CN115910056A - Voice-controlled parking system, method, vehicle and storage medium - Google Patents
Voice-controlled parking system, method, vehicle and storage medium Download PDFInfo
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Abstract
The invention discloses a system, a method, a vehicle and a storage medium for voice control parking, which comprise an in-vehicle microphone, an out-vehicle microphone module, a vehicle machine, an out-vehicle voice off-line module, an APA automatic parking module, an intelligent key and a domain controller; the system comprises an in-vehicle microphone, an in-vehicle machine and an APA automatic parking module, wherein the in-vehicle microphone, the in-vehicle machine and the APA automatic parking module form an in-vehicle voice parking control subsystem; the external voice parking control subsystem consists of the external microphone module, the external voice off-line module, the vehicle machine and the APA automatic parking module; the in-vehicle microphone is arranged in the vehicle and connected with the vehicle machine; the microphone module outside the vehicle is arranged outside the vehicle; the domain controller is connected with the vehicle machine; the off-line voice module outside the vehicle is respectively connected with the microphone module outside the vehicle and the vehicle machine; and the APA automatic parking module is respectively connected with the car machine and the parking actuating mechanism. The invention can realize that a user uses voice to control the vehicle to park in or out of the parking space in or out of the vehicle.
Description
Technical Field
The invention belongs to the technical field of voice parking, and particularly relates to a system and a method for controlling parking through voice, a vehicle and a storage medium.
Background
In order to solve the problem that the existing long and narrow parking space is difficult to park, the parking is controlled by a mobile phone, an intelligent key and a voice at present. The problem that the parking is controlled by the mobile phone is that when the mobile phone is used, an app vehicle control interface is required to be entered, a vehicle control password is input, and then the parking process is controlled on the mobile phone. In addition, the parking control by the mobile phone is obviously influenced by the environment, if the sunlight irradiation is stronger, a user is difficult to see the screen of the mobile phone, and a series of operations are more inconvenient to be carried out on the screen; in rainy days, users are inconvenient to use the mobile phone in outdoor parking lots and worry about that the mobile phone is wetted by rainwater. The intelligent key for controlling parking can only realize the straight-in and straight-out of the vehicle, and the whole process needs manual control, and the keys are pressed by hands all the time, such as: when it is necessary to stop and when the button is released. In addition, the traditional voice function is developed on the basis of the conventional car machine hardware, the function of the traditional voice function can be used only after the car machine is started, and the waiting time of a user is long. In addition, when a user is outside the vehicle, the user cannot see the current running state of the vehicle, and cannot intuitively judge whether the vehicle is started or not, and the user cannot determine when the user can control the vehicle by using the voice function specifically outside the vehicle, so that the user speaks a plurality of instructions outside the vehicle, the vehicle does not react, or the user waits for a long time, and the actual experience of the user is poor.
Therefore, there is a need to develop a new system, method, vehicle and storage medium for voice-controlled parking.
Disclosure of Invention
The invention aims to provide a system, a method, a vehicle and a storage medium for controlling parking by voice, which can realize that a user uses voice to control the vehicle to park in or out a parking space in or out of the vehicle.
In a first aspect, the voice-controlled parking system comprises an in-car microphone, an out-car microphone module, a car machine, an out-car voice offline module, an APA automatic parking module, an intelligent key and a domain controller; the system comprises an in-vehicle microphone, an in-vehicle machine and an APA automatic parking module, wherein the in-vehicle microphone, the in-vehicle machine and the APA automatic parking module form an in-vehicle voice parking control subsystem; the external voice parking control subsystem consists of the external microphone module, the external voice off-line module, the vehicle machine and the APA automatic parking module;
the in-vehicle microphone is arranged in the vehicle and used for receiving sound information in the vehicle and inputting the sound information to the vehicle machine, and the in-vehicle microphone is connected with the vehicle machine;
the vehicle exterior microphone module is arranged outside the vehicle and used for receiving sound information outside the vehicle;
the domain controller is used for detecting the intelligent key, judging the position of the intelligent key after detecting the intelligent key, and activating the automobile voice parking control subsystem when the domain controller identifies the intelligent key and the intelligent key is outside the automobile; when the domain controller identifies the intelligent key and the intelligent key is in the car, activating an in-car voice parking control subsystem, wherein the domain controller is connected with the car machine;
the off-line voice module outside the vehicle is used for identifying and converting audio information transmitted by the microphone module outside the vehicle into a control command when the voice parking control subsystem outside the vehicle is activated and the vehicle is in a dormant state, transmitting the control command to the APA automatic parking module through the MCU of the vehicle, directly transmitting the audio information to the vehicle when the voice parking control subsystem outside the vehicle is activated and the vehicle is in a working state, identifying and converting the audio information into the control command by the vehicle and then transmitting the control command to the APA automatic parking module, and the off-line voice module outside the vehicle is respectively connected with the microphone module outside the vehicle and the vehicle;
the car machine is also used for identifying and converting audio information transmitted by a microphone in the car into a control command when the voice parking control subsystem in the car is activated and the car machine is in a working state, and transmitting the control command to the APA automatic parking module through the MCU of the car machine;
the APA automatic parking module is used for controlling a parking executing mechanism to carry out automatic parking operation or parking operation when receiving a control command sent by the MCU of the car machine, and the APA automatic parking module is respectively connected with the car machine and the parking executing mechanism.
Optionally, the system further comprises an outside voice amplification module connected with the outside voice offline module, an outside speaker connected with the outside voice amplification module, an inside voice amplification module connected with the DSP of the vehicle machine, and an inside speaker connected with the inside voice amplification module; the loudspeaker outside the vehicle is arranged outside the vehicle, and the loudspeaker inside the vehicle is arranged inside the vehicle; the voice parking subsystem outside the vehicle broadcasts prompt tones through a loudspeaker outside the vehicle; the voice parking subsystem in the car broadcasts the prompt tone through a loudspeaker in the car, so that a user can know the feedback condition of the system.
Optionally, the off-board voice off-line module comprises an off-line identification submodule and an audio processing submodule, the off-board microphone module is connected with the audio processing submodule, the audio processing submodule is respectively connected with the off-line identification submodule and the DSP, and the off-line identification submodule is connected with the DSP of the car machine. When a user brings an intelligent key to be close to a vehicle within a certain distance range, the vehicle can be controlled to park in or out of a parking space by using the voice outside the vehicle, the vehicle does not need to be started by waiting, the response speed is high, and the user experience is very good.
Optionally, the outer microphone module includes four microphones respectively arranged at the front, the back, the left and the right of the vehicle, each microphone is respectively connected with the outer voice off-line module, each microphone sends collected sound information into the outer voice off-line module respectively, and the outer voice off-line module selects one path of audio frequency with clearest sound from the received audio frequencies to serve as the audio frequency for identification.
Optionally, the car machine is equipped with voiceprint recognition module, voiceprint recognition module is used for discerning the audio information that the microphone module outside the car or the microphone in the car sent into to compare with the voiceprint identity information of storage, the car machine just can turn into control command and send APA automatic parking module for with the audio information when discerning the identity of sound producer for authorized user, this voiceprint recognition module is connected with the car machine, only recognizes that the identity of sound producer is authorized user, just carries out control command, can ensure the security of parking.
In a second aspect, the present invention provides a method for controlling parking with voice, which employs a system for controlling parking with voice as in the present embodiment, and the control method includes the following steps:
parking in a voice mode outside the vehicle:
detecting the intelligent key through a domain controller, and judging the position of the intelligent key after the intelligent key is detected;
when the domain controller detects the intelligent key and the intelligent key is outside the automobile, the voice parking control subsystem outside the automobile is activated; if the vehicle-mounted device is not started, the external voice offline module identifies the audio information transmitted by the external microphone module, converts the audio information into a control instruction and then transmits the control instruction to the MCU of the vehicle-mounted device; if the vehicle-mounted machine is started, the vehicle-mounted voice offline module forwards the audio information sent by the vehicle-mounted microphone module to the vehicle-mounted machine, and the vehicle-mounted machine identifies the audio information, converts the audio information into a control instruction and sends the control instruction to the MCU of the vehicle-mounted machine; the control instruction is sent to an APA automatic parking module by the MCU of the vehicle machine, and the APA automatic parking module controls a parking executing mechanism to execute corresponding parking-in or parking-out operation based on the control instruction;
parking in the car by voice:
detecting the intelligent key through a domain controller, and judging the position of the intelligent key after the intelligent key is detected;
when the domain controller detects the intelligent key and the intelligent key is in the car, activating a voice parking control subsystem in the car; if the on-board unit is not started, the on-board unit does not process audio information input by the in-board microphone; if the car machine is started, the car machine analyzes and identifies audio information input by a microphone in the car, converts the audio information into a control instruction and then sends the control instruction to an MCU of the car machine; and the MCU of the car machine sends the control instruction to the APA automatic parking module, and the APA automatic parking module controls the parking actuating mechanism to automatically carry out corresponding parking-in or parking-out operation based on the control instruction.
Optionally, the system for controlling parking by voice further comprises an outside-vehicle sound amplification module connected with the outside-vehicle voice offline module, an outside-vehicle speaker connected with the outside-vehicle sound amplification module, an inside-vehicle sound amplification module connected with the DSP of the vehicle machine, and an inside-vehicle speaker connected with the inside-vehicle sound amplification module; the loudspeaker outside the vehicle is arranged outside the vehicle, and the loudspeaker inside the vehicle is arranged inside the vehicle;
after the voice parking subsystem outside the vehicle is activated, a prompt tone is broadcasted through a loudspeaker outside the vehicle;
and after the voice parking subsystem in the vehicle is activated, a prompt tone is broadcasted through a loudspeaker in the vehicle.
In this embodiment, the external microphone module includes four microphones respectively disposed at the front, rear, left, and right of the vehicle, and each microphone is respectively connected to the external voice offline module;
when the outside-vehicle voice parking control subsystem is activated, all the microphones of the outside-vehicle microphone module respectively send collected voice information into the outside-vehicle voice off-line module, and the outside-vehicle voice off-line module selects one path of audio frequency with the clearest voice from all the received audio frequencies to serve as the audio frequency for identification.
Optionally, before the offline recognition sub-module performs recognition analysis on the audio, noise reduction processing is performed on the audio, a reference audio is used to reduce the original audio, and the obtained audio is regarded as the audio after the noise reduction processing, wherein the reference audio comes from the sound of the vehicle exterior speaker and the vehicle interior speaker sent by the DSP.
Optionally, a voiceprint recognition module is arranged on the car machine;
the audio information sent by the microphone module outside the car or the microphone inside the car is identified through the voiceprint identification module arranged on the car, and compared with the stored voiceprint identity information, when the car identifies that the identity of a sound sender is an authorized user, the audio information is converted into a control instruction and sent to the APA automatic parking module.
In a third aspect, the invention provides a vehicle, which adopts the voice-controlled parking system.
In a fourth aspect, a storage medium according to the invention has stored therein a computer-readable program which, when called, is able to carry out the steps of the method for voice-controlled parking according to the invention.
The invention has the following advantages:
1. the invention can control the vehicle to park in or out of the parking space through voice outside or inside the vehicle, is very convenient, and solves the practical problem that the vehicle is difficult to park in or out due to narrow parking space; the automatic parking system is convenient for a user to use the automatic parking function, and the user can directly control the automatic parking system through voice without knowing how to use the automatic parking system.
2. The invention designs the off-line voice module for the off-vehicle voice function, and the software of the off-vehicle voice module runs independently and does not depend on a vehicle-mounted machine system, so that the starting time is very quick and is about 1 second. When a user brings an intelligent key to be close to a vehicle within a certain distance range, the vehicle can be controlled to park in or out of a parking space by using the voice outside the vehicle, the vehicle does not need to be started by waiting, the response speed is high, and the user experience is very good.
3. When the car machine is in a dormant state, the voice command of a user is identified by the car exterior voice offline module; when the car machine is in a started running state, the recognition is carried out by the own voice function software of the car machine. The advantage of this approach is that "off-line" is complementary to "on-line". When the car machine is in a dormant state, the off-line voice module outside the car can quickly respond to a voice instruction of a user, but the off-line voice module outside the car does not have network support identification, so that the identification capability is not very high; when the car machine is in a started running state, the voice function software carried by the car machine uses the resources of the cloud end through the network, and the recognition capability is very high.
4. The voice-controlled parking system is integrated with the voiceprint recognition technology, and only a user authorized by the voiceprint recognition can control the vehicle to park through voice, so that the safety level is very high.
Drawings
Fig. 1 is a block diagram of a system for voice-controlled parking (including a parking actuator) in the present embodiment;
FIG. 2 is a flowchart of an embodiment of the present invention for voice-controlled parking;
FIG. 3 is an audio logic diagram of the present embodiment;
in the figure, 1, an in-vehicle microphone, 2, an out-vehicle microphone module, 3, a vehicle machine, 3a, a voiceprint recognition module, 3b, a DSP,3c, an MCU,4, an out-vehicle voice off-line module, 4a, an off-line recognition sub-module, 4b, an audio processing sub-module, 5, an APA automatic parking module, 6, an intelligent key, 7, a domain controller, 8, a parking execution mechanism, 9, an out-vehicle loudspeaker, 10, an out-vehicle sound amplification module, 11, an in-vehicle loudspeaker, 12 and an in-vehicle sound amplification module.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, a system for voice-controlled parking includes an in-vehicle microphone 1, an out-vehicle microphone module 2, a vehicle 3, an out-vehicle voice offline module 4, an APA automatic parking module 5, a smart key 6, and a domain controller 7; the in-vehicle microphone 1, the vehicle machine 3 and the APA automatic parking module 5 form an in-vehicle voice parking control subsystem; the external voice parking control subsystem is composed of the external microphone module 2, the external voice offline module 4, the vehicle machine 3 and the APA automatic parking module 5. The in-vehicle microphone 1 is arranged in a vehicle and used for receiving sound information in the vehicle and inputting the sound information to the vehicle machine 3, and the in-vehicle microphone 1 is connected with the vehicle machine 3. The outer microphone module 2 is arranged outside the vehicle and used for receiving sound information outside the vehicle. The domain controller 7 is used for detecting the intelligent key 6, judging the position of the intelligent key 6 after detecting the intelligent key 6, and activating the voice parking control subsystem outside the automobile when the domain controller 7 identifies the intelligent key 6 and the intelligent key 6 is outside the automobile; when the domain controller 7 recognizes the smart key 6 and the smart key 6 is in the car, the in-car voice parking control subsystem is activated, and the domain controller 7 is connected with the car 3. The off-line voice module 4 outside the vehicle is used for recognizing and converting audio information transmitted by the microphone module 2 outside the vehicle into a control instruction when the voice parking control subsystem outside the vehicle is activated and the vehicle 3 is in a dormant state, and transmitting the control instruction to the APA automatic parking module 5 through the MCU3c of the vehicle 3, and directly transmitting the audio information to the vehicle 3 when the voice parking control subsystem outside the vehicle is activated and the vehicle 3 is in a working state, and the vehicle 3 recognizes and converts the audio information into the control instruction and then transmits the control instruction to the APA automatic parking module 5, wherein the off-line voice module 4 outside the vehicle is respectively connected with the microphone module 2 outside the vehicle and the vehicle 3. The car machine 3 is further configured to, when the in-car voice parking control subsystem is activated and the car machine 3 is in a working state, recognize and convert audio information transmitted by the in-car microphone 1 into a control instruction, and send the control instruction to the APA automatic parking module 5 through the MCU3c of the car machine 3. The APA automatic parking module 5 is configured to control the parking actuator 8 to perform an automatic parking operation or an automatic parking operation when receiving a control instruction sent by the MCU3c of the car machine 3, and the APA automatic parking module 5 is connected to the car machine 3 and the parking actuator 8, respectively.
In this embodiment, the parking actuator 8 includes an engine EMS, a transmission TCU, an electric power steering ESP, and a brake system. This part belongs to the prior art and is not described in detail here.
As shown in fig. 3, in this embodiment, a system for controlling parking by voice further includes an outside-vehicle sound amplification module 10 connected to the outside-vehicle voice offline module 4, an outside-vehicle speaker 9 connected to the outside-vehicle sound amplification module 10, an inside-vehicle sound amplification module 12 connected to the DSP3b of the in-vehicle device 3, and an inside-vehicle speaker 11 connected to the inside-vehicle sound amplification module 12; the loudspeaker 9 outside the vehicle is installed outside the vehicle, and the loudspeaker 11 inside the vehicle is installed inside the vehicle. And after the voice parking subsystem outside the automobile is activated, a prompt tone is broadcasted through a loudspeaker 9 outside the automobile. After the in-vehicle voice parking subsystem is activated, a warning tone is broadcast through an in-vehicle speaker 11.
As shown in fig. 3, in this embodiment, the off-board voice off-line module 4 includes an off-line recognition sub-module 4a and an audio processing sub-module 4b, the off-board microphone module 2 is connected to the audio processing sub-module 4b, the audio processing sub-module 4b is respectively connected to the off-line recognition sub-module 4a and the DSP3b, and the off-line recognition sub-module 4a is connected to the DSP3b of the car 3.
As shown in fig. 3, in this embodiment, the vehicle exterior microphone module 2 includes four microphones respectively disposed at the front, the back, the left, and the right of the vehicle, each of the microphones is respectively connected to the audio processing sub-module 4b of the vehicle exterior voice offline module 4, and each of the microphones respectively sends the collected voice information to the vehicle exterior voice offline module 4.
The off-line voice module 4 outside the car has a fast start time of about 1 second, and the user hardly feels the waiting time when using the off-line voice module. The software of the off-board voice off-line module 4 runs independently and does not depend on a vehicle system. When the voice parking control subsystem outside the car is activated, the voice off-line module 4 outside the car can directly use the MCU and DSP of the car machine 3 after being started. When the car 3 is not started or is in a standby state, audio collected by the car exterior microphone module 2 (comprising a microphone (CSK MIC1 #) arranged in front of the car, a microphone (CSK MIC2 #) arranged in back of the car, a microphone (CSK MIC3 #) arranged in left of the car and a microphone (CSK MIC4 #) arranged in right of the car is sent to the car exterior voice off-line module 4 for analysis, the car exterior voice off-line module 4 selects one audio with clearest voice as audio for identification, in the embodiment, the four microphones arranged outside the car are respectively arranged in front, back, left and right directions of the car, when a user uses the car to control the car by using voice outside the car, the four microphones possibly collect voice audio, but because the positions of the arranged outside microphones are different, the clarity of the collected audio is also different, the clearest audio CAN be better identified by a voice identification system, the MCU which sends an off-line command to the car 3, converts the command into a CAN bus which is in a running state, the car exterior microphone module 2 sends the audio command to the car exterior voice identification system, and the DSP module sends the audio command to the car exterior voice identification system which sends the audio identification to the car 3, and then sends the audio identification system to the car exterior voice identification system to analyze the car 3.
In this embodiment, the off-board voice module 4 performs noise reduction processing when performing recognition analysis on the audio. And during noise reduction, reducing the original audio by using the reference audio, and taking the obtained audio as the audio subjected to noise reduction and then identifying the audio. When a user uses the voice to control the vehicle outside the vehicle, if the speakers inside and outside the vehicle broadcast prompt tones or play music, the sounds emitted by the speakers inside and outside the vehicle may be mixed into the audio collected by the microphone outside the vehicle, which may affect the recognition of the voice command by the system, and after the sounds are eliminated, the voice command may be better recognized. The reference audio comes from the off-board speakers 9 (i.e., OR + OL) and the in-board speaker sounds 11 (i.e., FL + FR + RL + RR) sent from the DSP.
As shown in fig. 1, in this embodiment, the car machine 3 is provided with a voiceprint recognition module 3a, where the voiceprint recognition module 3a is configured to recognize audio information sent by the car exterior microphone module 2 or the car interior microphone 1, and compare the audio information with stored voiceprint identity information, when the car machine 3 recognizes that the identity of the sound sender is an authorized user, the car machine converts the audio information into a control instruction and sends the control instruction to the APA automatic parking module 5, and the voiceprint recognition module 3a is connected to the car machine 3.
As shown in fig. 2, in the present embodiment, a method for controlling parking with voice, which uses the system for controlling parking with voice in the present embodiment, includes the following steps:
(1) Parking in a voice mode outside the vehicle:
detecting the intelligent key 6 through a domain controller 7, and judging the position of the intelligent key 6 after detecting the intelligent key 6;
when the domain controller 7 detects the intelligent key 6 and the intelligent key 6 is outside the car, activating a car-outside voice parking control subsystem; if the car machine 3 is not started, the audio information transmitted by the car exterior microphone module 2 is identified by the car exterior voice off-line module 4, converted into a control instruction and then transmitted to the MCU3c of the car machine 3; if the car-mounted machine 3 is started, the car-mounted voice offline module 4 forwards the audio information sent by the car-mounted microphone module 2 to the car-mounted machine 3, and the car-mounted machine 3 identifies the audio information, converts the audio information into a control instruction and sends the control instruction to the MCU3c of the car-mounted machine 3; the MCU3c of the car machine 3 sends a control instruction to the APA automatic parking module 5, and the APA automatic parking module 5 controls the parking executing mechanism 8 to execute corresponding parking-in or parking-out operation based on the control instruction.
(2) Parking in the car by voice:
detecting the intelligent key 6 through a domain controller 7, and judging the position of the intelligent key 6 after detecting the intelligent key 6;
when the domain controller 7 detects the intelligent key 6 and the intelligent key 6 is in the car, the voice parking control subsystem in the car is activated; if the car 3 is not started, the car 3 does not process the audio information input by the in-car microphone 1; if the car machine 3 is started, the car machine 3 analyzes and identifies the audio information input by the in-car microphone 1, converts the audio information into a control instruction and then sends the control instruction to the MCU3c of the car machine 3; the MCU3c of the car machine 3 sends a control instruction to the APA automatic parking module 5, and the APA automatic parking module 5 controls the parking executing mechanism 8 to automatically carry out corresponding parking-in or parking-out operation based on the control instruction.
In this embodiment, the system for controlling parking by voice is divided into an outside-vehicle voice parking subsystem and an inside-vehicle voice parking subsystem according to the actual use scene of the user. The application scenes of the two are different, and the feedback prompting modes for the user are different.
The out-of-vehicle voice parking subsystem is suitable for the following scenes:
the vehicle is already on the parking space, but the parking space is narrower, the main driving door is blocked by other vehicles, and a user cannot open the vehicle door or is inconvenient to get on the vehicle, and can take the intelligent key 6 outside the vehicle, so that the vehicle can be controlled to be automatically driven out through the external voice parking subsystem outside the vehicle. In another case, the vehicle is not parked in the parking space, but the parking space is narrow, if the user parks the vehicle in the parking space, the user cannot open the door or is inconvenient to get off the vehicle, the user can carry the intelligent key 6 outside the vehicle, the vehicle is controlled to automatically enter the parking space through the outside-vehicle voice parking subsystem, and people do not need to worry about leaving the space.
The in-vehicle voice parking subsystem is suitable for the following scenes:
the user does not know how to use the automatic parking function, and can directly control the vehicle to park in or out of the parking space through voice in the vehicle.
When the user uses the outside-vehicle voice parking subsystem outside the vehicle, the outside-vehicle voice parking subsystem can broadcast the prompt tone through the outside-vehicle loudspeaker 9 installed outside the vehicle, and the user can listen to the outside of the vehicle clearly. When a user uses the in-vehicle voice parking subsystem in the vehicle, the in-vehicle voice parking subsystem can broadcast a prompt tone through an in-vehicle loudspeaker 11 arranged in the vehicle, and the user can listen to the in-vehicle voice parking subsystem clearly.
Compared with the existing mobile phone controlled parking, the voice controlled parking has the following obvious advantages:
the voice control parking is simple and convenient, and the parking instruction can be realized only by taking the intelligent key and speaking. And the mobile phone controls parking, an app vehicle control interface is required to be entered, a vehicle control password is input, and then the parking process is controlled on the mobile phone. In addition, the parking control by the mobile phone is obviously influenced by the environment, if the sunlight irradiation is stronger, a user is difficult to see the screen of the mobile phone, and a series of operations are more inconvenient to be carried out on the screen; in rainy days, users are inconvenient to use the mobile phone in an outdoor parking lot and worry about the mobile phone being wetted by rainwater. Compared with the prior art, the voice-controlled parking has no trouble.
The invention only needs to send a parking instruction to the APA automatic parking module through voice, and the APA automatic parking module is combined with a radar and a camera of an automatic parking system to complete the calculation and control of parking. The parking space or the parking position after the parking is opened is automatically selected according to the sensor and the parking controller, so that the system is convenient and intelligent. Compared with the existing method for controlling parking through an intelligent key, the method has the advantage of simple operation.
The out-of-vehicle voice parking subsystem is described in detail as follows:
the voice control parking system detects the intelligent key 6 through the domain controller 7, and judges whether the intelligent key is in the car or out of the car after the intelligent key 6 is detected. The off-board voice parking subsystem can only begin initiating the workflow when the domain controller 7 detects the fob 6 and the fob 6 is off-board. That is, the off-board voice module 4 processes the audio sent by the off-board microphone module 2.
When the domain controller 7 does not detect the smart key 6 or the smart key 6 is in the car, the voice parking function outside the car does not respond, that is, the voice offline module 4 outside the car does not process the audio sent by the microphone module 2 outside the car. Even if a person speaks an instruction to control parking outside the vehicle, the vehicle does not react at all.
When the voice-controlled vehicle parks, if only the smart key 6 is detected, there is a certain risk that, for example, a user carries the smart key 6 inside or outside the vehicle, but there are other people around the vehicle, and if the other people say a parking-related instruction, the vehicle performs a parking-related action. Therefore, a voiceprint recognition system is added to determine whether the command is issued by an authorized user.
When the intelligent key 6 is detected outside the vehicle, the audio frequency collected by the microphone module 2 outside the vehicle can be simultaneously sent to the off-line voice module 4 outside the vehicle and the voiceprint recognition system 3a.
If the car 3 has not finished the start-up, the off-line module 4 of pronunciation outside the car carries out analysis processes to the audio frequency that the microphone module 2 sent outside the car. When the voiceprint recognition system 3a passes the authentication, the command is considered to be issued by the authorized user, and the off-board voice off-line module 4 converts the audio into a control command and starts the control command to the MCU3c of the vehicle 3.
If the car machine 3 has finished the start-up, the off-line voice module 4 outside the car forwards the audio sent by the microphone module 2 outside the car to the car machine 3, and the car machine 3 system analyzes and processes the audio. When the voiceprint recognition system 3a passes the authentication, the command is considered to be issued by the authorized user, and the car 3 system converts the audio into a control command and sends the control command to the MCU of the car 3.
After receiving the instruction of the voice parking subsystem outside the vehicle, the MCU of the vehicle 3 sends the relevant instruction to the APA automatic parking module 5. And then the APA automatic parking module 5 combines the data collected by the radar and the camera to calculate the scheme and controls the parking execution mechanism to operate according to the scheme.
The following describes the in-vehicle voice parking subsystem in detail:
the working process of the voice parking function in the automobile comprises the steps of firstly detecting the intelligent key 6 through the domain controller 7, and judging whether the intelligent key 6 is in the automobile or out of the automobile after detecting the intelligent key 6. The in-car voice parking function can start the start-up workflow only when the domain controller 7 detects the smart key 6 and is in the car.
When the smart key 6 is detected in the vehicle, if the vehicle-mounted machine 3 has not finished starting up, the vehicle does not respond. If the car machine 3 has finished the start-up, the car machine 3 analyzes and processes the audio. When the voiceprint recognition system 3a passes the authentication, the command is considered to be issued by the authorized user, the car 3 converts the audio into a control command, and the MCU of the car 3 sends the relevant command to the APA automatic parking module 5. And then the APA automatic parking module 5 combines the data collected by the radar and the camera to calculate the scheme and controls the parking executing mechanism 8 to operate according to the scheme.
For example, after the user brings the smart key 6 to approach the vehicle for a certain distance, the command is recognized by the off-board voice off-line module 4 according to a pre-designed statement, such as "i need to drive the vehicle out". However, as time goes on, after about 30 seconds, when the car machine 3 is in the on-state, the user can control the car by using a more flexible method, such as "drive the car out", "help me move the car out of the parking space", and the like.
In this embodiment, a vehicle employs the system for controlling parking with voice as described in this embodiment.
In this embodiment, a storage medium has a computer-readable program stored therein, which when invoked, can perform the steps of the method for voice-controlled parking as described in this embodiment.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (12)
1. A system for voice-controlled parking, comprising: the system comprises an in-car microphone (1), an out-car microphone module (2), a car machine (3), an out-car voice off-line module (4), an APA automatic parking module (5), an intelligent key (6) and a domain controller (7); the system comprises an in-vehicle voice parking control subsystem, an in-vehicle microphone (1), a vehicle machine (3) and an APA automatic parking module (5); the external voice parking control subsystem consists of the external microphone module (2), the external voice offline module (4), the vehicle machine (3) and the APA automatic parking module (5);
the in-vehicle microphone (1) is arranged in a vehicle and used for receiving sound information in the vehicle and inputting the sound information to the vehicle machine (3), and the in-vehicle microphone (1) is connected with the vehicle machine (3);
the external microphone module (2) is arranged outside the vehicle and used for receiving sound information outside the vehicle;
the domain controller (7) is used for detecting the intelligent key (6), judging the position of the intelligent key (6) after detecting the intelligent key (6), and activating the automobile-outside voice parking control subsystem when the domain controller (7) identifies the intelligent key (6) and the intelligent key (6) is outside the automobile; when the domain controller (7) identifies the intelligent key (6) and the intelligent key (6) is in the car, activating an in-car voice parking control subsystem, wherein the domain controller (7) is connected with the car machine (3);
the off-line voice module (4) outside the vehicle is used for identifying and converting audio information transmitted by the microphone module (2) outside the vehicle into a control instruction when the voice parking control subsystem outside the vehicle is activated and the vehicle machine (3) is in a dormant state, transmitting the control instruction to the APA automatic parking module (5) through the MCU (3 c) of the vehicle machine (3), directly transmitting the audio information to the vehicle machine (3) when the voice parking control subsystem outside the vehicle is activated and the vehicle machine (3) is in a working state, identifying and converting the audio information into the control instruction by the vehicle machine (3), and transmitting the control instruction to the APA automatic parking module (5), wherein the off-line voice module (4) outside the vehicle is respectively connected with the microphone module (2) outside the vehicle and the vehicle machine (3);
the car machine (3) is also used for identifying and converting audio information transmitted by the in-car microphone (1) into a control command when the in-car voice parking control subsystem is activated and the car machine (3) is in a working state, and transmitting the control command to the APA automatic parking module (5) through the MCU (3 c) of the car machine (3);
the APA automatic parking module (5) is used for controlling a parking execution mechanism (8) to carry out automatic parking operation or parking operation when receiving a control instruction sent by an MCU (3 c) of the car machine (3), and the APA automatic parking module (5) is respectively connected with the car machine (3) and the parking execution mechanism (8).
2. The voice-controlled parking system of claim 1 wherein: the voice off-line monitoring system further comprises an outside-vehicle voice amplification module (10) connected with the outside-vehicle voice off-line module (4), an outside-vehicle loudspeaker (9) connected with the outside-vehicle voice amplification module (10), an inside-vehicle voice amplification module (12) connected with the DSP (3 b) of the vehicle machine (3), and an inside-vehicle loudspeaker (11) connected with the inside-vehicle voice amplification module (12); the loudspeaker (9) outside the vehicle is arranged outside the vehicle, and the loudspeaker (11) inside the vehicle is arranged inside the vehicle; the voice parking subsystem outside the vehicle broadcasts prompt tones through a loudspeaker (9) outside the vehicle; the voice parking subsystem in the automobile broadcasts prompt tones through an in-automobile loudspeaker (11) installed in the automobile.
3. The voice-controlled parking system according to claim 1 or 2, wherein: the off-line voice module (4) outside the vehicle comprises an off-line recognition submodule (4 a) and an audio processing submodule (4 b), the microphone module (2) outside the vehicle is connected with the audio processing submodule (4 b), the audio processing submodule (4 b) is respectively connected with the off-line recognition submodule (4 a) and the DSP (3 b), and the off-line recognition submodule (4 a) is connected with the DSP (3 b).
4. The system for voice-controlled parking of claim 3 wherein: the outer microphone module (2) of car is including setting up four microphones all around the vehicle respectively, and each microphone is connected with outer pronunciation off-line module (4) respectively, and each microphone will gather sound information and send into outer pronunciation off-line module (4) respectively, outer pronunciation off-line module (4) of car chooses out the audio frequency of the most clear way of sound from each way audio frequency of receiving and comes as the audio frequency of discernment usefulness.
5. The system for voice-controlled parking of claim 1 or 2 or 4 wherein: the car machine (3) is equipped with voiceprint recognition module (3 a), voiceprint recognition module (3 a) are used for discerning the audio information that microphone module (2) or car interior microphone (1) sent into outside the car to compare with the voiceprint identity information of storage, car machine (3) just can turn into control command and send APA automatic parking module (5) with audio information when discerning the identity that sound sender is authorized user, and this voiceprint recognition module (3 a) are connected with car machine (3).
6. A method for voice-controlled parking, comprising: the system for controlling parking by voice according to claim 1, wherein the control method comprises the following steps:
parking in a voice mode outside the vehicle:
detecting the intelligent key (6) through a domain controller (7), and judging the position of the intelligent key (6) after the intelligent key (6) is detected;
when the domain controller (7) detects the intelligent key (6) and the intelligent key (6) is outside the car, the voice parking control subsystem outside the car is activated; if the car machine (3) is not started, the audio information transmitted by the car exterior microphone module (2) is identified by the car exterior voice off-line module (4), converted into a control instruction and then transmitted to the MCU (3 c) of the car machine (3); if the car machine (3) is started, the car external voice offline module (4) forwards the audio information sent by the car external microphone module (2) to the car machine (3), and the car machine (3) identifies the audio information, converts the audio information into a control instruction and sends the control instruction to the MCU (3 c) of the car machine (3); the MCU (3 c) of the car machine (3) sends a control instruction to the APA automatic parking module (5), and the APA automatic parking module (5) controls a parking executing mechanism (8) to execute corresponding parking-in or parking-out operation based on the control instruction;
parking in the car by voice:
detecting the intelligent key (6) through a domain controller (7), and judging the position of the intelligent key (6) after the intelligent key (6) is detected;
when the domain controller (7) detects the intelligent key (6) and the intelligent key (6) is in the car, activating the voice parking control subsystem in the car; if the car machine (3) is not started, the car machine (3) does not process audio information input by the in-car microphone (1); if the car machine (3) is started, the car machine (3) analyzes and identifies the audio information input by the microphone (1) in the car, converts the audio information into a control instruction and sends the control instruction to an MCU (3 c) of the car machine (3); the MCU (3 c) of the car machine (3) sends a control instruction to the APA automatic parking module (5), and the APA automatic parking module (5) controls the parking executing mechanism (8) to automatically carry out corresponding parking-in or parking-out operation based on the control instruction.
7. The method for voice-controlled parking of claim 6 wherein: the system for parking under voice control further comprises an outside-vehicle sounding amplification module (10) connected with the outside-vehicle voice off-line module (4), an outside-vehicle loudspeaker (9) connected with the outside-vehicle sounding amplification module (10), an inside-vehicle sounding amplification module (12) connected with a DSP (3 b) of the vehicle machine (3), and an inside-vehicle loudspeaker (11) connected with the inside-vehicle sounding amplification module (12); the loudspeaker (9) outside the vehicle is arranged outside the vehicle, and the loudspeaker (11) inside the vehicle is arranged inside the vehicle;
after the voice parking subsystem outside the vehicle is activated, a prompt tone is broadcasted through a loudspeaker (9) outside the vehicle;
and after the in-vehicle voice parking subsystem is activated, a prompt tone is broadcasted through an in-vehicle loudspeaker (11).
8. The method for voice-controlled parking of claim 7 wherein: the external microphone module (2) comprises four microphones which are respectively arranged at the front, the back, the left and the right of the vehicle, and each microphone is respectively connected with the external voice off-line module (4);
when the voice parking control subsystem outside the vehicle is activated, all the microphones of the microphone module (2) outside the vehicle respectively send collected voice information into the voice off-line module (4) outside the vehicle, and the voice off-line module (4) outside the vehicle selects one path of audio frequency with the clearest voice from all the received audio frequencies to serve as the audio frequency for identification.
9. The method for voice-controlled parking of claim 8 wherein: before the offline identification submodule (4 a) identifies and analyzes the audio, the audio is subjected to noise reduction processing, the original audio is reduced by utilizing reference audio, and the obtained audio is regarded as the audio subjected to the noise reduction processing, wherein the reference audio comes from the sound of an external loudspeaker (9) and an internal loudspeaker (11) sent by a DSP (3 b).
10. Method for voice-controlled parking according to one of the claims 6 to 9, characterized in that: a voiceprint recognition module (3 a) is arranged on the car machine (3);
the audio information sent by the microphone module (2) outside the car or the microphone (1) inside the car is identified through the voiceprint identification module (3 a) arranged on the car machine (3) and compared with the stored voiceprint identity information, and when the car machine (3) identifies that the identity of a sound sender is an authorized user, the audio information is converted into a control instruction and sent to the APA automatic parking module (5).
11. A vehicle, characterized in that: a system for voice-controlled parking of a vehicle according to any one of claims 1 to 5.
12. A storage medium, characterized by: in which a computer-readable program is stored which, when called, is able to carry out the steps of the method for voice-controlled parking according to one of claims 6 to 10.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211191783.7A CN115910056A (en) | 2022-09-28 | 2022-09-28 | Voice-controlled parking system, method, vehicle and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211191783.7A CN115910056A (en) | 2022-09-28 | 2022-09-28 | Voice-controlled parking system, method, vehicle and storage medium |
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| CN202211191783.7A Pending CN115910056A (en) | 2022-09-28 | 2022-09-28 | Voice-controlled parking system, method, vehicle and storage medium |
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