. For example, the acquisition unit 13 first transmits a request for speed information a1 to the vehicle speed measurement instrument 3A. The acquisition unit 13 acquires the speed information a1 transmitted from the vehicle speed measurement instrument 3A in response to the request for the speed information a1. When the vehicle speed measurement instrument 3A actively transmits the speed information a1 to the acquisition unit 13, the acquisition unit 13 may acquire the speed information a1 actively transmitted from the vehicle speed measurement instrument 3A. The acquisition unit 13 acquires accelerator information b1 from the motor control unit 34. For example, the acquisition unit 13 first transmits a request for accelerator information b1 to the motor control unit 34. The acquisition unit 13 acquires the accelerator information b1 transmitted from the motor control unit 34 in response to the request for the accelerator information b1. When the motor control unit 34 actively transmits the accelerator information b1 to the acquisition unit 13, the acquisition unit 13 may acquire the accelerator information b1 actively transmitted from the motor control unit 34. The speed information a1 and the accelerator information b1 are communicated by CAN (Controller Area Network). The speed information a1 and the accelerator information b1 may also be communicated by a communication protocol different from CAN.

The generating unit 14 generates the audio signal c1 based on the speed information a1 and the accelerator information b1 acquired by the acquiring unit 13. The sound signal c1 is a Surround signal (Surround signal) representing a virtual engine sound. The generation unit 14 includes a determination unit 141 and a signal generation unit 142.

The determination unit 141 determines the rotation speed of the virtual engine based on the speed information a1. The virtual engine is a virtual engine that is virtually mounted on vehicle 100. The determination unit 141 determines the rotation speed of the virtual engine by using the reference information e.

The reference information e is information indicating a correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine. The reference information e is stored in the storage device 11.

The determination unit 141 determines the rotation speed of the virtual engine corresponding to the speed of the vehicle 100 indicated by the speed information a1, using the reference information e. The determination unit 141 generates rotation speed information f1 indicating the rotation speed of the virtual engine if the rotation speed of the virtual engine is determined.

The reference information e may include 1 st reference information e1 and 2 nd reference information e2. The 1 st reference information e1 is information indicating the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine when the vehicle 100 is accelerated. The 2 nd reference information e2 is information indicating the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine at the time of deceleration of the vehicle 100 and at the time of constant speed of the vehicle 100.

When the reference information e includes the 1 st reference information e1 and the 2 nd reference information e2, the determination unit 141 also determines the rotation speed of the virtual engine based on the speed information a1.

For example, the determination unit 141 first determines whether the vehicle 100 is accelerating or not based on a change in the speed information a1.

When determining that the vehicle 100 is accelerating, the determination unit 141 determines the rotation speed of the virtual engine corresponding to the speed of the vehicle 100 indicated by the speed information a1 by using the 1 st reference information e 1.

When determining that vehicle 100 is not accelerating, determination unit 141 determines that vehicle 100 is decelerating or at a constant speed.

When determining that vehicle 100 is decelerating or at a constant speed, determination unit 141 determines the rotation speed of the virtual engine corresponding to the speed of vehicle 100 indicated by speed information a1, using 2 nd reference information e2.

When the reference information e includes the 1 st reference information e1 and the 2 nd reference information e2, if the rotation speed of the virtual engine is determined, the determination unit 141 also generates rotation speed information f1 indicating the rotation speed of the virtual engine.

The signal generation unit 142 generates the sound signal c1 based on the rotation speed information f1 and the accelerator information b1.

First, the signal generation unit 142 determines the traveling state of the vehicle 100 based on the rotation speed information f1 and the accelerator information b1. For example, signal generation unit 142 determines the traveling state of vehicle 100 by using traveling information g 1.

The traveling information g1 is information indicating the correspondence relationship between the rotation speed of the virtual engine, the opening degree of the accelerator, and the traveling state of the vehicle 100. The travel information g1 is stored in the storage device 11.

The signal generation unit 142 determines the running state of the vehicle 100 corresponding to both the virtual engine rotation speed indicated by the rotation speed information f1 and the accelerator opening degree indicated by the accelerator information b1, using the running information g 1.

Next, signal generation unit 142 generates sound signal c1 based on the traveling state of vehicle 100. For example, the signal generation unit 142 generates the audio signal c1 by using the audio information h 1.

The sound information h1 is information indicating a correspondence relationship between a running state of the vehicle 100 and sound data indicating a virtual engine sound. The sound data represents a virtual engine sound corresponding to the traveling state of the vehicle 100. The sound information h1 is stored in the storage device 11.

The signal generation unit 142 generates the sound signal c1 corresponding to the traveling state of the vehicle 100 using the sound information h 1.

The sound signal c1 is a multichannel sound signal. The audio signal c1 includes an audio signal c1a for the speaker 5a and an audio signal c1b for the speaker 5b. The audio signals c1a and c1b are multichannel audio signals. In the case where the speaker 5a is 1 speaker, the sound signal c1a is a single-channel sound signal. In the case where the speaker 5b is 1 speaker, the sound signal c1b is a single-channel sound signal.

The acoustic image control unit 15 moves the acoustic image localization of the sound output from the speakers 5a and 5b in the front-rear direction of the vehicle 100 based on the speed information a1 acquired by the acquisition unit 13. For example, the acoustic image control unit 15 generates acceleration information based on the velocity information a1. The acceleration information indicates the acceleration of the vehicle 100. The acoustic image control unit 15 moves the acoustic image localization of the sound output from the speakers 5a and 5b in the front-rear direction of the vehicle 100 based on the acceleration information.

The acoustic image control unit 15 generates an acoustic signal c2a for the speaker 5a by adjusting the amplitude of the acoustic signal c1a based on the acceleration information. The acoustic image control unit 15 generates an acoustic signal c2b for the speaker 5b by adjusting the amplitude of the acoustic signal c1b based on the acceleration information.

The audio signals c2a and c2b are multichannel audio signals. In the case where the speaker 5a is 1 speaker, the sound signal c2a is a single-channel sound signal. In the case where the speaker 5b is 1 speaker, the sound signal c2b is a single-channel sound signal.

The sound image control section 15 supplies the sound signal c2a to the speaker 5a. The acoustic image control unit 15 supplies the audio signal c2b to the speaker 5b. The sound signals c2a and c2b affect the sound image localization of the sound output from the speakers 5a and 5b.

A2: reference information e

The reference information e indicates a correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine. The virtual engine speed depends on the speed of the vehicle 100, the virtual transmission.

The virtual transmission is a transmission virtually mounted on vehicle 100. The virtual transmission has 3 gears, gears J1-J3. Gear J1 corresponds to virtual transmission 1. Gear J2 corresponds to virtual transmission 2. Gear J3 corresponds to virtual transmission 3. Gears J1, J2, and J3 may each be referred to as a ratio gear. A virtual transmission may have more than 1 gear.

Fig. 3 is a diagram showing an example of the correspondence relationship shown in the reference information e, that is, a diagram showing an example of the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine. In fig. 3, the horizontal axis represents the speed of the vehicle 100, and the vertical axis represents the rotation speed of the virtual engine.

The reference information e shows the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine for the gears J1 to J3, respectively. The virtual engine speed MAX1 indicates the maximum virtual engine speed. The maximum rotational speed of the virtual engine is, for example, 9000rpm (revolutions per minute). The maximum speed of the virtual engine is not limited to 9000rpm.

The reference information e includes 1 st reference information e1 and 2 nd reference information e2. The 1 st reference information e1 is information indicating the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine when the vehicle 100 is accelerated. The 2 nd reference information e2 is information indicating the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine at the time of deceleration and at the time of constant speed of the vehicle 100.

Fig. 4 is a diagram showing an example of the correspondence relationship shown in the 1 st reference information e1, that is, a diagram showing an example of the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine when the vehicle 100 is accelerated. In fig. 4, the horizontal axis represents the speed of the vehicle 100, and the vertical axis represents the rotation speed of the virtual engine.

The 1 st reference information e1 shows the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine for the gear J1 as the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine in the case where the speed of the vehicle 100 is smaller than the speed V1.

Speed V1 is a speed of vehicle 100 when the rotation speed of the virtual engine using gear J1 reaches rotation speed MAX 1. Speed V1 may be lower than the speed of vehicle 100 when the rotation speed of the virtual engine using gear J1 reaches rotation speed MAX 1.

The 1 st reference information e1 shows a correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine with respect to the gear J2, as a correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine in the case where the speed of the vehicle 100 is equal to or higher than the speed V1 and lower than the speed V2.

Speed V2 is the speed of vehicle 100 at which the number of revolutions of the virtual engine using gear J2 reaches rotation number MAX 1. Speed V2 may be a speed lower than the speed of vehicle 100 at which the rotation speed of the virtual engine using gear J2 reaches rotation speed MAX1 and higher than speed V1.

The 1 st reference information e1 shows a correspondence relationship between the speed of the vehicle 100 and the virtual engine speed with respect to the gear J3, as a correspondence relationship between the speed of the vehicle 100 and the virtual engine speed when the speed of the vehicle 100 is equal to or higher than the speed V2.

Fig. 5 is a diagram showing an example of the correspondence relationship shown in the 2 nd reference information e2, that is, an example of the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine at the time of deceleration and at the time of constant speed of the vehicle 100. In fig. 5, the horizontal axis represents the speed of vehicle 100, and the vertical axis represents the virtual engine speed.

The 2 nd reference information e2 shows the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine for the gear J3 as the correspondence relationship between the speed of the vehicle 100 and the rotation speed of the virtual engine in the case where the speed of the vehicle 100 is greater than the speed V4. The speed V4 is greater than the speed V1 and less than the speed V2.

The 2 nd reference information e2 shows the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine for the gear J2, as the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine in the case where the speed of the vehicle 100 is greater than the speed V3 and equal to or less than the speed V4. The speed V3 is 0 or more and less than the speed V1.

The 2 nd reference information e2 shows the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine for the gear J1 as the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine in the case where the speed of the vehicle 100 is the speed V3 or less.

A3: travel information g1

The traveling information g1 shows the correspondence relationship between the rotation speed of the virtual engine, the opening degree of the accelerator, and the traveling state of the vehicle 100.

Fig. 6 is a diagram showing an example of the correspondence relationship shown in the travel information g 1. In fig. 6, the horizontal axis represents the rotation speed of the virtual engine, and the vertical axis represents the opening degree of the accelerator. The traveling state of vehicle 100 is divided into regions K1 to K25 according to the virtual engine speed and the accelerator opening degree. Hereinafter, when the regions K1 to K25 are not required to be distinguished from each other, the regions K1 to K25 are respectively referred to as "regions K". The number of regions K is not limited to 25, and may be a number smaller than 25, and may be a number larger than 25.

A4: sound information h1

The sound information h1 is information showing a correspondence relationship between the running state of the vehicle 100 and sound data indicating a virtual engine sound according to the running state of the vehicle 100.

Fig. 7 is a diagram showing an example of the correspondence relationship shown in the sound information h 1. The audio information h1 shows the correspondence between the areas K1 to K25 indicating the traveling state of the vehicle 100 and the audio data M1 to M25 of the predetermined audio signal.

The audio data M1 to M25 correspond to the regions K1 to K25 one-to-one. For example, the sound data M1 corresponds to the region K1, and the sound data M25 corresponds to the region K25. The audio data M1 to M25 are different from each other. Hereinafter, when the audio data M1 to M25 do not need to be distinguished from each other, the audio data M1 to M25 are respectively referred to as "audio data M".

The sound data M indicates a virtual engine sound corresponding to the corresponding region K (corresponding to the traveling state of the vehicle 100). The sound data M represents a sound obtained by simulating an engine sound of a real engine. The sound data M may also represent engine sound of a fictitious engine.

A5: description of the operation

Fig. 8 is a diagram showing an example of the operation of the acoustic image control apparatus 1. Hereinafter, the vehicle speed measuring instrument 3A generates speed information a1 indicating the speed of the vehicle 100. The motor control unit 34 generates accelerator information b1 indicating the opening degree of the accelerator. The reference information e indicating the correspondence relationship between the speed of the vehicle 100 and the rotational speed of the virtual engine includes the 1 st reference information e1 shown in fig. 4 and the 2 nd reference information e2 shown in fig. 5.

The operation unit 4 starts the operation shown in fig. 8 if an operation instructing generation of the audio signal c1, i.e., a generation operation, is received from the passenger. The operation shown in fig. 8 is repeated until the operation unit 4 receives an end operation, which is an operation for instructing the end of the generation of the sound signal c1, from the passenger.

In step S101, the acquisition unit 13 acquires speed information a1 from the vehicle speed measurement instrument 3A and acquires accelerator information b1 from the motor control unit 34.

Next, in step S102, the acquisition unit 13 stores the speed information a1 in the storage device 11. Therefore, the history of the speed information a1 is stored in the storage device 11.

The history of the speed information a1 remains in the storage device 11 until the operation unit 4 receives the end operation from the passenger. If the operation unit 4 receives an end operation from the passenger, the acquisition unit 13 deletes the history of the speed information a1 from the storage device 11. Therefore, the history of the speed information a1 is not stored in the storage device 11 at the time when the operation unit 4 receives the generation operation from the passenger.

If the speed information a1 is stored in the storage device 11, the acquisition unit 13 supplies the speed information a1 to the determination unit 141. The acquisition unit 13 supplies the accelerator information b1 to the signal generation unit 142.

Next, in step S103, the determination unit 141 determines whether or not the vehicle 100 is accelerating, based on the change in the speed information a1.

In step S103, the determination unit 141 determines whether the speed of the vehicle 100 is increased (in the case of acceleration) by referring to the history of the speed information a1.

For example, the determination unit 141 first specifies the speed information a1 stored in the current step S102 and the speed information a1 stored in the previous step S102 based on the history of the speed information a1. If the speed information a1 stored in the previous step S102 is not present in the storage device 11, the determination unit 141 uses "0" as the speed of the vehicle 100 indicated by the speed information a1 stored in the previous step S102.

Next, the determination unit 141 determines whether or not the speed of the vehicle 100 indicated by the speed information a1 stored in step S102 at this time is greater than the speed of the vehicle 100 indicated by the speed information a1 stored in step S102 at the previous time. An increase in the speed of vehicle 100 is when vehicle 100 is accelerating. Therefore, the determination of whether the speed of the vehicle 100 increases is a determination of whether the vehicle 100 is accelerating.

When the speed of the vehicle 100 indicated by the speed information a1 stored in step S102 at this time is greater than the speed of the vehicle 100 indicated by the speed information a1 stored in step S102 at the previous time, the determination unit 141 determines that the vehicle 100 is accelerating.

If the determination unit 141 determines in step S103 that the vehicle 100 is accelerating, the determination unit determines the rotation speed of the virtual engine by using the 1 st reference information e1 in step S104.

In step S104, the determination unit 141 first determines the rotation speed of the virtual engine corresponding to the speed of the vehicle 100 indicated by the speed information a1 as the rotation speed at the time of acceleration from among the rotation speeds of the virtual engines indicated by the 1 st reference information e 1. Next, the determination unit 141 determines the rotation speed at the time of acceleration as the rotation speed of the virtual engine.

For example, when the vehicle 100 is accelerating and the speed of the vehicle 100 is lower than the speed V1, the determination unit 141 first selects the correspondence relationship between the speed of the vehicle 100 and the number of revolutions of the virtual engine for the gear J1 shown in the 1 st reference information e 1. Next, the determination unit 141 determines the rotation speed of the virtual engine corresponding to the speed of the vehicle 100 indicated by the speed information a1, from among the rotation speeds of the virtual engine indicated for the gear J1, as the rotation speed at the time of acceleration. Next, the determination unit 141 determines the rotation speed at the time of acceleration as the rotation speed of the virtual engine.

If the determination unit 141 determines in step S103 that the vehicle 100 is not accelerating, it determines that the vehicle 100 is decelerating or at a constant speed. Next, the determination unit 141 determines the rotation speed of the virtual engine using the 2 nd reference information e2 in step S105.

In step S105, the determination unit 141 first determines the rotation speed of the virtual engine corresponding to the speed of the vehicle 100 indicated by the speed information a1 as the matching rotation speed from among the rotation speeds of the virtual engines indicated by the 2 nd reference information e2. Next, the determination unit 141 determines the corresponding rotation speed as the rotation speed of the virtual engine.

If the rotation speed of the virtual engine is determined in step S104 or step S105, the determination unit 141 generates rotation speed information f1 indicating the rotation speed of the virtual engine in step S106. The determination unit 141 supplies the rotation speed information f1 to the signal generation unit 142.

Next, in step S107, the signal generation unit 142 determines the traveling state of the vehicle 100 based on the rotation speed information f1 and the accelerator information b1.

In step S107, the signal generation unit 142 determines the traveling state of the vehicle 100 using the rotation speed information f1, the accelerator information b1, and the traveling information g 1. Regions K1 to K25 indicated by traveling information g1 indicate the traveling state of vehicle 100. The signal generation unit 142 determines, as the traveling state of the vehicle 100, a region K corresponding to both the rotation speed of the virtual engine indicated by the rotation speed information f1 and the opening degree of the accelerator indicated by the accelerator information b1 from among the regions K1 to K25 indicated by the traveling information g 1.

Next, in step S108, signal generating unit 142 generates sound signal c1 based on the traveling state of vehicle 100.

In step S108, the signal generation unit 142 generates the audio signal c1 using the running state of the vehicle 100 and the audio information h 1. The signal generating unit 142 first reads out, as matching sound data, the sound data M corresponding to the region K determined as the traveling state of the vehicle 100 from among the sound data M1 to M25 indicated by the sound information h 1. The signal generating unit 142 then generates an audio signal c1 in which the audio represented by the matched audio data is represented in multiple channels. The audio signal c1 includes an audio signal c1a for the speaker 5a and an audio signal c1b for the speaker 5b. Next, the signal generator 142 supplies the audio signal c1 (audio signals c1a and c1 b) to the acoustic image controller 15.

Next, in step S109, the acoustic image control unit 15 controls the acoustic image localization of the sound output from the speakers 5a and 5b based on the acceleration information.

In step S109, the acoustic image control unit 15 first determines the acceleration of the vehicle 100 in the forward direction based on the speed information a1. Hereinafter, the acceleration in the front direction of the vehicle 100 is referred to as "acceleration in the front direction". The acoustic image control unit 15 determines acceleration information indicating the acceleration in the forward direction using the history of the velocity information a1 stored in the storage device 11.

For example, the acoustic image control unit 15 first determines the velocity information a1 stored in step S102 this time as the velocity information a1A. Next, the acoustic image control unit 15 determines the velocity information a1 stored in the previous step S102 as the velocity information a1B. Next, the acoustic image control unit 15 determines a speed difference by subtracting the speed of the vehicle 100 shown in the speed information a1B from the speed of the vehicle 100 shown in the speed information a1A. Next, the acoustic image control unit 15 divides the speed difference by the time between the execution of the current step S102 and the execution of the previous step S102 to generate acceleration information indicating the acceleration in the front direction. If the speed information a1 stored in the previous step S102 does not exist in the storage device 11, the acoustic image control unit 15 uses "0" as the speed of the vehicle 100 indicated by the speed information a1B.

When the speed of the vehicle 100 shown in the speed information a1A is greater than the speed of the vehicle 100 shown in the speed information a1B, the speed information a1A indicates forward acceleration. When the speed of the vehicle 100 indicated by the speed information a1A is not greater than the speed of the vehicle 100 indicated by the speed information a1B, the speed information a1A does not indicate acceleration of the vehicle 100 in the forward direction.

When the acceleration in the front direction is a positive value, the acoustic image control unit 15 sets the acoustic image localization of the sound output from the speakers 5a and 5b based on the acceleration in the front direction. For example, the acoustic image control unit 15 sets the speed information a1A to a position at which the acoustic image localization at the time of forward acceleration of the vehicle 100 is shown, and moves in the forward direction of the vehicle 100 more than the acoustic image localization at the time of forward acceleration of the vehicle 100 is not shown by the speed information a1A.

The acoustic image control unit 15 makes the acoustic image localization closer to the 1 st position i1 as the acceleration in the front direction is smaller. The sound image control unit 15 makes the sound image localization closer to the 2 nd position i2 as the acceleration in the front direction is larger.

Fig. 9 is a diagram showing an example of the relationship between the acceleration in the front direction and the sound image localization (position of the sound image) in the x-axis 8a direction. The relationship between the acceleration in the front direction and the sound image localization in the x-axis 8a direction is not limited to the relationship shown in fig. 9. For example, the sound image localization may be gradually closer to the 1 st position i1 as the acceleration in the front direction is smaller. The sound image localization may be gradually closer to the 2 nd position i2 as the acceleration in the front direction is larger.

The sound image control unit 15 controls the amplitude of the sound signal c2a and the amplitude of the sound signal c2b based on the acceleration in the front direction, thereby moving the sound image localization of the sound output from the speakers 5a and 5b in the front-rear direction of the vehicle 100. The amplitude of the sound signal c2a and the amplitude of the sound signal c2b are controlled based on the acceleration in the front direction, which is an example of controlling the sound pressure of the sound output from the 1 st speaker and the sound pressure of the sound output from the 2 nd speaker based on the vehicle information.

The acoustic image control unit 15 moves the acoustic image in the front-rear direction of the vehicle 100 by changing the magnitude relationship between the sound pressure of the sound output from the speaker 5a and the sound pressure of the sound output from the speaker 5b, for example.

Fig. 10 is a diagram showing a relationship Da between the sound pressure of the sound output from the speaker 5a and the acceleration in the forward direction, and a relationship Db between the sound pressure of the sound output from the speaker 5b and the acceleration in the forward direction.

The acoustic image control unit 15 decreases the amplitude of the audio signal c2a as the acceleration in the front direction decreases. Therefore, the sound image control unit 15 reduces the sound pressure of the sound output from the speaker 5a positioned at the front of the vehicle 100 as the acceleration in the front direction is reduced.

The acoustic image control unit 15 increases the amplitude of the audio signal c2b as the acceleration in the front direction decreases. Therefore, the sound pressure of the sound outputted from the speaker 5b positioned at the rear of the vehicle 100 is increased by the sound image control unit 15 as the acceleration in the front direction is decreased.

The sound image control unit 15 increases the amplitude of the sound signal c2a as the acceleration in the front direction increases. Therefore, the sound pressure of the sound outputted from the speaker 5a positioned at the front of the vehicle 100 is increased by the sound image control unit 15 as the acceleration in the front direction is increased.

The acoustic image control unit 15 decreases the amplitude of the audio signal c2b as the acceleration in the front direction increases. Therefore, the sound image control unit 15 reduces the sound pressure of the sound output from the speaker 5b positioned at the rear of the vehicle 100 as the acceleration in the front direction increases.

The speaker 5a outputs a virtual engine sound indicated by the sound signal c2a as a sound pressure corresponding to the amplitude of the sound signal c2a. The speaker 5b outputs a virtual engine sound indicated by the sound signal c2b at a sound pressure corresponding to the amplitude of the sound signal c2b. Therefore, the rider can recognize the sound image moving forward and backward according to the degree of acceleration of the vehicle 100.

The operation shown in fig. 8 is repeated until the operation unit 4 receives the end operation from the passenger.

A6: summary of embodiment 1

The acoustic image control unit 15 sets the speed information a1A to a position where the acoustic image localization indicates that the vehicle 100 is accelerating in the forward direction and moves in the forward direction of the vehicle 100 than the acoustic image localization if the speed information a1A does not indicate that the vehicle 100 is accelerating in the forward direction. When the vehicle 100 accelerates forward, the rider receives a force toward the rear of the vehicle 100. Therefore, when the vehicle 100 accelerates forward, the occupant can feel that the acoustic image moves forward of the vehicle 100 while receiving a force toward the rear of the vehicle 100. Therefore, the occupant feels that the sound image is pushed toward the rear of the vehicle 100 more easily in association with the acceleration of the vehicle 100 in the forward direction than in the case where the sound image does not move toward the front of the vehicle 100. Thus, the rider can obtain a feeling of immersion in traveling.

B: modification example

A modification of embodiment 1 will be described below. The combination of 2 or more arbitrarily selected from the following ways is appropriately performed within a range not contradictory to each other.

B1: modification example 1

In embodiment 1, the acoustic image control unit 15 may move the acoustic image localization in the front-rear direction of the vehicle 100 without changing the magnitude relationship between the sound pressure of the sound output from the speaker 5a and the sound pressure of the sound output from the speaker 5b.

For example, as shown in fig. 11, the sound image control unit 15 controls the sound pressure of the sound output from the speaker 5a and the sound pressure of the sound output from the speaker 5b. The acoustic image control unit 15 controls the amplitude of the audio signal c2a and the amplitude of the audio signal c2b based on the acceleration in the forward direction, thereby realizing the relationship Da and the relationship Db shown in fig. 11. The 2 nd position i2 of the 1 st modification is located further rearward than the 2 nd position i2 of the 1 st embodiment.

According to the modification 1, the acoustic image control unit 15 can move the acoustic image toward the front of the vehicle 100 without adjusting the sound pressure of the sound output from the speaker 5b, for example.

B2: modification example 2

In embodiment 1 and modification 1, when the acceleration in the front direction is a negative value (when the vehicle 100 is decelerating), the acoustic image control unit 15 may set the acoustic image localization of the sound output from the speakers 5a and 5b based on the acceleration in the front direction.

Fig. 12 is a diagram showing an example of the relationship between the acceleration in the front direction and the sound image localization (the position of the sound image) in the x-axis 8a direction. When the acceleration in the front direction is "0", the acoustic image control unit 15 sets the acoustic image localization of the sound output from the speakers 5a and 5b at the 3 rd position i3. The acoustic image control unit 15 makes the acoustic image localization of the sound output from the speakers 5a and 5b closer to the 1 st position i1 as the acceleration in the front direction is smaller. The sound image control unit 15 makes the sound image localization of the sound output from the speakers 5a and 5b closer to the 2 nd position i2 as the acceleration in the front direction increases.

The relationship between the acceleration in the front direction and the sound image localization (the position of the sound image) in the x-axis 8a direction is not limited to the relationship shown in fig. 12. For example, the sound image localization may be gradually closer to the 1 st position i1 as the acceleration in the front direction is smaller. The sound image localization may be gradually closer to the 2 nd position i2 as the acceleration in the front direction is larger.

For example, the acoustic image control unit 15 changes the magnitude relationship between the sound pressure of the sound output from the speaker 5a and the sound pressure of the sound output from the speaker 5b, thereby moving the acoustic image localization of the sound output from the speakers 5a and 5b in the front-rear direction of the vehicle 100.

Fig. 13 is a diagram showing a relationship Da between the sound pressure of the sound output from the speaker 5a and the acceleration in the forward direction, and a relationship Db between the sound pressure of the sound output from the speaker 5b and the acceleration in the forward direction. The acoustic image control unit 15 controls the amplitude of the audio signal c2a and the amplitude of the audio signal c2b based on the acceleration in the front direction, thereby realizing the relationship Da and the relationship Db shown in fig. 13.

According to the 2 nd modification, the rider can feel the sound image movement when the vehicle 100 is decelerating. Thus, the rider can obtain a feeling of immersion in traveling.

B3: modification 3

In embodiment 1, the acoustic image control unit 15 may set the speed information a1A indicating the acoustic image localization at the time of forward acceleration of the vehicle 100 at a position shifted in the rear direction of the vehicle 100 than the acoustic image localization at the time of no indication of forward acceleration of the vehicle 100 by the speed information a1A.

The acoustic image control unit 15 makes the acoustic image localization of the sound output from the speakers 5a and 5b closer to the 2 nd position i2 as the acceleration in the front direction is smaller. The sound image control unit 15 makes the sound image localization of the sound output from the speakers 5a and 5b closer to the 1 st position i1 as the acceleration in the front direction increases.

Fig. 14 is a diagram showing an example of the relationship between the acceleration in the front direction and the sound image localization (position of the sound image) in the x-axis 8a direction. The relationship between the acceleration in the front direction and the sound image localization in the x-axis 8a direction is not limited to the relationship shown in fig. 14. The smaller the acceleration in the front direction is, the closer the sound image localization becomes to the 2 nd position i2 in a stepwise manner. The sound image localization may be gradually closer to the 1 st position i1 as the acceleration in the front direction increases.

Fig. 15 is a diagram showing a relationship Da between the sound pressure of the sound output from the speaker 5a and the acceleration in the forward direction, and a relationship Db between the sound pressure of the sound output from the speaker 5b and the acceleration in the forward direction.

The sound image control unit 15 increases the amplitude of the sound signal c2a supplied to the speaker 5a located at the front of the vehicle 100 as the acceleration in the front direction decreases. Therefore, the sound pressure of the sound outputted from the speaker 5a positioned at the front of the vehicle 100 is increased by the sound image control unit 15 as the acceleration in the front direction is decreased.

The acoustic image control unit 15 decreases the amplitude of the acoustic signal c2b supplied to the speaker 5b located at the rear of the vehicle 100 as the acceleration in the front direction decreases. Therefore, the sound image control unit 15 reduces the sound pressure of the sound output from the speaker 5b located at the rear of the vehicle 100 as the acceleration in the front direction is reduced.

The sound image control unit 15 decreases the amplitude of the sound signal c2a supplied to the speaker 5a located at the front of the vehicle 100 as the acceleration in the front direction increases. Therefore, the sound image control unit 15 reduces the sound pressure of the sound output from the speaker 5a positioned at the front of the vehicle 100 as the acceleration in the front direction increases.

The sound image control unit 15 increases the amplitude of the sound signal c2b supplied to the speaker 5b located at the rear of the vehicle 100 as the acceleration in the front direction increases. Therefore, the sound pressure of the sound outputted from the speaker 5b positioned at the rear of the vehicle 100 by the acoustic image control unit 15 increases as the acceleration in the front direction increases.

In modification 3, the acoustic image control unit 15 may move the acoustic image localization in the front-rear direction of the vehicle 100 without changing the magnitude relationship between the sound pressure of the sound output from the speaker 5a and the sound pressure of the sound output from the speaker 5b.

According to the 3 rd modification, the rider can recognize the sound image moving in the backward direction in accordance with an increase in acceleration of the vehicle 100. When the vehicle 100 accelerates forward, the rider receives a force toward the rear of the vehicle 100. Therefore, when the vehicle 100 accelerates forward, the occupant can feel that the acoustic image moves rearward of the vehicle 100 while receiving a force toward the rear of the vehicle 100. Therefore, the occupant may feel as if the occupant moves rearward of the vehicle 100 together with the sound image, more easily in association with the acceleration of the vehicle 100 in the forward direction than in the case where the sound image does not move. Thus, the rider can obtain a feeling of immersion in traveling.

B4: modification example 4

In the embodiment 1 and the modifications 1 to 3, the acoustic image control unit 15 may change the position of the acoustic image by performing the acoustic image localization process described in the above-mentioned patent document 1.

The sound image control unit 15 operates as follows, for example, in the sound image localization process. The sound image control unit 15 uses a transfer function (head transfer function: HRTF) of sound in a space from a sound source disposed at a position of a target sound image to the ears of the occupant. The acoustic image control unit 15 performs convolution processing based on a transfer function of sound on the audio signal c1 to generate an audio signal c2a and an audio signal c2b.

When the position of the acoustic image is changed by the acoustic image localization process, the acoustic image control unit 15 can move the localization of the acoustic image in the front-rear direction of the vehicle 100 regardless of the positional relationship between the speaker 5a and the speaker 5b. Therefore, when the sound image control unit 15 changes the position of the sound image by the sound image localization process, the speaker 5b may not be located at the rear side of the speaker 5a. For example, speaker 5b may be located more to the right or more to the left than speaker 5a. Even if the speakers 5a and 5b are located at the same positions as those shown in embodiment 1 and modifications 1 to 3, the sound image can be localized at a position forward of the 2 nd position i2, for example.

According to the 4 th modification, the localization of the sound image can be moved in the front-rear direction of the vehicle 100 regardless of the positional relationship between the speakers 5a and 5b.

B5: modification 5

In embodiment 1 and modifications 1 to 4, vehicle 100 may further include an acceleration sensor 91 that detects acceleration in the forward direction.

Fig. 16 is a diagram showing an example of the vehicle 100 further including the acceleration sensor 91. The acquisition unit 13 acquires information indicating the output of the acceleration sensor 91, that is, the acceleration in the forward direction. Instead of the velocity information a1, the acoustic image control unit 15 may determine the acceleration in the forward direction using the output of the acceleration sensor 91 acquired by the acquisition unit 13. The output of the acceleration sensor 91 is another example of the vehicle information related to the acceleration of the vehicle 100 in the front-rear direction. The output of the acceleration sensor 91 is also an example of information indicating the degree of acceleration in the front-rear direction of the vehicle 100.

The generation unit 14 may use the output of the acceleration sensor 91 instead of the velocity information a1. For example, the generation unit 14 determines whether the vehicle 100 is accelerating or not based on the output of the acceleration sensor 91. The travel information g1 indicates a correspondence relationship between the rotation speed of the virtual engine, the output of the acceleration sensor 91, and the travel state of the vehicle 100, instead of indicating a correspondence relationship between the rotation speed of the virtual engine, the opening degree of the accelerator, and the travel state of the vehicle 100. The generation unit 14 determines the traveling state of the vehicle 100 using the traveling information g1, the rotational speed information f1, and the output of the acceleration sensor 91.

The generating unit 14 may generate the audio signal c1 corresponding to the output of the acceleration sensor 91 by using information indicating the correspondence relationship between the output of the acceleration sensor 91 and the audio signal c1.

According to the 5 th modification, the acoustic image control unit 15 can change the position of the acoustic image based on the output of the acceleration sensor 91.

B6: modification 6

In embodiment 1 and modifications 1 to 5, vehicle 100 may include acceleration sensor 92 for detecting acceleration in the lateral direction of vehicle 100.

Fig. 17 is a diagram showing an example of a vehicle 100 further including an acceleration sensor 92. The acceleration sensor 92 detects acceleration in the right direction when the vehicle 100 turns to the right. The acceleration sensor 92 detects acceleration in the left direction when the vehicle 100 turns left. The acquisition unit 13 may acquire information indicating the output of the acceleration sensor 92, that is, the acceleration of the vehicle 100 in the left-right direction. The acoustic image control unit 15 may determine the acceleration of the vehicle 100 in the left-right direction using the output of the acceleration sensor 92 acquired by the acquisition unit 13.

The acoustic image control unit 15 may move the acoustic image localization of the sound output from the speakers 5a and 5b in the left-right direction of the vehicle 100 based on the output of the acceleration sensor 92. The sound image control unit 15 moves the sound image localization of the sound output from the speakers 5a and 5b in the left-right direction of the vehicle 100 by executing the sound image localization process, for example.

For example, the sound image control unit 15 makes the sound image localization of the sound output from the speakers 5a and 5b closer to the right end 100R of the vehicle 100 as the acceleration in the right direction is larger. The sound image control unit 15 makes the sound image localization of the sound output from the speakers 5a and 5b closer to the left end 100L of the vehicle 100 as the acceleration in the left direction is larger.

When the vehicle 100 accelerates in the right direction, the rider receives a force toward the left direction of the vehicle 100. Therefore, when the vehicle 100 accelerates rightward, the rider can feel that the acoustic image moves rightward of the vehicle 100 while receiving a force in the leftward direction of the vehicle 100. Therefore, the occupant feels that the vehicle 100 is pushed in the left direction, more easily along with acceleration of the vehicle 100 in the right direction, than in the case where the acoustic image does not move. Thus, the rider can obtain a feeling of immersion with respect to the travel.

When the vehicle 100 accelerates in the left direction, the rider receives a force in the right direction of the vehicle 100. Therefore, when the vehicle 100 accelerates leftward, the rider can feel that the acoustic image moves leftward of the vehicle 100 while receiving a force in the rightward direction of the vehicle 100. Therefore, the occupant feels a push in the right direction of the vehicle 100 more easily accompanying the acceleration of the vehicle 100 in the left direction than in the case where the sound image does not move. Thus, the rider can obtain a feeling of immersion with respect to the travel.

The sound image control unit 15 may be configured to make the sound image localization of the sound output from the speakers 5a and 5b closer to the left end 100L of the vehicle 100 as the acceleration in the right direction increases. In this case, the sound image control unit 15 brings the sound image localization of the sound output from the speakers 5a and 5b closer to the right end 100R of the vehicle 100 as the acceleration in the left direction increases.

In this configuration, when the vehicle 100 accelerates rightward, the occupant can feel that the acoustic image moves leftward of the vehicle 100 while receiving a force in the leftward direction of the vehicle 100. Therefore, the rider may feel as if he or she moves in the left direction of the vehicle 100 together with the sound image more easily along with the acceleration of the vehicle 100 in the right direction than in the case where the sound image does not move. Thus, the rider can obtain a feeling of immersion with respect to the travel.

In addition, when the vehicle 100 accelerates in the left direction, the occupant can feel that the sound image moves in the right direction of the vehicle 100 while receiving a force in the right direction of the vehicle 100. Therefore, the rider may feel as if he or she moves in the right direction of the vehicle 100 together with the sound image, more easily along with the acceleration of the vehicle 100 in the left direction than when the sound image does not move. Thus, the rider can obtain a feeling of immersion in traveling.

In the 6 th modification, the sound image control unit 15 omits a process of moving the sound image localization of the sound output from the speakers 5a and 5b in the front-rear direction.

In the 6 th modification, the sound image control unit 15 moves the sound image localization of the sound output from the speakers 5a and 5b in the front-rear direction of the vehicle 100 by, for example, executing the sound image localization process without omitting the process of moving the sound image localization in the front-rear direction.

In modification 6, the generation unit 14 may generate the audio signal c1 corresponding to the output of the acceleration sensor 92 by using information indicating the correspondence relationship between the output of the acceleration sensor 92 and the audio signal c1.

B7: modification 7

In modification 6, the acoustic image control unit 15 may control the sound pressure of the sound output from the speaker 5a and the sound pressure of the sound output from the speaker 5b based on the output of the acceleration sensor 92, thereby moving the acoustic image localization of the sound output from the speakers 5a and 5b in the left-right direction. In this case, the speaker 5b is disposed at a position further to the left than the speaker 5a. For example, the speaker 5a is disposed in the right front door 7b, and the speaker 5b is disposed in the left front door 7a. The speaker 5a may be disposed in the right rear door 7d, and the speaker 5b may be disposed in the left rear door 7c.

When the position of the acoustic image is moved rightward, the acoustic image control unit 15 increases the sound pressure of the sound output from the speaker 5a and decreases the sound pressure of the sound output from the speaker 5b. When moving the position of the acoustic image to the left, the acoustic image control unit 15 decreases the sound pressure of the sound output from the speaker 5a and increases the sound pressure of the sound output from the speaker 5b. The sound image control unit 15 controls both the amplitude of the sound signal c2a and the amplitude of the sound signal c2b to change both the sound pressure of the sound output from the speaker 5a and the sound pressure of the sound output from the speaker 5b.

According to the modification 7, the sound image control unit 15 can move the sound image localization of the sound output from the speakers 5a and 5b in the left-right direction without performing the sound image localization process of moving the sound image localization in the left-right direction. In the 7 th modification, the sound image control unit 15 omits a process of moving the sound image localization of the sound output from the speakers 5a and 5b in the front-rear direction.

B8: modification example 8

In embodiment 1 and modifications 1 to 7, the acoustic image control unit 15 may include the generation unit 14. In this case, the acoustic image control unit 15 may generate the acoustic signal c1 based on the vehicle information (for example, the speed information a1, the acceleration information, the output of the acceleration sensor 91, or the output of the acceleration sensor 92). For example, the sound data M1 to M25 shown in fig. 7 are associated in advance with the acceleration that can be specified by the vehicle information, and the acoustic image control unit 15 generates the sound signal c1 based on the sound data M corresponding to the acceleration that is specified by the vehicle information. The sound data M1 to M25 may indicate a sound waveform, a sound pitch, and a sound level. The sound data M1 to M25 are different from each other with respect to at least 1 of the shape, pitch, and level of the waveform.

The acoustic image control unit 15 may control the acoustic image localization indirectly based on the vehicle information, instead of directly controlling the acoustic image localization based on the vehicle information. For example, the acoustic image control unit 15 may move the acoustic image localization in the front-rear direction of the vehicle 100 or the left-right direction of the vehicle 100 based on the characteristics (e.g., pitch or level) of the sound indicated by the sound signal c1 generated by the acoustic image control unit 15.

For example, the sound image control unit 15 makes the sound image localization closer to the 1 st position i1 as the pitch of the sound shown in the sound signal c1 increases. The sound image control unit 15 sets the sound image localization closer to the 2 nd position i2 as the pitch of the sound shown in the sound signal c1 decreases. The sound image control unit 15 may be configured to make the sound image localization closer to the 2 nd position i2 as the pitch of the sound shown in the sound signal c1 increases. In this case, the sound image control unit 15 makes the sound image localization closer to the 1 st position i1 as the pitch of the sound shown in the sound signal c1 is lower.

The sound image control unit 15 may set the sound image localization closer to the 1 st position i1 as the level of the sound indicated by the sound signal c1 increases. In this case, the sound image control unit 15 makes the sound image localization closer to the 2 nd position i2 as the level of the sound indicated by the sound signal c1 is lower. The sound image control unit 15 may set the sound image localization closer to the 2 nd position i2 as the sound level indicated by the sound signal c1 increases. In this case, the sound image control unit 15 makes the sound image localization closer to the 1 st position i1 as the level of the sound indicated by the sound signal c1 is lower.

Instead of bringing the sound image localization close to the 1 st position i1, the sound image control unit 15 may bring the sound image localization close to the right end 100R. In this case, the acoustic image control unit 15 positions the acoustic image near the left end 100L instead of the 2 nd position i2.

Instead of bringing the sound image localization close to the 1 st position i1, the sound image control unit 15 may bring the sound image localization close to the left end 100L. In this case, the acoustic image control unit 15 brings the acoustic image localization close to the right end 100R instead of bringing the acoustic image localization close to the 2 nd position i2.

According to the 8 th modification, the acoustic image control unit 15 moves the acoustic image localization in the front-rear direction of the vehicle 100 or the left-right direction of the vehicle 100 based on the characteristics (pitch or level) of the sound (the sound output from the speakers 5a and 5 b) indicated by the sound signal c1. Therefore, the rider can obtain a sense of immersion in the traveling, and can feel that the sound image localization changes in accordance with the change in the characteristics of the sound output from the speakers 5a and 5b.

B9: modification 9

In embodiment 1 and modifications 1 to 8, the sound indicated by the sound signal c1 is not limited to the virtual engine sound, and may be, for example, a music having a rhythm equal to or higher than a reference rhythm or an animal chirping sound. The tempo of the reference is, for example, a tempo above the average heart rate of the person. A music piece having a rhythm equal to or higher than the reference rhythm is another example of the sound corresponding to the acceleration of the vehicle. In embodiment 1 and modifications 1 to 8, vehicle 100 is not limited to an electric vehicle, and may be a vehicle that runs using an engine as a power source. In a situation where the vehicle 100 is accelerating, the virtual engine sound shown by the sound signal c1 is an example of a sound corresponding to acceleration of the vehicle.

B10: modification 10

In embodiment 1 and the above modification, vehicle 100 may further include an acceleration sensor that detects an acceleration in the vertical direction of vehicle 100.

The vertical acceleration sensor detects an acceleration in an upward direction when the vehicle 100 moves in an upward direction, and detects an acceleration in a downward direction when the vehicle 100 moves in a downward direction.

The acoustic image control unit 15 moves the acoustic image localization output from each speaker in the vertical direction based on the output of the acceleration sensor.

The method of localizing the sound image in the upward and downward directions may use any known technique, and may be such that several of the plurality of speakers are mounted at a position higher than the head of the occupant and a position lower than the head, respectively, and the sound image is localized in the upward or downward direction by controlling the amplitudes of the speakers.

For example, the greater the acceleration in the upward direction, the closer the sound image control unit 15 brings the sound image localization to the ceiling of the vehicle 100, and the greater the acceleration in the downward direction, the closer the sound image control unit 15 brings the sound image localization to the floor of the vehicle 100. Conversely, the sound image localization may be made closer to the floor of the vehicle 100 as the acceleration in the upward direction is larger, and the sound image localization may be made closer to the ceiling of the vehicle 100 as the acceleration in the downward direction is larger.

When the vehicle 100 travels on a rough road surface, the sound image localization moves in the up-or-down direction by the acceleration in the up-and-down direction generated when the vehicle 100 jumps (bound).

When the vehicle 100 travels uphill or downhill, the sound image localization moves in the upward or downward direction by the generated acceleration in the upward or downward direction.

C: modes that can be grasped from the above modes and modifications

The following modes can be grasped by at least 1 of the above modes and modifications.

C1: mode 1

An acoustic image control apparatus according to an aspect (aspect 1) of the present invention includes: an acquisition unit that acquires vehicle information relating to acceleration in the front-rear direction of a vehicle; and an acoustic image control unit that moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in a front-rear direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

According to this aspect, the sound image localization can be moved in the front-rear direction of the vehicle in conjunction with acceleration in the front-rear direction of the vehicle. The occupant can easily recognize the acceleration in the front-rear direction of the vehicle, compared to the case where the movement of the sound image localization is not recognized. Therefore, the rider can obtain a feeling of immersion in traveling.

C2: mode 2

In an example of the 1 st aspect (the 2 nd aspect), the at least 2 speakers include a1 st speaker and a2 nd speaker located rearward of the 1 st speaker, and the acoustic image control unit controls a sound pressure of a sound output from the 1 st speaker and a sound pressure of a sound output from the 2 nd speaker based on the vehicle information, thereby moving the acoustic image localization in a front-rear direction of the vehicle. According to this aspect, for example, the sound image localization can be moved in the front-rear direction of the vehicle without using the transfer function of sound.

C3: mode 3

In an example of the 2 nd aspect (the 3 rd aspect), the sound image control unit changes a magnitude relationship between a sound pressure of the sound output from the 1 st speaker and a sound pressure of the sound output from the 2 nd speaker, thereby moving the sound image localization in a front-rear direction of the vehicle. According to this aspect, the amount of movement of the sound image localization in the front-rear direction of the vehicle can be increased compared to a configuration in which the magnitude relationship between the sound pressure of the sound output from the 1 st speaker and the sound pressure of the sound output from the 2 nd speaker is not changed.

C4: mode 4

In an example (4 th aspect) of any one of the 1 st to 3 rd aspects, the acoustic image control unit sets the vehicle information to indicate the acoustic image localization at the time of acceleration of the vehicle forward, at a position shifted in the forward direction of the vehicle more than the acoustic image localization at the time of no indication of acceleration of the vehicle forward by the vehicle information. According to this aspect, when the vehicle accelerates forward, the sound image localization moves forward. Therefore, when the vehicle accelerates forward, the occupant can feel that the acoustic image moves forward of the vehicle while receiving a force toward the rear of the vehicle. Therefore, the occupant feels that the vehicle is pushed rearward more easily than when the acoustic image does not move, along with acceleration of the vehicle in the forward direction. Thus, the rider can obtain a feeling of immersion with respect to the travel.

C5: mode 5

In any one example (5 th aspect) of the 1 st to 4 th aspects, the sound output from the at least 2 speakers is a sound corresponding to acceleration of the vehicle. According to this aspect, the occupant can feel that the sound image localization of the sound corresponding to the acceleration of the vehicle moves in the front-rear direction when the vehicle is accelerated.

C6: mode 6

In any one example (claim 6) of the 1 st to 5 th aspects, the sound output from the at least 2 speakers is a sound generated based on the vehicle information, and the sound image control unit moves the sound image localization in the front-rear direction of the vehicle based on a pitch or a level of the sound output from the at least 2 speakers. According to this aspect, the rider can obtain an immersive sensation for traveling, and can feel that the sound image localization changes in accordance with a change in pitch or level of the sound output from the speaker.

C7: mode 7

An acoustic image control apparatus according to an aspect of the present invention (7 th aspect) includes: an acquisition unit that acquires vehicle information relating to acceleration of a vehicle in a left-right direction; and a sound image control unit that moves a sound image localization of a sound output from at least 2 speakers included in the vehicle in a left-right direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

According to this aspect, the sound image localization can be moved in the left-right direction of the vehicle in conjunction with acceleration in the left-right direction of the vehicle. The rider can easily recognize the acceleration in the left-right direction of the vehicle, compared to the case where the movement of the sound image localization is not recognized. Therefore, the rider can obtain a feeling of immersion in traveling.

C8: mode 8

In an example of the 7 th aspect (the 8 th aspect), the at least 2 speakers include a1 st speaker and a2 nd speaker located on a left side of the 1 st speaker, and the acoustic image control unit controls a sound pressure of a sound output from the 1 st speaker and a sound pressure of a sound output from the 2 nd speaker based on the vehicle information, thereby moving the acoustic image localization in a left-right direction of the vehicle. According to this aspect, for example, the sound image localization can be moved in the left-right direction of the vehicle without using the transfer function of sound.

C9: mode 9

In the example of claim 7 or 8 (claim 9), the sound output from the at least 2 speakers is a sound corresponding to acceleration of the vehicle. According to this aspect, the occupant can feel that the sound image localization of the sound corresponding to the acceleration of the vehicle moves in the left-right direction when the vehicle is accelerated.

C10: mode 10

In any one example (10 th aspect) of the 7 th to 9 th aspects, the sound output from the at least 2 speakers is a sound generated based on the vehicle information, and the acoustic image control unit moves the acoustic image localization in the left-right direction of the vehicle based on a pitch or a level of the sound output from the at least 2 speakers. According to this aspect, the rider can obtain an immersive sensation for traveling, and can feel that the sound image localization changes in accordance with changes in the pitch or level of the sound output from the speaker.

C11: mode 11

An acoustic image control apparatus according to an aspect of the present invention (aspect 11) includes: an acquisition unit that acquires vehicle information relating to acceleration of a vehicle in a vertical direction; and an acoustic image control unit that moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in an up-down direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

According to this aspect, the sound image localization can be moved in the vertical direction of the vehicle in conjunction with acceleration in the vertical direction of the vehicle. The rider can easily recognize the acceleration of the vehicle in the vertical direction, compared to the case where the movement of the sound image localization is not recognized. Therefore, the rider can obtain a feeling of immersion in traveling.

C12: mode 12

An acoustic image control method according to an aspect (12 th aspect) of the present invention is implemented by a computer, and includes acquiring vehicle information related to acceleration in a front-rear direction of a vehicle, and moving an acoustic image localization of a sound output from the at least 2 speakers in the front-rear direction of the vehicle based on the acquired vehicle information.

According to this aspect, the sound image localization can be moved in the front-rear direction of the vehicle in conjunction with acceleration in the front-rear direction of the vehicle. The rider can easily recognize the acceleration in the front-rear direction of the vehicle, compared to the case where the movement of the sound image localization is not recognized. Therefore, the rider can obtain a feeling of immersion in traveling.

C13: mode 13

An acoustic image control method according to an aspect (aspect 13) of the present invention is implemented by a computer, and acquires vehicle information relating to acceleration in a lateral direction of a vehicle, and moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in the lateral direction of the vehicle based on the acquired vehicle information.

According to this aspect, the sound image localization can be moved in the left-right direction of the vehicle in conjunction with acceleration in the left-right direction of the vehicle. The rider can easily recognize the acceleration of the vehicle in the left-right direction, compared to the case where the movement of the sound image localization is not recognized. Therefore, the rider can obtain a feeling of immersion in traveling. Therefore, the rider can obtain a feeling of immersion in traveling.

C14: 14 th mode

An acoustic image control method according to an aspect (14 th aspect) of the present invention is implemented by a computer, and includes acquiring vehicle information related to acceleration of a vehicle in a vertical direction, and moving an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in the vertical direction of the vehicle based on the acquired vehicle information.

According to this aspect, the sound image localization can be moved in the vertical direction of the vehicle in conjunction with the acceleration in the vertical direction of the vehicle. The rider can easily recognize the acceleration of the vehicle in the vertical direction, compared to the case where the movement of the sound image localization is not recognized. Therefore, the rider can obtain a feeling of immersion in traveling.

Description of the reference symbols

1 \8230, a sound image control device 3 \8230, a wheel control portion 4 \8230, an operation portion 5a \8230, a speaker 5b \8230, a speaker 11 \8230, a storage device 12 \8230, a processing device 13 \8230, an acquisition portion, 14 \8230, a generation part 15 \8230, an acoustic image control part 31 \8230, a motor 32 \8230, an accelerator pedal 33 \8230, a gear lever 34 \8230, a motor control part 35 \8230anda power transmission part.

Claims (18)

1. An acoustic image control apparatus comprising:

an acquisition unit that acquires vehicle information relating to acceleration in the front-rear direction of a vehicle; and

and an acoustic image control unit that moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in a front-rear direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

2. The sound image control apparatus according to claim 1,

the at least 2 speakers include a1 st speaker and a2 nd speaker located rearward compared to the 1 st speaker,

the sound image control unit controls the sound pressure of the sound output from the 1 st speaker and the sound pressure of the sound output from the 2 nd speaker based on the vehicle information, thereby moving the sound image localization in the front-rear direction of the vehicle.

3. The sound image control apparatus according to claim 2,

the sound image control unit changes a magnitude relationship between a sound pressure of the sound output from the 1 st speaker and a sound pressure of the sound output from the 2 nd speaker, thereby moving the sound image localization in a front-rear direction of the vehicle.

4. The acoustic image control apparatus according to any one of claims 1 to 3,

the sound image control unit sets the vehicle information to indicate the sound image localization at the time of forward acceleration of the vehicle at a position that moves in the forward direction of the vehicle more than the sound image localization at the time of forward acceleration of the vehicle not indicated by the vehicle information.

5. The sound image control apparatus according to any one of claims 1 to 4, wherein,

the sound output from the at least 2 speakers is a sound corresponding to acceleration of the vehicle.

6. The sound image control apparatus according to any one of claims 1 to 5,

the sound output from the at least 2 speakers is a sound generated based on the vehicle information,

the sound image control part moves the sound image localization in the front-rear direction of the vehicle based on a pitch or a level of sound output from the at least 2 speakers.

7. An acoustic image control apparatus comprising:

an acquisition unit that acquires vehicle information relating to acceleration of a vehicle in a left-right direction; and

and an acoustic image control unit that moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in a left-right direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

8. The sound image control apparatus according to claim 7, wherein,

the at least 2 speakers include a1 st speaker and a2 nd speaker located to the left of the 1 st speaker,

the sound image control unit controls the sound pressure of the sound output from the 1 st speaker and the sound pressure of the sound output from the 2 nd speaker based on the vehicle information, thereby moving the sound image localization in the left-right direction of the vehicle.

9. The sound image control apparatus according to claim 7 or 8, wherein,

the sound output from the at least 2 speakers is a sound corresponding to acceleration of the vehicle.

10. The sound image control apparatus according to any one of claims 7 to 9, wherein,

the sound output from the at least 2 speakers is a sound generated based on the vehicle information,

the sound image control part moves the sound image localization in the left-right direction of the vehicle based on a pitch or a level of the sound output from the at least 2 speakers.

11. An acoustic image control apparatus comprising:

an acquisition unit that acquires vehicle information relating to acceleration of a vehicle in a vertical direction; and

and an acoustic image control unit that moves an acoustic image localization of a sound output from at least 2 speakers included in the vehicle in an up-down direction of the vehicle, based on the vehicle information acquired by the acquisition unit.

12. The sound image control apparatus according to claim 11,

the at least 2 speakers include a1 st speaker and a2 nd speaker located below compared to the 1 st speaker,

the sound image control unit controls the sound pressure of the sound output from the 1 st speaker and the sound pressure of the sound output from the 2 nd speaker based on the vehicle information, thereby moving the sound image localization in the up-down direction of the vehicle.

13. The acoustic image control apparatus according to claim 11 or 12,

the sound image control unit changes a magnitude relationship between a sound pressure of the sound output from the 1 st speaker and a sound pressure of the sound output from the 2 nd speaker, thereby moving the sound image localization in an up-down direction of the vehicle.

14. The acoustic image control apparatus according to any one of claims 11 to 13,

the sound output from the at least 2 speakers is a sound corresponding to acceleration of the vehicle.

15. The sound image control apparatus according to any one of claims 11 to 14,

the sound output from the at least 2 speakers is a sound generated based on the vehicle information,

the sound image control part moves the sound image localization in the up-down direction of the vehicle based on a pitch or a level of the sound output from the at least 2 speakers.

16. A sound image control method, which is realized by a computer,

in the sound image control method of the present invention,

vehicle information relating to acceleration in the front-rear direction of the vehicle is acquired,

moving the sound image localization of the sound output from the at least 2 speakers in the front-rear direction of the vehicle based on the acquired vehicle information.

17. A sound image control method, which is realized by a computer,

in the sound image control method of the present invention,

vehicle information relating to acceleration in the right-left direction of the vehicle is acquired,

moving a sound image localization of a sound output from at least 2 speakers of the vehicle in a left-right direction of the vehicle based on the acquired vehicle information.

18. A sound image control method, which is realized by a computer,

in the sound image control method of the present invention,

vehicle information relating to acceleration of the vehicle in the vertical direction is acquired,

and moving the sound image localization of the sound output from at least 2 speakers of the vehicle in the up-down direction of the vehicle based on the acquired vehicle information.

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