CN116442901A

CN116442901A - Vehicle control method, device, system, vehicle and readable storage medium

Info

Publication number: CN116442901A
Application number: CN202310611600.0A
Authority: CN
Inventors: 何红术
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-05-26
Filing date: 2023-05-26
Publication date: 2023-07-18

Abstract

The application discloses a vehicle control method, a device, a system, a vehicle and a readable storage medium, which relate to the technical field of vehicles and are used for improving the driving safety of the vehicle in the road condition with a turning road. The method comprises the following steps: determining that a turning road exists within a preset distance in the running direction of the vehicle; collecting an audio signal outside the vehicle, and determining a first sound source position under the condition that the audio signal is a vehicle whistling sound; the first sound source position is the sound source position of the vehicle whistling sound determined by a time difference positioning algorithm; correcting the first sound source position to obtain a target sound source position; the multimedia device controlling the vehicle identifies and outputs the target sound source location.

Description

Vehicle control method, device, system, vehicle and readable storage medium

Technical Field

The invention relates to the technical field of vehicles, in particular to a vehicle control method, a device, a system, a vehicle and a readable storage medium.

Background

With the development of the automobile industry, people pay more attention to the safety performance of vehicles. When a vehicle runs on a mountain road, the mountain road has the characteristics of a large number of turning roads and a narrow road, so that the mountain road turning road is often a high place for collision accidents. The vehicle whistle serves as a warning function, and can effectively remind a vehicle driver of the vehicle that a meeting vehicle exists on the other side of the turning road.

However, when the vehicle driver runs with the window closed or the environment in the vehicle is noisy, the vehicle driver cannot effectively hear the whistle of the meeting vehicle on the other side of the turning road, and cannot find possible risk factors in time, so that the safety of the vehicle running is poor. Therefore, how to improve the safety of the vehicle running in the road condition where the turning road exists is a technical problem to be solved urgently.

Disclosure of Invention

One of the purposes of the present invention is to provide a vehicle control method, device, system, vehicle and readable storage medium, so as to improve the safety of vehicle driving in the road condition where a turning road exists.

According to a first aspect to which the present application relates, there is provided a vehicle control method including: determining that a turning road exists within a preset distance in the running direction of the vehicle; collecting an audio signal outside the vehicle, and determining a first sound source position under the condition that the audio signal is a vehicle whistling sound; the first sound source position is the sound source position of the vehicle whistling sound determined by a time difference positioning algorithm; correcting the first sound source position to obtain a target sound source position; the multimedia device controlling the vehicle identifies and outputs the target sound source location.

According to the technical means, under the condition that a turning road exists in a preset distance in the running direction of the vehicle, an audio signal outside the vehicle is collected, and under the condition that the audio signal is a whistling sound of the vehicle, the position of a first sound source is determined; therefore, when a turning road does not exist in a preset distance of the running direction of the vehicle, the audio signal can be collected continuously, or the sound source position is determined under the condition that the audio signal is not the whistle of the vehicle, so that the resource consumption of the vehicle is reduced, and the first sound source position is the sound source position of the whistle of the vehicle determined by using a time difference positioning algorithm, so that the sound source position can be determined only by whistle without data interaction with the coming vehicle of the turning road, the problem of inaccurate sound source position positioning caused by network delay and the like is solved, and the accuracy of determining the sound source position is improved. Further, the first sound source position is corrected to obtain the target sound source position, so that errors of the sound source position deviated from the road caused by a sensor for collecting the audio signals or other factors can be effectively eliminated, and the accuracy of determining the sound source position can be further improved. In addition, through controlling the multimedia equipment identification of the vehicle and outputting the target sound source position, the vehicle position of the user turning road can be timely reminded under the condition that the user cannot effectively hear the vehicle whistle caused by window closing running or noisy in-vehicle environment of the user, and the vehicle running safety is improved in the road condition with the turning road.

Further, determining the first sound source location includes: determining the positions of a plurality of audio acquisition devices in a vehicle, and acquiring the time difference of whistling sounds of the vehicle by each audio acquisition device; the plurality of audio acquisition devices are used for acquiring audio signals outside the vehicle; and determining the first sound source position according to the positions and time differences of the plurality of audio acquisition devices.

According to the technical means, the first sound source position is determined through the positions of the plurality of audio acquisition devices and the time difference, data interaction with an incoming vehicle of a turning road is not needed, the sound source position can be determined only through the positions of the plurality of audio acquisition devices and the time difference, the problem of inaccurate sound source position positioning caused by network time delay and the like is avoided, and the accuracy of determining the sound source position is improved.

Further, the correcting process is performed on the first sound source position to obtain a target sound source position, including: determining a road position in a target range, wherein the distance between the target range and the first sound source position is smaller than a preset distance threshold; determining a second sound source position and determining the second sound source position as a target sound source position in the case that the first sound source position is not at a road position within the target range; the second sound source position is a position closest to the first sound source position among road positions within the target range.

According to the technical means, the first sound source position is modified to be the nearest position to the first sound source position in the road position in the target range, so that the sound source position can be prevented from being positioned to a non-road area, and the sound source position can be accurately determined.

Further, the method also comprises the following steps: processing the audio signal by utilizing the sound discrimination model, and outputting the binary type of the audio signal; and determining that the audio signal is a vehicle whistling sound under the condition that the binary type is the target binary type.

According to the technical means, vehicle whistling can be identified from various external audio signals of the vehicle according to the binary type of the audio signal, the sound source position is prevented from being determined under the condition that the audio signal is not the vehicle whistling, and the resource consumption of the vehicle is reduced.

Further, the method also comprises the following steps: acquiring a plurality of groups of sample data; each set of sample data includes a sample audio signal and a sample tag; the sample tag is used for marking the audio type in the sample audio signal; training a preset deep neural network model according to a plurality of groups of sample data to obtain a sound discrimination model.

According to the technical means, as the deep neural network model has larger capacity, more substructures of different types can be combined, various features can be learned and represented more easily, the type of the audio signal can be accurately identified, and after the deep neural network model is trained according to a plurality of groups of sample data, the accuracy of identifying the type of the audio signal can be further improved, so that the vehicle whistle can be accurately identified, the resource waste caused by determining the sound source position of the vehicle whistle when other sounds are mistakenly identified as the vehicle whistle is avoided, and meanwhile, the situation that the vehicle whistle cannot be timely reminded of the coming vehicle on a turning road when the vehicle whistle is mistakenly identified as other sounds is avoided, and the safety of the running of the vehicle is improved in the road condition where the turning road exists.

In a second aspect, there is provided a vehicle control apparatus for use in a controller in a vehicle control system of a vehicle, the apparatus comprising: the device comprises a determining unit, an acquisition unit and a processing unit; a determining unit for determining that a turning road exists within a preset distance in a vehicle traveling direction; the acquisition unit is used for acquiring an audio signal outside the vehicle and determining a first sound source position under the condition that the audio signal is a vehicle whistling sound; the first sound source position is the sound source position of the vehicle whistling sound determined by a time difference positioning algorithm; the processing unit is used for correcting the first sound source position to obtain a target sound source position; and the processing unit is also used for controlling the multimedia equipment of the vehicle to identify and output the target sound source position.

Further, the determining unit is specifically configured to: determining the positions of a plurality of audio acquisition devices in a vehicle, and acquiring the time difference of whistling sounds of the vehicle by each audio acquisition device; the plurality of audio acquisition devices are used for acquiring audio signals outside the vehicle; and determining the first sound source position according to the positions and time differences of the plurality of audio acquisition devices.

Further, the processing unit is specifically configured to: determining a road position in a target range, wherein the distance between the target range and the first sound source position is smaller than a preset distance threshold; determining a second sound source position and determining the second sound source position as a target sound source position in the case that the first sound source position is not at a road position within the target range; the second sound source position is a position closest to the first sound source position among road positions within the target range.

Further, the processing unit is further configured to: processing the audio signal by utilizing the sound discrimination model, and outputting the binary type of the audio signal; the determining unit is further used for: and determining that the audio signal is a vehicle whistling sound under the condition that the binary type is the target binary type.

Further, the apparatus further comprises: an acquisition unit; the acquisition unit is further used for: acquiring a plurality of groups of sample data; each set of sample data includes a sample audio signal and a sample tag; the sample tag is used for marking the audio type in the sample audio signal; the processing unit is further used for: training a preset deep neural network model according to a plurality of groups of sample data to obtain a sound discrimination model.

In a third aspect, there is provided a vehicle control system comprising a controller for performing the method as in the first aspect or any of the possible designs of the first aspect.

In a fourth aspect, there is provided a vehicle control apparatus including: a processor; a memory for storing processor-executable instructions; the processor is configured to execute instructions, the functions performed in the first aspect or any of the possible designs of the first aspect.

In a fifth aspect, there is provided a vehicle comprising the vehicle control system as provided in the third aspect.

In a sixth aspect, there is provided a vehicle control apparatus that can realize the functions performed by the vehicle control apparatus in the above aspects or in each possible design, the functions being realized by hardware, such as: in one possible design, the vehicle control apparatus may include: a processor and a communication interface, the processor being operable to support the vehicle control apparatus to carry out the functions referred to in the first aspect or any one of the possible designs of the first aspect.

In yet another possible design, the vehicle control device may further include a memory for storing computer-executable instructions and data necessary for the vehicle control device. The processor executes the computer-executable instructions stored in the memory when the vehicle control apparatus is operating to cause the vehicle control apparatus to perform any one of the possible vehicle control methods of the first aspect or the first aspect described above.

In a seventh aspect, a computer readable storage medium is provided, which may be a readable non-volatile storage medium, storing computer instructions or a program which, when run on a computer, cause the computer to perform the first aspect or any one of the possible vehicle control methods of the aspects.

In an eighth aspect, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the vehicle control method of the first aspect or any one of the possible designs of the aspects.

The invention has the beneficial effects that:

(1) Acquiring an audio signal outside the vehicle by determining that a turning road exists within a preset distance in the running direction of the vehicle, and determining a first sound source position under the condition that the audio signal is a whistling sound of the vehicle; therefore, when a turning road does not exist in a preset distance of the running direction of the vehicle, the audio signal can be collected continuously, or the sound source position is determined under the condition that the audio signal is not the whistle of the vehicle, so that the resource consumption of the vehicle is reduced, and the first sound source position is the sound source position of the whistle of the vehicle determined by using a time difference positioning algorithm, so that the sound source position can be determined only by whistle without data interaction with the coming vehicle of the turning road, the problem of inaccurate sound source position positioning caused by network delay and the like is solved, and the accuracy of determining the sound source position is improved. Further, the first sound source position is corrected to obtain the target sound source position, so that errors of the sound source position deviated from the road caused by a sensor for collecting the audio signals or other factors can be effectively eliminated, and the accuracy of determining the sound source position can be further improved. In addition, through controlling the multimedia equipment identification of the vehicle and outputting the target sound source position, the vehicle position of the user turning road can be timely reminded under the condition that the user cannot effectively hear the vehicle whistle caused by window closing running or noisy in-vehicle environment of the user, and the vehicle running safety is improved in the road condition with the turning road.

(2) The first sound source position is determined through the positions of the plurality of audio acquisition devices and the time difference, data interaction with an incoming vehicle of a turning road is not needed, the sound source position can be determined only through the positions of the plurality of audio acquisition devices and the time difference, the problem of inaccurate sound source position positioning caused by network time delay and the like is avoided, and the accuracy of determining the sound source position is improved.

(3) By modifying the first sound source position to be the nearest position to the first sound source position among the road positions within the target range, it is possible to avoid the sound source position from being located to a non-road area, and to determine the sound source position more accurately.

(4) According to the binary type of the audio signal, the vehicle whistling can be identified from the audio signals outside various vehicles, the sound source position is prevented from being determined under the condition that the audio signal is not the vehicle whistling, and the resource consumption of the vehicle is reduced.

(5) Because the deep neural network model can have larger capacity, can be combined into more substructures of different types, can learn and represent various characteristics more easily, can more accurately identify the audio signal type, and after training the deep neural network model according to a plurality of groups of sample data, can further improve the accuracy of identifying the audio signal type, in this way, can more accurately identify vehicle whistling sounds, avoid the resource waste caused by determining the sound source position of the vehicle whistling sounds when other sounds are mistakenly identified as the vehicle whistling sounds, and simultaneously, can also avoid the situation that the vehicle whistling sounds are mistakenly identified as other sounds, can not timely remind a turning road to come, improve the safety of vehicle running in the road condition with the turning road.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute an undue limitation on the application.

Fig. 1 is a schematic structural diagram of a vehicle control system according to an embodiment of the present application;

fig. 2 is a schematic layout diagram of a plurality of audio capturing devices according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 4 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 5 is a flow chart of yet another vehicle control method according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of determining a sound source position according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a sound source position correction according to an embodiment of the present disclosure;

FIG. 8 is a flow chart of yet another vehicle control method according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of still another vehicle control device according to an embodiment of the present application.

Detailed Description

In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of embodiments of the present application as detailed in the accompanying claims.

It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

The vehicle is generally provided with the fog lamp, the penetrating power of the fog lamp is stronger, and the fog lamp is started in the weather with lower visibility such as fog, snow, rain or dust diffusion, so that the visibility of a driver can be improved, and the driving safety of the vehicle is further improved. Fog lamps are important as car body configuration, and have important use in terms of safety, however, many drivers have no habit of turning on fog lamps or forget to turn on fog lamps, and safety is poor.

In order to improve the safety of vehicle running, the rainfall and the particle concentration can be determined by a vehicle body sensor to determine whether to turn on a vehicle fog lamp, however, the error of the sensor is larger, the accuracy of weather judgment is lower, and the safety of vehicle running cannot be obviously improved.

Therefore, how to improve the safety of the vehicle running in the weather with low visibility is a technical problem to be solved urgently.

In view of this, an embodiment of the present application provides a vehicle control method including: acquiring vehicle environment information and network weather information; the vehicle environment information includes: environmental images, raindrop sensor data, humidity sensor data, and illumination intensity sensor data; determining a first identification result, a second identification result and/or a third identification result; the first recognition result is a weather type determined according to the environment image and the image classification model, the second recognition result is a weather type determined according to the network weather information, and the third recognition result is a weather type determined according to the raindrop sensor data, the humidity sensor data and the illumination intensity sensor data; and outputting vehicle control information according to the first identification result, the second identification result and/or the third identification result, wherein the vehicle control information is used for prompting a user to turn on the fog lamp.

The method provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

It should be noted that, the vehicle control system described in the embodiments of the present application is for more clearly describing the technical solution of the embodiments of the present application, and does not constitute a limitation to the technical solution provided in the embodiments of the present application, and those skilled in the art can know that, with the evolution of the vehicle control system and the appearance of other vehicle control systems, the technical solution provided in the embodiments of the present application is equally applicable to similar technical problems.

The vehicle control system provided by the embodiment of the application can be applied to a vehicle. The vehicle may be any type of vehicle. For example, the vehicle may be a fuel vehicle, a hybrid vehicle, a new energy vehicle, etc., and the embodiments of the present application do not limit the specific technology, the specific number, and the specific equipment configuration adopted by the vehicle.

Fig. 1 is a schematic diagram of a vehicle control system 10 according to an embodiment of the present application, and as shown in fig. 1, the vehicle control system 10 may include a controller 11 and a vehicle 12.

Wherein the controller 11 is connected to the vehicle 12. For example, the controller 11 and the vehicle 12 may be connected wirelessly or by a wire, which is not limited in the embodiment of the present invention.

The controller 11 may be configured to collect an audio signal from the outside of the vehicle when it is determined that there is a turning road within a preset distance in the driving direction of the vehicle, determine a sound source position of the vehicle whistling sound when the audio signal is the vehicle whistling sound, and control a multimedia device of the vehicle to identify and output the sound source position of the vehicle whistling sound. The controller 11 may be provided in the vehicle interior. Meanwhile, the controller 11 may be any electronic device having a data processing function.

The vehicle 12 may be configured to collect an audio signal external to the vehicle and transmit the collected audio signal external to the vehicle to the controller 11. For example, the vehicle 12 may be any type of vehicle. For example, the vehicle may be a fuel vehicle, a hybrid vehicle, a new energy vehicle, etc., and the embodiments of the present application do not limit the specific technology, the specific number, and the specific equipment configuration adopted by the vehicle.

The vehicle 12 may collect audio signals external to the vehicle via a plurality of audio collection devices. For example, the audio collection device may be an audio collector.

The plurality of audio acquisition devices may be arranged at a plurality of locations of the vehicle. For example, as shown in fig. 2, the plurality of audio collection devices may include an audio collection device a, an audio collection device B, and an audio collection device C. The audio acquisition device A can be arranged at the central position above the front air inlet grille of the vehicle, the audio acquisition device B can be arranged above the right tail light of the vehicle, and the audio acquisition device C can be arranged above the left tail light of the vehicle.

It should be noted that the arrangement of the plurality of audio capturing devices is merely illustrative, and the plurality of audio capturing devices may be arranged at other positions of the vehicle without limitation.

It should be noted that fig. 1 is only an exemplary frame diagram, and names of the respective modules included in fig. 1 are not limited, and other modules may be included in addition to the functional modules shown in fig. 1, which is not limited in this embodiment of the present application.

In particular, the controller of fig. 1 may employ the constituent structure shown in fig. 3 or include the components shown in fig. 3. Fig. 3 is a schematic structural diagram of a vehicle control device 200 according to an embodiment of the present application, where the vehicle control device 200 may be a controller in a vehicle control system, or the vehicle control device 200 may be a chip or a system on a chip in the controller. As shown in fig. 3, the vehicle control apparatus 200 includes a processor 201, a communication interface 202, and a communication line 203.

Further, the vehicle control device 200 may further include a memory 204. The processor 201, the memory 204, and the communication interface 202 may be connected by a communication line 203.

The processor 201 is a CPU, general-purpose processor, network processor (network processor, NP), digital signal processor (digital signal processing, DSP), microprocessor, microcontroller, programmable logic device (programmablelogic device, PLD), or any combination thereof. The processor 201 may also be other devices with processing functions, such as, without limitation, circuits, devices, or software modules.

Communication interface 202 is used to communicate with other devices or other communication networks. The communication interface 202 may be a module, a circuit, a communication interface, or any device capable of enabling communication.

A communication line 203 for transmitting information between the respective components included in the vehicle control apparatus 200.

Memory 204 for storing instructions executable by processor 201. Wherein the instructions may be computer programs.

The memory 204 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device capable of storing static information and/or instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device capable of storing information and/or instructions, an EEPROM, a CD-ROM (compact disc read-only memory) or other optical disk storage, an optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, etc.

It should be noted that the memory 204 may exist separately from the processor 201 or may be integrated with the processor 201. Memory 204 may be used to store instructions or program code or some data, etc. The memory 204 may be located inside the vehicle control device 200 or outside the vehicle control device 200, and is not limited. The processor 201 is configured to execute instructions stored in the memory 204 to implement a vehicle control method provided in the following embodiments of the present application.

In one example, processor 201 may include one or more CPUs, such as CPU0 and CPU1 in fig. 3.

As an alternative implementation, the vehicle control device 200 includes a plurality of processors, for example, the processor 205 may be included in addition to the processor 201 in fig. 3.

It should be noted that the constituent structures shown in fig. 3 do not constitute limitations of the respective apparatuses in fig. 1, and that the respective controllers in fig. 1 may include more or less components than those shown in fig. 3, or may combine some components, or may be arranged differently, in addition to those shown in fig. 3.

In the embodiment of the application, the chip system may be formed by a chip, and may also include a chip and other discrete devices.

Further, actions, terms, etc. referred to between embodiments of the present application may be referred to each other without limitation. In the embodiment of the present application, the name of the message or the name of the parameter in the message, etc. interacted between the devices are only an example, and other names may also be adopted in the specific implementation, and are not limited.

The vehicle control method provided in the embodiment of the present application is described below with reference to the vehicle control system shown in fig. 1.

The embodiment of the present application is illustrated by taking an application to a controller as an example, as shown in fig. 4, the method includes the following steps S301 to S304:

S301, the controller determines that a turning road exists in a preset distance in the running direction of the vehicle.

The vehicle running direction refers to the extending direction of the vehicle along the current running road, and the preset distance can be set according to the requirement. For example, 200 meters, 300 meters, 400 meters, etc., can be used without limitation.

As a possible implementation manner, the controller may acquire a bending angle of a road within a preset distance in front of the vehicle through map data and vehicle GPS information, and determine whether a turning road exists within the preset distance in the driving direction of the vehicle according to the bending angle of the road.

It should be noted that the bending angle refers to an angle between the current road and the road at the other side of the curve. The bending angle ranges from 0 degrees to 180 degrees.

For example, the controller may determine that a turning road exists within a preset distance in the vehicle traveling direction in a case where the bending angle of the road is smaller than the bending angle threshold value. In the case where the curve angle of the road is greater than or equal to the curve angle threshold value, it is determined that the turning road does not exist within the preset distance in the vehicle traveling direction.

Wherein the bending angle threshold value can be set according to the requirement. For example, it may be 120 degrees.

S302, the controller collects an audio signal outside the vehicle, and determines the first sound source position under the condition that the audio signal is a vehicle whistling sound.

The audio signal may include various sounds such as a human voice, a whistle, a mechanical sound, a worm sound, and the like. The first sound source position is a sound source position of a vehicle whistling sound determined using a time difference localization algorithm (time difference of arrival, TDOA).

As a possible implementation, the controller may process the audio signal using a sound discrimination model to obtain the type of audio signal. Further, the controller may process the vehicle whistle according to a time difference localization algorithm to determine the first sound source position when the audio signal is the vehicle whistle.

In this step, the specific description of determining that the audio signal is a whistling sound of the vehicle and determining the position of the first sound source may refer to the description of the subsequent parts, which will not be repeated.

In practical applications, the first sound source position may be represented in longitude and latitude coordinates.

And S303, the controller corrects the first sound source position to obtain the target sound source position.

The vehicle control information is used for prompting a user to turn on the fog lamp.

As a possible implementation manner, the controller may determine whether the first sound source position is located in the road position range, and adjust the first sound source position to be in the road position range to obtain the target sound source position if the first sound source position is not located in the road position range.

For example, the controller may draw a circular pattern centering on the first sound source position, determine an interior point of the circular pattern and the inside of the road, and take the interior point as the target sound source position. Alternatively, the controller may determine an outer tangent point of the circular pattern with the outside of the road after determining the inner tangent point, and take a midpoint of the inner tangent point and the outer tangent point as the target sound source position.

S304, the controller controls the multimedia equipment of the vehicle to identify and output the target sound source position.

The multimedia device may be a vehicle-mounted player or a vehicle display device. For example, the vehicle display device may be an on-vehicle center control screen, or may be a Head Up Display (HUD) located at a front windshield of the vehicle.

As one possible implementation, the controller may input the target sound source position into the map software, and identify the target sound source position in the map software according to coordinates of the target sound source position, and output the target sound source position identified in the map software in the on-vehicle center control screen, and/or in a head-up display at the front windshield of the vehicle.

As yet another possible implementation, the controller may determine a distance of the vehicle from the target sound source position according to the target sound source position and the vehicle position, and output the target sound source position through the in-vehicle player.

In practical application, the controller controls the multimedia device of the vehicle to identify and output the target sound source position, so that the vehicle-mounted voice can inform the user of the vehicle at a distance of how many meters in front of the vehicle, and meanwhile, the position of the opposite vehicle is displayed in the HUD map content of the front windshield.

Based on the technical scheme provided by the application, under the condition that a turning road exists in a preset distance in the running direction of the vehicle, acquiring an audio signal outside the vehicle, and under the condition that the audio signal is a whistling sound of the vehicle, determining the position of a first sound source; therefore, when a turning road does not exist in a preset distance of the running direction of the vehicle, the audio signal can be collected continuously, or the sound source position is determined under the condition that the audio signal is not the whistle of the vehicle, so that the resource consumption of the vehicle is reduced, and the first sound source position is the sound source position of the whistle of the vehicle determined by using a time difference positioning algorithm, so that the sound source position can be determined only by whistle without data interaction with the coming vehicle of the turning road, the problem of inaccurate sound source position positioning caused by network delay and the like is solved, and the accuracy of determining the sound source position is improved. Further, the first sound source position is corrected to obtain the target sound source position, so that errors of the sound source position deviated from the road caused by a sensor for collecting the audio signals or other factors can be effectively eliminated, and the accuracy of determining the sound source position can be further improved. In addition, through controlling the multimedia equipment identification of the vehicle and outputting the target sound source position, the vehicle position of the user turning road can be timely reminded under the condition that the user cannot effectively hear the vehicle whistle caused by window closing running or noisy in-vehicle environment of the user, and the vehicle running safety is improved in the road condition with the turning road.

In some embodiments, as shown in fig. 5, in order to determine the first sound source position, the vehicle control method of the present application may further include S401 to S402 described below.

S401, the controller determines positions of a plurality of audio acquisition devices in the vehicle, and time differences of whistling sounds of the vehicle are acquired by each audio acquisition device.

The plurality of audio acquisition devices are used for acquiring audio signals outside the vehicle.

As one possible implementation, the controller may determine the location of the vehicle from GPS and determine the locations of the plurality of audio acquisition devices from the vehicle location. For example, the controller may determine a location of a vehicle center point from the GPS and determine a location of a plurality of audio acquisition devices in the vehicle based on the location of the vehicle center point and a coordinate distribution of the plurality of audio acquisition devices in the vehicle.

Further, the controller can determine the time for each audio acquisition device to acquire the vehicle whistle, and perform subtraction processing on the time for each audio acquisition device to acquire the vehicle whistle, so as to obtain a time difference for each audio acquisition device to acquire the vehicle whistle.

S402, the controller determines the first sound source position according to the positions and time differences of the plurality of audio acquisition devices.

For example, as shown in fig. 6, in the case where the audio capturing device includes an audio capturing device a, an audio capturing device B, and an audio capturing device C, if the audio capturing device a is located at (X1, y 1), the audio capturing device B is located at (X2, y 2), the audio capturing device C is located at (X3, y 3), the first sound source location X is located at (X, y), the audio capturing device a, the audio capturing device B, and the audio capturing device C receive the audio signal at times t1, t2, and t3, respectively, the controller may determine the locations of the plurality of audio capturing devices in the vehicle according to the following formula one and formula two:

wherein r1 is the distance between the audio acquisition device A and the first sound source position,

r2 is the soundThe distance of the frequency acquisition device B from the first sound source position,

r3 is the distance of the audio collection device C from the first sound source location,c is the speed of light.

In some embodiments, the controller may further establish a virtual coordinate system, determine a position of the first sound source position in the virtual coordinate system, and convert the position of the first sound source position in the virtual coordinate system into longitude and latitude position coordinates according to the longitude and latitude information of the vehicle GPS, so as to determine the first sound source position.

In one possible embodiment, in order to determine the sound source position more accurately, the vehicle control method of the present application may further include the following S501-S502.

S501, the controller determines the road position in the target range.

The distance between the target range and the first sound source position is smaller than a preset distance threshold. The preset distance threshold may be set as desired. For example, 500 meters and the like are possible.

As one possible implementation, the controller may obtain the vehicle location and map data from the network and determine the road location within a target range from the vehicle location based on the vehicle location and map data.

For example, the controller determines the latitude and longitude range of the road within the target range according to the vehicle position.

S502, the controller determines a second sound source position and determines the second sound source position as a target sound source position when the first sound source position is not in the road position within the target range.

The second sound source position is the nearest position to the first sound source position in the road position in the target range.

As one possible implementation, in the case where the first sound source position is not a road position within the target range, the controller may determine a position closest to the first sound source position among the road positions within the target range, and determine the position as the target sound source position.

For example, the controller may continuously increase the search range with the first sound source position as the midpoint until the road position (which may be the point of tangency of the search range edge and the road) is searched for, and determine the second sound source position.

For example, reference may be made to fig. 7 for a schematic view after the first sound source position and the second sound source position.

In one possible embodiment, in order to determine whether the audio signal is a whistling sound of the vehicle, the vehicle control method provided in the embodiment of the present application may further include the following S601-S602.

S601, the controller processes the audio signal by utilizing the sound discrimination model and outputs the binary type of the audio signal.

The sound discrimination model and the binary type can be set according to the requirement. For example, the acoustic discrimination model may be a deep neural network DNN model. The binary type may include a first value and a second value. For example, the first value may be 1 and the second value may be 0.

As one possible implementation, the controller may input the audio signal into the sound discrimination model such that the sound discrimination model processes the audio signal to output a binary type of the audio signal.

S602, the controller determines that the audio signal is a vehicle whistling sound under the condition that the binary type is the target binary type.

Wherein the target binary type may be a first value. For example, it may be 1.

As one possible implementation, the controller may obtain a discrimination signal from the sound discrimination model, and determine whether the binary type is the target binary type according to the discrimination signal.

The judging signals are used for indicating whether the binary type is the target binary type or not, and the judging signals comprise a first judging signal and a second judging signal. The first discrimination signal indicates that the binary type is the target binary type, and the second discrimination signal indicates that the binary type is not the target binary type.

The controller determines the binary type as a target binary type under the condition that the judging signal is determined to be a first judging signal; and the controller determines that the binary type is not the target binary type under the condition that the judging signal is determined to be the second judging signal.

S701, the controller acquires a plurality of groups of sample data.

Wherein each set of sample data includes a sample audio signal and a sample tag for labeling an audio type in the sample audio signal. The audio types include vehicle whistling and non-vehicle whistling.

As one possible implementation, the controller may obtain multiple sets of sample data from a pre-annotation database, which may be images obtained by a vehicle manufacturer from audio collection devices of multiple vehicles.

S702, training a preset deep neural network model by the controller according to a plurality of groups of sample data to obtain the sound discrimination model.

As a possible implementation, the controller may divide the labeled multiple sets of sample data into a training set and a test set according to a preset ratio. And inputting the sample audio signal and the sample label in the training set into a preset deep neural network model for training, and adjusting model parameters in the deep neural network model until the output result is the same as the corresponding sample label, thereby obtaining the trained deep neural network model.

Further, the controller may input the sample audio signal and the sample tag in the test set into the trained deep neural network model, and determine that the trained deep neural network model is a sound discrimination model if the accuracy of the output result is greater than the accuracy threshold.

It should be noted that the preset ratio may be set as needed. For example, the ratio may be 8:1, 6:1, 5:1, or the like. The second threshold may be set as desired. For example, the content may be 80%, 90%, 95%, or the like.

As shown in fig. 8, in one possible embodiment, the vehicle control method of the present application may further include S801 to S806 described below.

S801, the controller determines whether or not a turning road exists within a preset distance of the vehicle traveling direction.

S802, under the condition that a turning road exists in a preset distance in the running direction of the vehicle, the controller collects an audio signal outside the vehicle.

S803, the controller determines whether the audio signal is a vehicle whistling sound.

And S804, the controller determines the first sound source position under the condition that the audio signal is a vehicle whistling sound.

S805, the controller corrects the first sound source position to obtain the target sound source position.

S806, the controller controls the multimedia device of the vehicle to identify and output the target sound source position.

The various schemes in the embodiments of the present application may be combined on the premise of no contradiction.

The embodiment of the present application may divide the functional modules or functional units of the vehicle control device or the controller according to the above method example, for example, each functional module or functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware, or in software functional modules or functional units. The division of the modules or units in the embodiments of the present application is merely a logic function division, and other division manners may be implemented in practice.

In the case of dividing the respective functional modules by the respective functions, fig. 9 shows a schematic configuration of a vehicle control device 900, which may be a controller or a chip applied to the controller, and the vehicle control device 900 may be used to perform the functions of the controller as in the above-described embodiments. The vehicle control apparatus 900 shown in fig. 9 may include: a determining unit 901, an acquiring unit 902, a processing unit 903; a determining unit 901 for determining that a turning road exists at a preset distance in a vehicle traveling direction; the acquisition unit 902 is configured to acquire an audio signal outside the vehicle, and determine a first sound source position if the audio signal is a vehicle whistling sound; the first sound source position is the sound source position of the vehicle whistling sound determined by a time difference positioning algorithm; a processing unit 903, configured to perform correction processing on the first sound source position to obtain a target sound source position; the processing unit 903 is further configured to control the multimedia device of the vehicle to identify and output the target sound source position.

Further, the determining unit 901 is specifically configured to: determining the positions of a plurality of audio acquisition devices in a vehicle, and acquiring the time difference of whistling sounds of the vehicle by each audio acquisition device; the plurality of audio acquisition devices are used for acquiring audio signals outside the vehicle; and determining the first sound source position according to the positions and time differences of the plurality of audio acquisition devices.

Further, the processing unit 903 is specifically configured to: determining a road position in a target range, wherein the distance between the target range and the first sound source position is smaller than a preset distance threshold; determining a second sound source position and determining the second sound source position as a target sound source position in the case that the first sound source position is not at a road position within the target range; the second sound source position is a position closest to the first sound source position among road positions within the target range.

Further, the processing unit 903 is further configured to: processing the audio signal by utilizing the sound discrimination model, and outputting the binary type of the audio signal; the determining unit 901 is further configured to: and determining that the audio signal is a vehicle whistling sound under the condition that the binary type is the target binary type.

Further, the apparatus further comprises: an acquisition unit 904; the obtaining unit 904 is further configured to: acquiring a plurality of groups of sample data; each set of sample data includes a sample audio signal and a sample tag; the sample tag is used for marking the audio type in the sample audio signal; the processing unit 903 is further configured to: training a preset deep neural network model according to a plurality of groups of sample data to obtain a sound discrimination model.

Embodiments of the present application also provide a computer-readable storage medium. All or part of the flow in the above method embodiments may be implemented by a computer program to instruct related hardware, where the program may be stored in the above computer readable storage medium, and when the program is executed, the program may include the flow in the above method embodiments. The computer readable storage medium may be an internal storage unit of the vehicle control apparatus or the controller (including the data transmitting end and/or the data receiving end) of any of the foregoing embodiments, such as a hard disk or a memory of the vehicle control apparatus. The computer readable storage medium may be an external storage device of the vehicle control apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (flash card), or the like, which are provided in the vehicle control apparatus. Further, the computer-readable storage medium may include both the internal storage unit and the external storage device of the vehicle control apparatus. The computer-readable storage medium is used to store the computer program and other programs and data required by the vehicle control apparatus. The above-described computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

The embodiment of the application also provides a vehicle, which comprises the vehicle control system, the controller or the vehicle control device related to the embodiment of the method.

It should be noted that the terms "first" and "second" and the like in the description, claims and drawings of the present application are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

It should be understood that, in the present application, "at least one (item)" means one or more, "a plurality" means two or more, "at least two (items)" means two or three and three or more, "and/or" for describing an association relationship of an association object, three kinds of relationships may exist, for example, "a and/or B" may mean: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and the parts displayed as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions for causing a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that the method comprises:

determining that a turning road exists within a preset distance in the running direction of the vehicle;

collecting an audio signal outside a vehicle, and determining a first sound source position under the condition that the audio signal is a vehicle whistling sound; the first sound source position is the sound source position of the vehicle whistling sound determined by a time difference positioning algorithm;

correcting the first sound source position to obtain a target sound source position;

and controlling the multimedia equipment of the vehicle to identify and output the target sound source position.

2. The method of claim 1, wherein the determining the first sound source location comprises:

determining the positions of a plurality of audio acquisition devices in the vehicle, and acquiring the time difference of the whistling sound of the vehicle by each audio acquisition device; the plurality of audio acquisition devices are used for acquiring audio signals outside the vehicle;

And determining the first sound source position according to the positions of the plurality of audio acquisition devices and the time difference.

3. The method of claim 1, wherein the correcting the first sound source position to obtain the target sound source position includes:

determining a road position in a target range, wherein the distance between the target range and the first sound source position is smaller than a preset distance threshold;

determining a second sound source position and determining the second sound source position as the target sound source position in the case that the first sound source position is not located at a road position within the target range; the second sound source position is a position closest to the first sound source position among road positions within the target range.

4. A method according to any one of claims 1-3, characterized in that the method further comprises:

processing the audio signal by utilizing a sound discrimination model, and outputting the binary type of the audio signal;

and under the condition that the binary type is the target binary type, determining that the audio signal is the vehicle whistling sound.

5. The method according to claim 4, wherein the method further comprises:

Acquiring a plurality of groups of sample data; each set of sample data includes a sample audio signal and a sample tag; the sample tag is used for marking the audio type in the sample audio signal;

and training a preset deep neural network model according to the plurality of groups of sample data to obtain the sound discrimination model.

6. A vehicle control apparatus, characterized in that the apparatus comprises: the device comprises a determining unit, an acquisition unit and a processing unit;

the determining unit is used for determining that a turning road exists in a preset distance in the running direction of the vehicle;

the acquisition unit is used for acquiring an audio signal outside the vehicle and determining a first sound source position under the condition that the audio signal is a vehicle whistling sound; the first sound source position is the sound source position of the vehicle whistling sound determined by a time difference positioning algorithm;

the processing unit is used for correcting the first sound source position to obtain a target sound source position;

the processing unit is also used for controlling the multimedia equipment of the vehicle to identify and output the target sound source position.

7. The apparatus according to claim 6, wherein the determining unit is specifically configured to:

8. A vehicle control system, characterized in that the vehicle control system includes a controller,

the controller is configured to perform the method of any one of claims 1 to 5.

9. A vehicle comprising the vehicle control system according to claim 8.

10. A computer readable storage medium, characterized in that, when computer-executable instructions stored in the computer readable storage medium are executed by a processor of an electronic device, the electronic device is capable of performing the method of any one of claims 1 to 5.