CN116311836A - Vehicle warning reminding method, warning device and vehicle - Google Patents

Abstract

The embodiment of the application discloses a vehicle warning reminding method, a warning device and a vehicle, relates to the technical field of vehicles, and can solve the problems of inaccurate positioning range, insufficient avoidance preparation time and small application range. The vehicle warning reminding method comprises the steps of receiving sound information outside a vehicle, identifying whether the sound information comprises target sound information, and controlling at least one of at least two identification modules to acquire sound object information corresponding to the target sound information according to sound source localization of the target sound information if the sound information comprises the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module which are respectively used for acquiring sounding object information in a first preset distance range and a second preset distance range; the vehicle is taken as a center and is far from or near to the center, and the first preset distance range is larger than the second preset distance range; and generating and outputting warning reminding information according to the sounding object information. The vehicle warning reminding method is used for avoiding the target object.

Description

Vehicle warning reminding method, warning device and vehicle

Technical Field

The embodiment of the application relates to the technical field of vehicles, in particular to a vehicle warning reminding method, a warning device and a vehicle.

Background

At present, a vehicle is generally made of sound insulation materials, an air conditioner is usually opened in summer and winter to close windows of the vehicle, sound outside the vehicle is isolated, entertainment equipment is usually arranged in the vehicle, a user is immersed in entertainment, and the user can ignore the sound outside the vehicle more easily. Therefore, when the automobile runs and encounters the alarm of whistling of special vehicles such as a rear ambulance, a fire truck, a police car and the like, the condition that the automobile driver cannot hear possibly occurs, so that the automobile cannot be extracted to make avoidance preparation or avoidance in advance, and the driving safety is seriously affected.

In the reminding device in the prior art, for example, the approximate position of the target object outside the vehicle is obtained by only using a single sound source positioning module or a single image acquisition module, so that the problem of inaccurate positioning range is generally existed; the single image acquisition module has limited view range of the acquired image, so that when the position of the target object is acquired, the single image acquisition module is very close to the own vehicle, and the problems of insufficient avoidance preparation time and small application range are caused.

Disclosure of Invention

In order to solve the problems, the embodiment of the application provides a vehicle warning reminding method, a warning device and a vehicle, which can improve the accuracy of a positioning range, increase the avoidance preparation time and solve the problem of wide application range.

In a first aspect, an embodiment of the present application provides a vehicle alert reminding method, where the vehicle alert reminding method includes receiving external sound information; identifying whether the external sound information comprises target sound information or not, and if the external sound information comprises the target sound information, controlling at least one of the at least two identification modules to acquire sound production object information corresponding to the target sound information according to the sound source positioning of the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information in a first preset distance range, and the second recognition module is used for acquiring sound production object information in a second preset distance range; the vehicle is taken as a center and is far from or near to the center, and the first preset distance range is larger than the second preset distance range; and generating and outputting warning reminding information according to the sounding object information.

Specifically, firstly, receiving the sound information outside the vehicle; whether the out-of-vehicle sound information includes target sound information is recognized, wherein the target sound information may be sound information of a specific vehicle outside the own vehicle, or sound of a person, an animal, or the like outside the own vehicle, such as sound of a child outside the own vehicle, a dog-bone sound, or the like, without limitation. If the sound information outside the vehicle comprises the target sound information, the position of the target sound information can be positioned according to the sound source of the target sound information, and sound production object information corresponding to the target sound information can be obtained by controlling at least one of the at least two recognition modules. Here, the at least two recognition modules include a first recognition module and a second recognition module, the first recognition module is configured to acquire sound object information within a first preset distance range, the second recognition module is configured to acquire sound object information within a second preset distance range, and the at least two recognition modules are further away from or closer to the vehicle as a center, and the first preset distance range is greater than the second preset distance range.

Here, it is to be noted that the sound emission object information may include at least one of region position information of the sound emission object, specific position information of the sound emission object, and image information of the sound emission object. For example, if the positioning of the target sound source is out of the first preset distance range, that is, the sound object is far away from the own vehicle, determining the sound object information as the region information of the sound object; for example, if the sound source location of the target sound information is within the range from the second preset distance range to the first preset distance range, the first recognition module may be controlled to obtain specific position information of the sound generating object. The region information of the sound object may be acquired through a sound source positioning module, and the recognition module may be a laser radar module, an infrared image processing module, a 3D recognition module, etc., which is not limited in specific form. For example, the first recognition module may be a lidar module for acquiring specific location information of the target sound information; the second recognition module may be an image processing module for acquiring image information of the target sound information. Since the second recognition module is configured to acquire the sound object information within the second preset distance range, that is, the sound object information within the range closer to the vehicle, that is, the sound object information needs to be acquired within the second preset distance range, the second recognition module may preferably employ an image processing module to acquire the image information of the sound object within the second preset distance range, and correspondingly, the first recognition module may employ a laser radar module to acquire the specific position information of the sound object within the first preset distance range. According to the method, the positioning logic from far to near is adopted, the first recognition module or the second recognition module can be selectively selected according to the position of the region where the sounding object is located at a certain moment to acquire the position information of the sounding object, different analysis information can be displayed, such as any one of specific position information, region information and image information of the sounding object can be selectively displayed, so that the problem of inaccurate positioning caused by a single recognition module is avoided, the position information of the sounding object can be known in a far range, such as a first preset distance range, namely, the existence of the sounding object is reminded in early time, and then the sounding object information in a near range is acquired by utilizing the second recognition module, so that sufficient avoidance preparation time is provided for a user.

In addition, it should be noted that the first preset distance range being greater than the second preset distance range specifically means that the distance from the vehicle to the vehicle is greater than the maximum distance from the vehicle to the vehicle in the second preset distance range; the first preset distance range is a range between the position of the first preset distance range, which is the maximum distance from the own vehicle, and the position of the own vehicle, and the second preset distance range is a range between the position of the second preset distance range, which is the maximum distance from the own vehicle, and the position of the own vehicle.

In one possible implementation of the present application, the target sound information includes preset voiceprint information; identifying whether the vehicle exterior sound information comprises target sound information, if the vehicle exterior sound information comprises the target sound information, controlling at least one of the at least two identification modules to acquire sound production object information corresponding to the target sound information according to the sound source positioning of the target sound information, wherein the method comprises the following steps: and identifying whether the voiceprint information of the sound information outside the vehicle comprises preset voiceprint information, and if the voiceprint information of the sound information outside the vehicle comprises the preset voiceprint information, controlling at least one of the at least two identification modules to acquire sounding object information corresponding to the preset voiceprint information according to the sound source positioning of the preset voiceprint information. Here, the preset voiceprint information may be a whistle voiceprint information outside the own vehicle, a voiceprint information of a child, or the like.

In one possible implementation of the present application, the sound object information includes at least one of region position information of the sound object and specific position information of the sound object. The occurrence object information may further include a sound type, a sound intensity, and the like of the sound object, for example, the sound type may include a whistle of an alarm vehicle, a fire truck, an ambulance, and the like, so that a user is reminded when the occurrence object information is identified, and thus, when a special vehicle such as the alarm vehicle, the fire truck, the ambulance, and the like, which is driven by the emergency, passes through the red-yellow traffic signal, the occurrence of a dangerous condition under the condition that the vehicle of the type is not visible by the user, particularly at an intersection.

In one possible implementation manner of the present application, according to a sound source positioning of the target sound information, the step of controlling at least one of the at least two recognition modules to obtain sound object information corresponding to the target sound information includes: if the sound source positioning of the target sound information is within a first preset distance range, controlling a first identification module to acquire specific position information of the sound object; and if the sound source positioning of the target sound information is out of the first preset distance range, determining the sound generating object information as the regional position information of the sound generating object.

In one possible implementation manner of the present application, the receiving range of the external sound information is a third preset distance range, wherein the third preset distance range is greater than the first preset distance range from far to near with the self-vehicle as the center; the step of determining the sound object information as the region position information of the sound object includes: and taking the region range from the first preset distance range to the third preset distance range as the region position information of the sounding object to obtain sounding object information. Here, the area ranging from the first preset distance range to the third preset distance range is the area ranging far from the own vehicle, and the sound source positioning module can be used for obtaining the approximate area position information of the sound source positioning module so as to realize that the sounding object appears, and then the specific position information of the sounding object is obtained in the area close to the own vehicle, namely, the specific position information of the sounding object is obtained by using the first identification module in the first preset distance range.

In one possible implementation of the present application, the sound object information includes at least one of region position information of the sound object, specific position information of the sound object, and image information of the sound object. In this way, selective presentation of sound object information to a user may be facilitated.

In one possible implementation manner of the present application, according to a sound source positioning of the target sound information, the step of controlling at least one of the at least two recognition modules to obtain sound object information corresponding to the target sound information includes: if the sound source positioning of the target sound information is within a second preset distance range, controlling a second identification module to acquire the image information of the sound object; if the sound source positioning of the target sound information is in the area range from the second preset distance range to the first preset distance range, controlling the first identification module to acquire specific position information of the sounding object; and if the sound source positioning of the target sound information is out of the first preset distance range, determining that the sound object information is the regional position information of the sound object. In this way, logic for obtaining the information of the generated object from far to near can be formed, namely, at least one of specific position information, region information and image information of the generated object can be selectively presented according to the region position of the generated object at a certain moment, so that the problem of inaccurate positioning caused by a single recognition module is avoided, the specific position information of the generated object can be known in a far range, such as a first preset distance range, namely, the existence of the generated object is reminded of a user in early time, and then the generated object information in a nearer range is obtained by utilizing a second recognition module, so that sufficient avoidance preparation time is provided for the user.

In one possible implementation manner of the present application, the at least two recognition modules further include a third recognition module, where the third recognition module is configured to obtain sound object information in a fourth preset distance range; the vehicle is taken as a center and is far from or near to the center, and the fourth preset distance range is smaller than the second preset distance range; according to the sound source positioning of the target sound information, controlling at least one of the at least two recognition modules to acquire sound object information corresponding to the target sound information, including: if the sound source positioning of the target sound information is within a fourth preset distance range, controlling a third identification module to acquire sound object information; and if the sound source positioning of the target sound information is out of the fourth preset distance range, controlling the first recognition module or the second recognition module to acquire the sound object information. In this way, on the basis that the first recognition module and the second recognition module are respectively used for recognizing the sounding object information in the first preset distance range and the second preset distance range, the third recognition module is additionally arranged to recognize the sounding object information in the range closer to the vehicle, so that the sounding object information obtaining mode is further increased, and the positioning accuracy of the target object is further improved.

In a second aspect, the present application provides a reminder device that includes a receiving module, an identification module, a control module, a reminder module, and at least two identification modules. The receiving module is used for receiving the sound information outside the vehicle; the recognition module is used for recognizing whether the vehicle exterior sound information comprises target sound information, for example, the recognition module can be a sound recognition module with a sound wave processing unit, and can recognize whether the vehicle exterior sound information comprises the target sound information; the control module is used for controlling at least one of the at least two recognition modules to acquire sounding object information corresponding to the target sound information according to the sound source localization of the target sound information if the sound information outside the vehicle comprises the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information in a first preset distance range, and the second recognition module is used for acquiring sound production object information in a second preset distance range; the vehicle is taken as a center and is far from or near to the center, and the first preset distance range is larger than the second preset distance range; and the reminding module is used for generating and outputting warning reminding information according to the occurrence object information. Therefore, the target object information in different distance ranges can be obtained from far to near, so that the accuracy of positioning the target object is improved, sufficient avoidance preparation time is provided, and the adaptability is improved.

In a third aspect, there is provided a vehicle comprising a sound collection module, a sound source localization module, at least two recognition modules, a processor and a memory, wherein the sound collection module is configured to collect sound information outside the vehicle, such as where the sound collection module may be a microphone, and a plurality of microphones may be disposed outside the vehicle to collect the sound information outside the vehicle; the sound source positioning module is used for positioning the sound source of the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information in a first preset distance range, and the second recognition module is used for acquiring sound production object information in a second preset distance range; the vehicle is taken as a center and is far from or near to the center, and the first preset distance range is larger than the second preset distance range; the processor is configured to execute the vehicle warning reminding method in the first aspect, and the memory is configured to store executable instructions that can be executed on the processor, where the processor can implement the vehicle warning reminding method in the first aspect when the processor executes the executable instructions. The processor of the vehicle can run and realize the vehicle warning reminding method in the first aspect, so that the vehicle warning reminding method has the same effect, the accuracy of obtaining information of the target object can be improved, and sufficient avoidance preparation time can be provided for a user.

Drawings

Fig. 1 is a schematic implementation flow diagram of a vehicle warning reminding method according to an embodiment of the present application;

fig. 2 is a second implementation flow chart of a vehicle warning reminding method according to an embodiment of the present application;

fig. 3 is a schematic implementation flow chart III of a vehicle warning reminding method according to an embodiment of the present application;

fig. 4 is a schematic implementation flow diagram of a vehicle warning reminding method according to an embodiment of the present application;

fig. 5 is a schematic diagram of an implementation flow of a vehicle warning reminding method according to an embodiment of the present application;

fig. 6 is a schematic implementation flow chart of a vehicle warning reminding method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of an alternative implementation scenario provided in an embodiment of the present application;

FIG. 8 is a schematic diagram of an alternative implementation scenario provided in an embodiment of the present application;

FIG. 9 is a schematic diagram of an alternative sound processing module according to an embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of an alternative reminding device according to an embodiment of the present application;

FIG. 11 is a schematic diagram of the operation logic of the component structure of a reminding device according to the embodiment of the present application;

fig. 12 is a system schematic diagram of a vehicle warning reminding method according to an embodiment of the present application.

Reference numerals:

1-a sound processing module; 10-a sound collection module; 11-a receiving module; 12-a voice recognition module; 13-a sound source localization module; 2-a lidar module; 3-an image processing module; a 4-3D identification module; 5-an information processing module; 6, a reminding module; 7-a power module; 8-a control module; d1-a first preset distance; d2-a second preset distance; d3-a third preset distance; and D4-a fourth preset distance.

Detailed Description

For the purposes, technical solutions and advantages of the embodiments of the present application to be more apparent, the specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are illustrative of the present application, but are not intended to limit the scope of the present application.

In the present embodiments, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

Furthermore, in the embodiments of the present application, the terms "upper," "lower," "left," and "right," etc., are defined with respect to the orientation in which the components in the drawings are schematically disposed, and it should be understood that these directional terms are relative terms, which are used for descriptive and clarity with respect to each other, and which may vary accordingly with respect to the orientation in which the components in the drawings are disposed.

In the embodiments herein, unless explicitly specified and limited otherwise, the term "connected" is to be construed broadly, and for example, "connected" may be either a fixed connection, a removable connection, or an integral body; can be directly connected or indirectly connected through an intermediate medium.

In the present embodiments, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

Special vehicles, such as fire-fighting vehicles, emergency vehicles, infant school buses, police cars, etc., when passing through urban roads, alert surrounding users of the vehicles to give way by sending out specific alarm sounds and lights, or sometimes, people and animals approaching the outside of the vehicles need to be given way to avoid collision with the vehicles. The urban road has high vehicle density, dense surrounding buildings and complex acoustic environment, and the vehicle has more and more perfect tightness and sound insulation performance for coping with noise, so that the alarm sound generated by the special vehicle when executing tasks or the sound generated by personnel and animals is difficult to be heard by a driver, or the sound is heard, but the surrounding vehicles interfere with the sight, so that the driver cannot know the direction of the sound to drive from the lane, or even if the special vehicle or the personnel and the animals are observed, the vehicle is very close to the vehicle, and the driver does not have enough time to avoid the vehicle.

Therefore, the embodiment of the application provides a vehicle with a reminding device, which can be used for positioning the accurate position of a target object so as to provide sufficient avoidance time for a driver. The vehicle in the embodiment of the application includes a sound collecting module 10, a sound source positioning module 13, at least two recognition modules, a processor and a memory, where the sound collecting module 10 is used for collecting external sound information, for example, here, the sound collecting module 10 may be a microphone, and a plurality of microphones may be disposed outside the vehicle to collect external sound information; the sound source positioning module 13 is used for sound source positioning of the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information within a first preset distance D1 range, and the second recognition module is used for acquiring sound production object information within a second preset distance D2 range; the vehicle warning reminding method comprises the steps of taking a vehicle as a center, namely a far distance and a near distance, wherein the range of a first preset distance D1 is larger than the range of a second preset distance D2, and the memory is used for storing executable instructions capable of running on the processor. The vehicle warning reminding method can improve the accuracy of information acquisition of the target object, and can provide sufficient avoidance preparation time for a user so as to increase the safety in the driving process.

It should be noted that, the target object in the embodiment of the present application is not limited, and may be a special vehicle, such as a fire-fighting vehicle, an emergency vehicle, a child school bus, a police car, etc.; or people and animals such as children, cats and dogs around the own vehicle, etc. For convenience of explanation, the specific vehicle is used as the target object in the embodiments of the present application.

The reminding device in the prior art only uses a single sound source positioning module to obtain the approximate position of the special vehicle, has insufficient positioning range and poor accuracy, and has poor adaptability especially in the unmanned application scene of the intelligent vehicle, such as when the special vehicle is close to the unmanned vehicle, the position information of the special vehicle relative to the special vehicle cannot be accurately known, so that the special vehicle cannot avoid in time. In addition, some reminding devices only shoot video frames of a set area around a vehicle in real time by using a video module, and determine the position of a target object by judging whether the target object exists in the video frames shot at corresponding moments in real time, but the video shooting field is limited, and the remote target object information cannot be obtained, so that when the target object appears, the target object is very close to the vehicle, the preparation time for avoiding the personnel in the vehicle is very short, and the timely avoidance of the target object is difficult.

To this end, the embodiment of the application provides a reminding device, referring to fig. 9 and 10, which includes a receiving module 11, an identification module, a control module 8, a reminding module 6 and at least two identification modules. Among them, the sound collection module 10 for sound collection and the sound source localization module 13 for sound source localization, the receiving module 11 and the sound recognition module 12 may be integrated in the sound processing module 1. The recognition module is used for recognizing whether the vehicle exterior sound information includes the target sound information, for example, the recognition module may be the sound recognition module 12 having the sound wave processing unit, and may recognize whether the vehicle exterior sound information includes the target sound information; the control module 8 is configured to control at least one of the at least two recognition modules to obtain sound object information corresponding to the target sound information according to a sound source location of the target sound information if the external sound information includes the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information within a first preset distance D1 range, and the second recognition module is used for acquiring sound production object information within a second preset distance D2 range; the distance D1 is larger than the distance D2 by taking the vehicle as a center. In addition, in some embodiments, the reminding device further includes an information processing module 5 for receiving and processing the region information, the distance information, the image information and the sound source positioning information of the target sound information; the reminding module 6 is used for outputting the region information, the distance information and the image information of the target sound information as warning reminding information. In addition, a power module 7 is electrically coupled to each module for providing power to each module. Therefore, the different combination modes of the first identification module and the second identification module can be used for obtaining the target object information in different distance ranges from far to near so as to improve the accuracy of the target object positioning range, provide sufficient avoidance preparation time and increase the application range, and can be widely applied to the situation of avoiding the target object.

In addition, it should be noted that the identification module may be a laser radar module, an infrared image processing module, a 3D identification module, etc., and the specific form thereof is not limited. Unless otherwise specified, the first recognition module is described in the embodiment of the laser radar module 2, and the second recognition module is described in the embodiment of the image processing module 3.

The embodiment of the application also provides a vehicle warning reminding method, referring to fig. 1, 7, 9 and 10, comprising the following steps:

step S100: receiving sound information outside the vehicle;

step S200: identifying whether the external sound information comprises target sound information or not, and if the external sound information comprises the target sound information, controlling at least one of the at least two identification modules to acquire sound production object information corresponding to the target sound information according to the sound source positioning of the target sound information; the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information in a first preset distance range, and the second recognition module is used for acquiring sound production object information in a second preset distance range;

step S300: and generating and outputting warning reminding information according to the sounding object information.

Specifically, through step S100, the outside-vehicle sound information is received. Continuously, through step S200, it is recognized whether the outside-vehicle sound information includes target sound information, which may be sound information of a specific vehicle outside the own vehicle, or sound of a person, an animal, or the like outside the own vehicle, such as sound of a child outside the own vehicle, an animal sound, or the like, without being limited in particular. If the external sound information includes the target sound information, the position of the target sound information may be located according to the sound source of the target sound information, for example, the position of the target sound information may be located by the sound source locating module 13, and then the sound object information corresponding to the target sound information may be acquired by controlling one of the identification modules. Here, the recognition module includes a first recognition module and a second recognition module, the first recognition module is used for obtaining sound production object information within a first preset distance D1 range, the second recognition module is used for obtaining sound production object information within a second preset distance D2 range, and the distance from far to near is set by taking the vehicle as a center, and the first preset distance D1 range is larger than the second preset distance D2 range. Finally, through step S300, the sounding object information is generated and output as warning reminding information, where the warning reminding information includes at least one of text warning reminding information, sound warning reminding information and image warning reminding information. Such as a combination of audible alert reminder information and visual alert reminder information.

Here, it is to be noted that the sound emission object information may include at least one of region position information of the sound emission object, specific position information of the sound emission object, and image information of the sound emission object. For example, if the localization of the target sound source is out of the range of the first preset distance D1, that is, the sound object is far away from the own vehicle, determining the sound object information as the region information of the sound object; for example, if the sound source of the target sound information is located in the area ranging from the second preset distance D2 to the first preset distance D1, the first recognition module may be controlled to obtain the specific position information of the sound generating object. Wherein the region information of the sound object can be acquired by the sound source localization module 13, such as for example. The first recognition module may be the laser radar module 2 for acquiring specific position information of the target sound information; the second recognition module may be image information used by the image processing module 3 to acquire the target sound information. Since the second recognition module is configured to acquire the sound object information within the second preset distance D2, that is, the sound object information within the range closer to the vehicle, that is, the sound object information needs to be acquired within the second preset distance, the second recognition module preferably employs the image processing module 3 to acquire the image information of the sound object within the second preset distance D2, and accordingly, the first recognition module may employ the laser radar module 2 to acquire the specific position information of the sound object. According to the method, the positioning logic from far to near is adopted, the first recognition module or the second recognition module can be selectively selected according to the position of the region where the sounding object is located at a certain moment to acquire the position information of the sounding object, different analysis information can be displayed, such as at least one of specific position information, region information and image information of the sounding object can be selectively displayed, so that the problem of inaccurate positioning caused by a single recognition module is avoided, the position information of the sounding object can be known in a far range, such as a first preset distance range, namely, the existence of the sounding object is reminded in early time, and then the sounding object information in a near range is acquired by utilizing the second recognition module, so that sufficient avoidance preparation time is provided for a user.

In addition, it should be noted that the first preset distance D1 is greater than the second preset distance D2, specifically means that the distance from the vehicle to the vehicle in the first preset distance D1 is greater than the maximum distance from the vehicle in the second preset distance D2; the first preset distance D1 is a range between the position of the first preset distance D1, which is the maximum distance from the vehicle, and the position of the vehicle, and the second preset distance D2 is a range between the position of the second preset distance D2, which is the maximum distance from the vehicle, and the position of the vehicle.

Referring to fig. 2, in step S200, it includes:

step S201: and identifying whether the voiceprint information of the sound information outside the vehicle comprises preset voiceprint information, and if the voiceprint information of the sound information outside the vehicle comprises the preset voiceprint information, controlling at least one of the at least two identification modules to acquire sounding object information corresponding to the preset voiceprint information according to the sound source positioning of the preset voiceprint information.

Here, the preset voiceprint information of the target object may be the voiceprint information of the target object, the voiceprint information of the child, or the like, and after the voiceprint information is identified, the target object is tracked and positioned, and the position information of the target object is determined. Specifically, in some embodiments, referring to fig. 9, fig. 9 is a schematic structural diagram of a sound processing module 1 in a reminding device, where the sound processing module 1 includes a plurality of sound collecting modules 11, such as a microphone, a sound recognition module 12 and a sound source positioning module 13, where the plurality of microphones are respectively installed on the outer side of the periphery of the vehicle and are disposed towards a plurality of different directions, and in step S100, sound signals outside the vehicle can be continuously collected through the plurality of microphones; in step S201, whether the voiceprint information of the voice signal includes the preset voiceprint information can be continuously identified by the voice identification module 12, wherein the preset voiceprint information, such as the preset voiceprint information of emergency vehicles, kindergarten school buses, fire fighting buses, police buses, etc., is pre-stored in the vehicle, the method for identifying the voiceprint information can compare the received pattern of the voiceprint information with the pattern of the preset voiceprint information, and if the preset voiceprint information is included, the sound source positioning module 13 can coordinate the position information of the target object.

In some embodiments, referring to fig. 7, the first recognition module is a laser radar module 2 for acquiring specific location information of the target object within the range of the first preset distance D1, and the second recognition module is an image processing module 3 for acquiring image information of the target object within the range of the first preset distance D2. Because the second preset distance D2 is smaller than the first preset distance D1, that is, the distance is closer to the vehicle, the accurate position of the target object can be more accurately determined compared with the method which is the same as that of the first recognition module.

In some embodiments, the sound object information includes at least one of region position information of the sound object and specific position information of the sound object. The occurrence object information may further include a sound type, a sound intensity, and the like of the sound object, for example, the sound type may include a whistle of an alarm vehicle, a fire truck, an ambulance, and the like, so that a user is reminded when the sound object information is identified, and thus, when a special vehicle such as the alarm vehicle, the fire truck, the ambulance, and the like, which is driven by the whistle in an emergency, passes through the red-yellow traffic signal, particularly at an intersection, the dangerous condition occurs when the vehicle where the user is located cannot see the vehicle of the above type.

In some embodiments, referring to fig. 1 and 3, in step S200, step S202 is included: judging whether the sound source localization of the target sound information is within the first preset distance range, if so, performing step S2021: controlling a first identification module to acquire specific position information of a sound production object; if the sound source location of the target sound information is outside the range of the first preset distance D1, step S2022 is performed: and determining the sounding object information as the region position information of the sounding object. Specifically, when the sound source localization is within the first preset distance D1, the first recognition module may be controlled, for example, the first recognition module is the laser radar module 2, through which specific position information of the sounding object may be obtained; if the sound source of the target sound information is located outside the first preset distance D1, which indicates that the target sound information is further away from the vehicle, the sound source locating module 13 may determine the regional position information of the sound generating object.

Referring to fig. 5 and 7, after step S2022, step S2022a is further included: and taking the region range from the first preset distance D1 range to the third preset distance D3 range as the region position information of the sounding object to obtain sounding object information. The receiving range of the sound information outside the vehicle is a third preset distance D3 range, the sound information is far from or near to the vehicle by taking the vehicle as a center, and the third preset distance D3 range is larger than the first preset distance D1 range; thus, the region range of the region position information can be clarified, and the sounding object information can be conveniently and selectively acquired from the far side to the near side.

In some embodiments, referring to fig. 6 and 7, step S200 further includes step S200a, respectively, of controlling the second recognition module to acquire the image information of the sound object and outputting the image information as the warning reminding information if the sound source location of the target sound information is within the second preset distance D2, wherein, although the sound source location module 13 and the first recognition module can both acquire the sound object information of the target object, the target object is already in the second preset distance D2 which is closer to the own vehicle, so that the image information acquired by the second recognition module is output, and the user can acquire the sound object information more accurately; step 200b, if the sound source location of the target sound information is in the area range from the second preset distance D2 range to the first preset distance D1 range, controlling the first recognition module to acquire the specific position information of the sound object, and outputting the specific position information as warning reminding information; step 200c, if the sound source location of the target sound information is out of the range of the first preset distance D1, determining that the sound object information is the regional position information of the sound object, that is, the target object is far away from the vehicle and does not enter the range of the first preset distance D1, only the regional position information of the sound object can be obtained, and the obtained regional position information can be output as warning reminding information.

In some embodiments, referring to fig. 8 and fig. 10, the at least two recognition modules further include a third recognition module, where the third recognition module is configured to obtain sound object information within a fourth preset distance range, and the fourth preset distance D4 range is smaller than the second preset distance D2 range from far to near with the vehicle as a center; referring to fig. 6, step S200 further includes step S203: judging whether the sound source positioning of the target sound information is within a fourth preset distance D4; if the sound source location of the target sound information is within the fourth preset distance D4, step S2031 is performed: controlling a third identification module to acquire sounding object information; if the sound source location of the target sound information is out of the fourth preset distance D4, step S2032 is performed: and controlling the first recognition module or the second recognition module to acquire the sounding object information. In this way, on the basis that the first recognition module and the second recognition module are respectively used for recognizing the sounding object information within the range of the first preset distance D1 and the range of the second preset distance D2, the third recognition module is additionally arranged to recognize the sounding object information within the range closer to the vehicle, so that the mode of acquiring the sounding object information is further increased, and the positioning accuracy of the target object is further improved.

Further, referring to fig. 8, the third recognition module 4 may be a 3D recognition module, such as, preferably, the 3D recognition module may employ a 3D binocular infrared recognition module with high recognition accuracy and high reliability. Therefore, on the basis that the second recognition module can acquire the image information of the sound production object which is closer to the vehicle, the third recognition module is added, so that the sound production object information which is closer to the second recognition module can be acquired, namely, the accuracy of determining the target object information is further improved, and the safety of a user in the process of driving the vehicle is improved.

Continuously, in some embodiments, the sound object information within the second preset distance range is image information of the sound object. Therefore, the position of the target object can be observed in real time through the image information within the distance range, and the position information of the target object relative to the self vehicle can be accurately confirmed within a range closer to the self vehicle, so that avoidance can be conveniently made in advance.

In some embodiments, referring to fig. 7 and 10, specific position information of the target object is acquired by the lidar module 2 of the own vehicle. Here, compared with the millimeter wave radar sensor and the ultrasonic radar sensor, preferably, the laser radar sensor can be adopted, can work in the aspects of ranging and identifying obstacles most accurately, can also work in the dark, and has the advantages of stronger stability, moderate detection distance, convenient installation, small volume and light weight. Therefore, compared with the method adopting only sound source positioning, the method has higher positioning accuracy by additionally arranging the laser radar module 2 for distance measurement, and can obviously improve the accuracy of the positioning range of the target object by being used for acquiring the specific position information of the target object in the range of the first preset distance D1, namely the position close to the vehicle; in addition, since the lidar module 2 is not particularly close to the own vehicle when it is positioned to the target object, it can provide the user in the vehicle with a sufficient avoidance preparation time.

Referring to fig. 7 and fig. 10, the image information may be acquired by the image processing module 3 in the reminding device according to the embodiment of the present application, in some embodiments, the image processing module 3 may be a device with a video capturing function, such as a vehicle-mounted camera, a vehicle recorder, or the like, the second preset distance D2 range may be divided according to actual situations, and the capturing area may be one or more of the following areas: a rear region of the vehicle, a left region of the vehicle, a front region of the vehicle, and the like. The information processing module 5 of the reminding device can acquire the video frames of the shooting area set around the vehicle by the image processing module 3, and then can perform preprocessing such as filtering and denoising on the video frames so as to improve the quality of the video frames, so that whether a reminding target object exists in the video frames shot at corresponding moments or not can be judged.

In addition, the image information acquired by the image processing module 3 may be a visible light image or an infrared light image. Therefore, the adaptability of the reminding method can be improved, namely, the image information of the target object can be obtained no matter the intensity of the light outside the vehicle.

In some embodiments, referring to fig. 7, the third preset distance D3, the first preset distance D1, and the second preset distance D2 decrease in order from far to near centering on the own vehicle. Because the second preset distance D2 is smaller than the first preset distance D1, that is, when the target object moves within the second preset distance D2, the target object is located closer to the vehicle, that is, the target object may need to be avoided within the second preset distance D2, so that the position information of the target object relative to the vehicle needs to be more accurately confirmed, and in the distance range, the position of the target object can be observed in real time by adopting a mode of acquiring the image information of the target vehicle, so that the avoidance can be made in advance. Referring to fig. 8, a third recognition module 4 is introduced on the basis of fig. 7, so that sounding object information within a fourth preset distance D4 can be obtained, and accuracy and safety of the reminding device for obtaining sounding object information are further improved.

Referring to fig. 11, a schematic operation logic diagram of a component structure of a reminding device in the embodiment of the present application is shown, where a sound signal outside a vehicle is recorded by a sound acquisition 10 in a sound processing module 1 and transmitted to a sound recognition module 12; the voice recognition module 12 is responsible for comparing and recognizing external voice with the special vehicle alarm voiceprint information and determining whether the voice is an alarm sound sent by the special vehicle, and if the voice is the alarm sound, transmitting the information to a downstream ring segment; for example, the sound source positioning module 13 may acquire the region position information within the third preset distance D3, and the first recognition module and the second recognition module are respectively the laser radar module 2 and the image processing module 3, and control one of the recognition modules to acquire the sounding object information of the target object to be responsible for positioning the position of the special vehicle.

Specifically, within a third preset distance range, that is, where the target object is far away from the own vehicle, the region information of the target object may be acquired by the sound source positioning module 13; within a first preset distance D1, namely, the position of the target object is close to the vehicle, the laser radar module 2 can be selectively controlled to acquire specific position information of the target object; within the second preset distance D2, that is, the target object is closer to the vehicle, the image processing module 3 can be selectively controlled to acquire the image information of the target object; the information processing module 5 is responsible for receiving signals input by the sound processing module 1, the laser radar module 2 and the image processing module 3 and sequencing the priorities, for example, when the image processing module 3 acquires the image information of the target object, the image information can be output as warning reminding information; the image processing module 3 does not acquire the image information of the target object, and when the laser radar module 2 acquires the target object information, the specific position information of the target object acquired by the laser radar module can be used as warning reminding information to be output; similarly, if the target object appears outside the area range of the first preset distance D1, that is, the laser radar module 2 and the image processing module 3 do not acquire the target object information, the area position information of the target object is output as warning prompt information, that is, when the vehicle is taken as the center and the vehicle is from the near to the far, the priority of the sound generating object information acquired by the recognition module, such as the image information of the sound generating object and the area position information of the sound generating object of the specific position information of the sound generating object, is gradually reduced, and then the information is fed back to the reminding module 6 after being processed by the information processing module 5, and is output by the reminding module 6; in this case, the power module 6 is electrically connected to the respective module system and supplies it with electrical energy.

In addition, referring to fig. 12, the memory and the communication interface in the vehicle complete the communication with each other through the communication bus, and the memory is used for storing at least one executable instruction, and the execution instruction can cause the processor to execute the vehicle warning reminding method as above.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments. The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims (10)

1. A vehicle warning reminding method, comprising:

receiving sound information outside the vehicle;

identifying whether the off-vehicle sound information includes target sound information;

if the sound information outside the vehicle comprises the target sound information, controlling at least one of at least two recognition modules to acquire sound object information corresponding to the target sound information according to the sound source positioning of the target sound information;

the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information in a first preset distance range, and the second recognition module is used for acquiring sound production object information in a second preset distance range;

The first preset distance range is larger than the second preset distance range by taking the self vehicle as a center from far to near;

and generating and outputting warning reminding information according to the sounding object information.

2. The vehicle warning reminding method according to claim 1, wherein the target sound information includes preset voiceprint information; the step of identifying whether the external sound information includes the target sound information, if the external sound information includes the target sound information, controlling at least one of the at least two identification modules to obtain sound object information corresponding to the target sound information according to a sound source location of the target sound information includes:

and identifying whether the voiceprint information of the vehicle exterior sound information comprises the preset voiceprint information, and if the voiceprint information of the vehicle exterior sound information comprises the preset voiceprint information, controlling at least one of at least two identification modules to acquire sounding object information corresponding to the preset voiceprint information according to the sound source positioning of the preset voiceprint information.

3. The vehicle warning reminding method according to claim 1, wherein the sound object information includes at least one of area position information of the sound object and specific position information of the sound object.

4. The vehicle warning reminding method according to claim 3, wherein the step of controlling at least one of at least two recognition modules to obtain sound object information corresponding to the target sound information according to the sound source localization of the target sound information comprises:

if the sound source positioning of the target sound information is within the first preset distance range, controlling the first identification module to acquire specific position information of the sound object;

and if the sound source positioning of the target sound information is out of the first preset distance range, determining the sound generating object information as the regional position information of the sound generating object.

5. The vehicle warning reminding method according to claim 4, wherein the receiving range of the external sound information is a third preset distance range, wherein the third preset distance range is larger than the first preset distance range from far to near with the self vehicle as a center;

the step of determining the sound generating object information as the region position information of the sound generating object includes:

and taking the region range from the first preset distance range to the third preset distance range as the region position information of the sounding object to obtain the sounding object information.

6. The vehicle warning reminding method according to claim 1, wherein the sound object information includes at least one of area position information of a sound object, specific position information of the sound object, and image information of the sound object.

7. The vehicle warning reminding method according to claim 6, wherein the step of controlling at least one of at least two recognition modules to obtain sound object information corresponding to the target sound information according to the sound source localization of the target sound information includes:

if the sound source positioning of the target sound information is within the second preset distance range, controlling the second identification module to acquire the image information of the sound object;

if the sound source positioning of the target sound information is in the area range from the second preset distance range to the first preset distance range, controlling the first identification module to acquire the specific position information of the sound object;

and if the sound source positioning of the target sound information is out of the first preset distance range, determining the sound generating object information as the regional position information of the sound generating object.

8. The vehicle warning reminding method according to claim 1, wherein the at least two recognition modules further comprise a third recognition module, the third recognition module being configured to obtain sound object information within a fourth preset distance range; the fourth preset distance range is smaller than the second preset distance range from far to near by taking the vehicle as a center;

The step of controlling at least one of the at least two recognition modules to acquire sound object information corresponding to the target sound information according to the sound source localization of the target sound information includes:

if the sound source positioning of the target sound information is within the fourth preset distance range, controlling the third identification module to acquire the sound object information;

and if the sound source positioning of the target sound information is out of the fourth preset distance range, controlling the first recognition module or the second recognition module to acquire the sound object information.

9. A reminder device, comprising:

the receiving module is used for receiving the sound information outside the vehicle;

the sound identification module is used for identifying whether the sound information outside the vehicle comprises target sound information or not;

the control module is used for controlling at least one of the at least two recognition modules to acquire sounding object information corresponding to the target sound information according to the sound source positioning of the target sound information if the external sound information comprises the target sound information;

the at least two recognition modules comprise a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information in a first preset distance range, and the second recognition module is used for acquiring sound production object information in a second preset distance range; the first preset distance range is larger than the second preset distance range by taking the self vehicle as a center from far to near;

And the reminding module is used for generating and outputting warning reminding information according to the occurrence object information.

10. A vehicle, characterized by comprising:

the sound collection module is used for collecting sound information outside the vehicle;

the sound source positioning module is used for positioning the sound source of the target sound information;

the system comprises at least two recognition modules, a first recognition module and a second recognition module, wherein the first recognition module is used for acquiring sound production object information in a first preset distance range, and the second recognition module is used for acquiring sound production object information in a second preset distance range; the first preset distance range is larger than the second preset distance range by taking the self vehicle as a center from far to near;

a processor for executing the vehicle warning reminding method according to any one of claims 1 to 8;

a memory for storing executable instructions capable of running on the processor;

wherein the processor, when executing the executable instructions, is operable to implement the vehicle alert reminder method of any one of claims 1 to 8.

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