EP3607546B1 - Vorrichtung zur aktiven steuerung der schalldämmung in einem passagierraum eines autonomen fahrzeugs - Google Patents

Vorrichtung zur aktiven steuerung der schalldämmung in einem passagierraum eines autonomen fahrzeugs Download PDF

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Publication number
EP3607546B1
EP3607546B1 EP18720766.7A EP18720766A EP3607546B1 EP 3607546 B1 EP3607546 B1 EP 3607546B1 EP 18720766 A EP18720766 A EP 18720766A EP 3607546 B1 EP3607546 B1 EP 3607546B1
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Prior art keywords
sound signals
vehicle
phase
control means
driving phase
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EP18720766.7A
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English (en)
French (fr)
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EP3607546A1 (de
Inventor
Jean Luc POGNON
Saran DIAKITE KABA
Franck BREVET
Sandrine Delenne
Virgile CHARTON
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Stellantis Auto SAS
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PSA Automobiles SA
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    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
    • G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
    • G10K2210/10—Applications
    • G10K2210/128—Vehicles
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
    • G10K2210/10—Applications
    • G10K2210/128—Vehicles
    • G10K2210/1282—Automobiles

Definitions

  • the invention relates to self-driving vehicles, possibly of the automobile type, and more specifically to the control of audible sounds in the passenger compartments of such vehicles.
  • Autonomous driving vehicles generally of the automotive type, include an assistance device responsible for driving them without their driver acting on their steering wheel. Some of them can be driven by their driver during a manual driving phase, or completely autonomously during an autonomous driving phase, and there is a transition phase occurring between an autonomous driving phase and a manual driving.
  • an autonomous driving phase it is the assistance device that completely manages the driving, whether or not there is a driver in the vehicle.
  • the driver regains complete control of driving after prompting (for example visual or audible) from the vehicle, and therefore the assistance device ceases to control the vehicle.
  • the assistance device takes control of the driving and therefore the driver ceases to control the vehicle, depending on the level of automation.
  • an autonomous driving vehicle When an autonomous driving vehicle is in a (fully) autonomous driving phase, its driver can do what he pleases, and in particular rest, read, work, telephone, chat or eat. In these situations, it frequently happens that the driver wishes to be quiet in the passenger compartment. However, this calm is very rarely present due to the many sounds generated in the environment outside his vehicle. Consequently, the driver generally does not benefit from all the advantages conferred by an autonomous driving phase.
  • a first filter stage comprises a reference microphone for the detection of a noisy signal and a filter
  • a noise cancellation stage comprises an acoustic path connected to the output of the filter stage, and an electrical path is connected to the output of the filter stage.
  • the object of the invention is in particular to improve the situation.
  • a control device intended to equip a vehicle capable of being driven by a driver during a manual driving phase and comprising a passenger compartment equipped with at least one loudspeaker capable of broadcasting sound signals and an assistance device capable of driving it completely autonomously during a phase of autonomous driving
  • the control device comprising: i) acquisition means suitable for being secured to said vehicle and for recording first sound signals present in the external environment of said vehicle (VA), and ii) own control means, during an autonomous driving phase, in generating second sound signals in phase opposition with said first recorded sound signals, and in supplying said loudspeaker with these second determined sound signals so that their diffusion induces in said passenger compartment an at least partial cancellation of said first sound signals, said control means are capable, at the start of an autonomous driving phase, of gradually increasing an amplitude of the second sound signals determined up to an amplitude substantially equal to an amplitude of the first sound signals recorded in said external environment of the vehicle, the control means are suitable for being informed by the assistance device of the driving phase in which their vehicle is located at the moment
  • the invention also proposes a vehicle, possibly of the automobile type, capable of being driven by a driver during a manual driving phase, and comprising a passenger compartment equipped with at least one loudspeaker capable of broadcasting sound signals and a device for assistance specific to driving it completely autonomously during an autonomous driving phase.
  • This vehicle is characterized in that it includes a control device of the type presented above.
  • the object of the invention is in particular to propose a DC control device intended to equip a self-driving vehicle VA in order to actively control the sound insulation in the passenger compartment H of the latter (VA).
  • autonomous driving vehicle is understood here to mean a vehicle which includes an assistance device DA responsible for driving it without a passenger acting on the steering wheel, and which can be activated or deactivated (at least partially) in order to allow a driver to drive it during a pcm manual driving phase. Consequently, such a vehicle can be driven by a driver during a manual driving phase pcm, completely autonomously during an autonomous driving phase pca (under control of his assistance device DA), and autonomously then manually during a transition phase pt occurring between an autonomous driving phase pca and a manual driving phase pcm (handover from the assistance device DA to the driver).
  • the assistance device DA ensures the control of the autonomous vehicle VA depending, in particular, on information relating to the external environment of the autonomous vehicle VA and provided at least by means of analysis of the external environment on board the latter (GO). To do this, the assistance device DA permanently determines the optimal trajectory of the autonomous vehicle VA in the context of automated driving, and, during each phase of autonomous driving pca, it controls the angle of the steering wheel and the speed of the autonomous vehicle VA so that the latter (VA) best follows the determined optimal trajectory.
  • the autonomous vehicle VA is of the automobile type. This is for example a car. But the invention is not limited to this type of vehicle. It relates in fact to any type of autonomous driving vehicle, and therefore not only land vehicles, but also maritime (or river) vehicles, such as for example river taxis, and aircraft.
  • an autonomous vehicle VA comprising a passenger compartment H equipped with at least one loudspeaker HP (here two) suitable for broadcasting sound signals, an assistance device DA, responsible for driving it without a driver acts on his steering wheel, and an embodiment of a DC control device according to the invention.
  • a control device DC comprises at least acquisition means MA and control means MC.
  • control means MC are part of a computer C1, which optionally performs at least one other function within the (autonomous) vehicle VA, and which is preferably connected to the communication network of the vehicle VA (possibly of the multiplexed type and allowing the exchange of information between on-board electronic equipment).
  • the control device DC comprises its own computer comprising its control means MC and connected to the possible communication network of the vehicle VA.
  • the control means MC can be produced in the form of software modules (or “software”) or else of a combination of electronic circuits or components (or “hardware”) and software modules.
  • the acquisition means MA are suitable for being secured to the vehicle VA, outside its passenger compartment H. These acquisition means MA are suitable for recording first sound signals S1 present in the external environment of the vehicle VA. To this end, they can, for example, include at least one microphone. It will be noted that it is advantageous to provide at least two microphones, for example to obtain a “stereophonic” sound image. In the latter case, it is possible, for example, to install them respectively on two lateral sides of the vehicle and/or one at the front of the vehicle and one at the rear of the vehicle. For example, each microphone can be installed in a bumper (or shield) or an exterior mirror.
  • the recording is done by digital sampling.
  • the acquisition means MA transmit them “on the fly” (or in real time) to the control means MC, possibly via the communication network of the vehicle VA.
  • the control means MC are suitable, during an autonomous driving phase pca, for generating second sound signals S2 in phase opposition with the first recorded sound signals S1. Then, they provide at least one loudspeaker HP present in the passenger compartment H of the vehicle VA with these second determined sound signals S2 so that their broadcast induces in the passenger compartment H at least partial cancellation of the first sound signals S1 present in the passenger compartment H. outside and normally audible to passengers in the absence of these second sound signals S2.
  • control means MC construct, during an autonomous driving phase pca, second sound signals S2 whose combination (or superposition) with the first sound signals S1 results in third sound signals S3 whose amplitude Ass is almost flat in time (t) and close to zero (0), as shown schematically in the illustrative example of the figure 2 .
  • This effect of at least partial cancellation of the first sound signals S1 results from the fact that the sound signals are pressure waves, and therefore the combination (or superposition) of two pressure waves in perfect phase opposition and with similar amplitudes induces opposing and therefore canceling pressures.
  • control means MC can be suitable, at the start of an autonomous driving phase pca, for gradually increasing the amplitude of the second sound signals S2 determined up to an amplitude A S2 substantially equal to the amplitude A S1 of the first sound signals S1 recorded in the external environment of the vehicle VA.
  • This makes it possible to gradually introduce calm into the passenger compartment H, rather than imposing this calm suddenly (when the amplitude A S2 of the second sound signals S2 determined is immediately substantially equal to the amplitude A S1 of the first sound signals S1 recorded, which is a possible alternative).
  • control means MC can be suitable for applying a progressiveness of the increase in amplitude A S2 (of the second sound signals S2) which has been previously parameterized by a user of the vehicle VA.
  • the progressiveness can, for example, be configured in terms of duration to tend towards a maximum amplitude A S2 (and therefore towards a minimum amplitude Ass) and/or the profile of the increase (for example linear or in x n ( with n ⁇ 2) or exponential).
  • control means MC can be informed by the assistance device DA of the driving phase in which their vehicle VA is located at the moment in question (pca, pt or pcm), or via a direct connection between the computer C1 and the assistance device DA, or indirectly via another computer and/or the possible communication network of the vehicle VA.
  • At least two operating modes can be envisaged during the transition phases pt between an autonomous driving phase pca and a manual driving phase pcm.
  • control means MC can be capable, during a transition phase pt between an autonomous driving phase pca and a manual driving phase pcm, of ceasing to generate second sound signals S2.
  • control means MC in this first mode of operation, as soon as the control means MC are informed of the start of such a transition phase pt, they immediately stop generating (and therefore determining) second sound signals S2, so that the passengers of the vehicle VA hear normally and immediately the first sound signals S1 present in the external environment of the vehicle VA. The driver is therefore immediately reintegrated into the road environment (which may have completely changed with respect to that which prevailed at the start of the autonomous driving phase pca which has just ended), from the start of the transition phase pt.
  • the control means MC can be suitable, during a transition phase pt between an autonomous driving phase pca and a manual driving phase pcm, to gradually reduce the amplitude of the second sound signals S2 determined until 'at zero amplitude, so that their diffusion gradually makes audible in the passenger compartment H the first sound signals S1 present in the external environment of the vehicle VA.
  • the driver is therefore gradually reintegrated into the road environment (which may have completely changed compared to that which prevailed at the start of the autonomous driving phase pca which has just ended), during the transition phase pt so that he can best manage regaining control of your AV vehicle without being surprised by events on the road.
  • the third sound signals S3, resulting from the superposition of the first S1 and second S2 sound signals have a waveform substantially identical to that of the first sound signals S1 while having an amplitude Ass which increases progressively up to to reach an amplitude slightly lower than that of the first sound signals S1 (since S3 is measured in the passenger compartment H while S1 is measured outside the passenger compartment H).
  • control means MC can be suitable for applying a progressiveness of the reduction in amplitude A S2 (of the second sound signals S2) which has been previously parameterized by a user of the vehicle VA.
  • the progressiveness can, for example, be configured in terms of duration to tend towards a minimum amplitude A S2 (and therefore towards a maximum amplitude Ass) and/or the profile of the reduction (for example linear or in x n (with n ⁇ 2) or exponential). This is only a non-limiting example of implementation, since many other configuration possibilities can be envisaged.
  • control means MC are suitable, during a manual driving phase pcm, for not generating second sound signals S2, so that the driver normally hears the first sound signals S1 present in the external environment of the vehicle VA .
  • This situation of non-intervention is illustrated in the left part of the diagram of the picture 3 .
  • the third sound signals S3 heard by the passengers of the vehicle VA result solely from the first sound signals S1 present in the external environment of the vehicle VA.
  • Their waveform is identical to that of the first sound signals S1, while their amplitude Ass is slightly lower than the amplitude A S1 of the first external sound signals S1 due to the passive sound insulation of the passenger compartment H conferred by its construction.
  • For sound insulation during a manual driving phase it is possible to consider using a threshold not to be exceeded.
  • control means MC can be suitable, after having canceled the amplitude A S2 of the second sound signals S2 determined, to gradually increase the amplitude of the first sound signals S1 recorded up to a predefined value, in order to generate first amplified sound signals which are broadcast by the (each) loudspeaker HP in the passenger compartment H.
  • the control means MC will do broadcast in the passenger compartment H first sound signals S1' whose waveform is identical to that of the first sound signals S1 recorded in the external environment of the vehicle VA, in order to reinforce the amplitude of the first sound signals S1 heard in the passenger compartment H.
  • the driver finds himself, in a way, very temporarily immersed in the road environment almost as if he were outside his vehicle AV, in order to allow him to become even more aware of the latter .
  • control means MC can be suitable, during a transition phase pt between an autonomous driving phase pca and a manual driving phase pcm, to trigger the diffusion by the (each) loudspeaker HP of at least at least one predefined alert signal in the passenger compartment H.
  • This alert signal is intended to alert the driver to the fact that the assistance device DA is going to give him back control of the vehicle VA and of the possible existence of a danger detected in the external environment (such as an overtaking in progress by another vehicle or the presence of a cyclist or a pedestrian in the immediate vicinity).
  • It can be a dedicated melody (or sound signal) or a synthesized voice message (for example reminding the driver of the actions that he must perform and/or of a detected danger).
  • control means MC can be suitable, during an autonomous driving phase pca, for ceasing to generate (and therefore to determine) second sound signals S2 in the event of reception of an insulation stop command active sound provided by a passenger in the vehicle VA, via a man/machine interface.
  • This option is intended to request the DC control device to temporarily stop canceling the first sound signals S1 for the current autonomous driving phase pca.
  • the supply of the command can be done by selecting an option in a menu displayed on a screen of the vehicle VA (for example forming part of the central handset) or by pressing on a command or even by pronouncing a dedicated expression (such as "sound insulation stop").
  • control means MC may no longer generate (and therefore no longer determine) second sound signals S2 in the event of receipt of an active sound insulation deactivation command supplied by a passenger of the vehicle VA .
  • This option is intended to request the control device DC to permanently stop actively controlling the first audible signals S1 regardless of the driving phase considered.
  • the supply of the command can be done by selecting an option in a menu displayed on a screen of the vehicle VA (for example forming part of the central handset) or by pressing on a control member or even by pronouncing an expression dedicated (such as "sound insulation deactivation").

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  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
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Claims (9)

  1. Steuergerät (DC) für ein Fahrzeug (VA), das von einem Fahrer während einer manuellen Fahrphase gelenkt werden kann und einen Fahrgastraum (H) umfasst, der mit mindestens einem Lautsprecher (HP) ausgestattet ist, der Tonsignale und eine Unterstützung abgeben kann Gerät (DA), das in der Lage ist, es während einer autonomen Fahrphase völlig autonom zu fahren, wobei das Steuergerät Folgendes umfasst: i) Erfassungsmittel (MA), die am Fahrzeug (VA) befestigt werden können und erste in der Außenumgebung des Fahrzeugs vorhandene Schallsignale aufzeichnen können das Fahrzeug (VA) und ii) Steuermittel (MC), die in der Lage sind, während einer autonomen Fahrphase zweite Tonsignale in Gegenphase zu den ersten aufgezeichneten Tonsignalen zu erzeugen und den Lautsprecher (HP) mit diesen zweiten bestimmten Tonsignalen zu versorgen so dass ihre Ausstrahlung im Fahrgastraum (H) eine zumindest teilweise Löschung der ersten Tonsignale bewirkt,
    dadurch gekennzeichnet, dass die Steuermittel (MC) dazu geeignet sind, zu Beginn einer Phase des autonomen Fahrens eine Amplitude der zweiten ermittelten Schallsignale schrittweise bis zu einer Amplitude zu erhöhen, die im Wesentlichen gleich einer Amplitude der ersten Schallsignale ist, die in dem externen Gerät aufgezeichnet wurden Umgebung des Fahrzeugs (VA),
    die Steuermittel (MC) dazu geeignet sind, von der Assistenzeinrichtung (DA) entweder über eine direkte Verbindung zwi- schen , informiert zu werden, in welcher Fahrphase sich ihr Fahrzeug (VA) gerade befindet (pca, pt oder pcm). einen Computer (C1), der Teil des Steuergeräts (DC) ist und das Steuermittel (MC) und das Assistenzgerät (DA) umfasst, entweder indirekt über einen anderen Computer und/oder ein Fahrzeugkommunikationsnetzwerk (VA).
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Steuermittel (MC) in der Lage sind, während einer Übergangsphase zwischen einer autonomen Fahrphase und einer manuellen Fahrphase die Erzeugung zweiter Tonsignale einzustellen.
  3. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Steuermittel (MC) in der Lage sind, während einer Übergangsphase zwischen einer autonomen Fahrphase und einer manuellen Fahrphase eine Amplitude der zweiten ermittelten Schallsignale schrittweise bis auf die Amplitude Null zu reduzieren , so dass ihre Verbreitung die ersten Tonsignale allmählich im Fahrgastraum (H) hörbar macht.
  4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass die Steuermittel (MC) geeignet sind, eine vom Benutzer des Fahrzeugs (VA) eingestellte Progressivität der Amplitudenabnahme anzuwenden.
  5. Vorrichtung nach einem der Ansprüche 3 und 4, dadurch gekennzeichnet, dass die Steuermittel (MC) dazu geeignet sind, nach der Löschung der Amplitude der zweiten ermittelten Tonsignale die Amplitude der ersten aufgezeichneten Tonsignale schrittweise zu erhöhen, bis 'to' erreicht ist einen vordefinierten Wert, so dass diese ersten verstärkten Tonsignale über den Lautsprecher (HP) im Fahrgastraum (H) ausgestrahlt werden.
  6. Vorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Steuermittel (MC) in der Lage sind, während einer Übergangsphase zwischen einer autonomen Fahrphase und einer manuellen Fahrphase die Verbreitung durch den Lautsprecher (HP) auszulösen mindestens ein vordefiniertes Alarmsignal im Fahrgastraum (H).
  7. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Steuermittel (MC) in der Lage sind, während einer Phase des autonomen Fahrens die Erzeugung zweiter Tonsignale einzustellen, wenn ein Befehl zur Stopp-Schalldämmung empfangen wird, der durch bereitgestellt wird ein Passagier dieses Fahrzeugs (VA).
  8. Vorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Steuermittel (MC) dazu ausgelegt sind, bei Empfang eines von einem Passagier des Fahrzeugs (VA) gelieferten Befehls zur Deaktivierung der Schalldämmung keine zweiten Tonsignale mehr zu erzeugen ).
  9. Fahrzeug (VA), das von einem Fahrer während einer manuellen Fahrphase gefahren werden kann und einen Fahrgastraum (H) umfasst, der mit mindestens einem Lautsprecher (HP), der Tonsignale aussenden kann, und einem fahrfähigen Assistenzgerät (DA) ausgestattet ist es während einer autonomen Fahrphase völlig autonom fährt, dadurch gekennzeichnet, dass es weiterhin ein Steuergerät (DC) nach einem der vorhergehenden Ansprüche umfasst.
EP18720766.7A 2017-04-04 2018-03-23 Vorrichtung zur aktiven steuerung der schalldämmung in einem passagierraum eines autonomen fahrzeugs Active EP3607546B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1752910A FR3064806B1 (fr) 2017-04-04 2017-04-04 Dispositif de controle actif de l’isolation phonique dans l’habitacle d’un vehicule autonome
PCT/FR2018/050716 WO2018185395A1 (fr) 2017-04-04 2018-03-23 Dispositif de contrôle actif de l'isolation phonique dans l'habitacle d'un véhicule autonome

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EP3607546A1 EP3607546A1 (de) 2020-02-12
EP3607546B1 true EP3607546B1 (de) 2023-09-06

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US (1) US10902836B2 (de)
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DE102020102304A1 (de) * 2020-01-30 2021-08-05 Webasto SE Dachmodul mit Dachhaut
CN113470606A (zh) * 2020-03-30 2021-10-01 上海擎感智能科技有限公司 车内主动降噪的实现方法、系统、介质及装置
JP7347368B2 (ja) * 2020-08-20 2023-09-20 トヨタ自動車株式会社 情報処理装置、情報処理方法、及び情報処理プログラム

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JP4314212B2 (ja) * 2005-05-30 2009-08-12 本田技研工業株式会社 車両用能動型騒音・振動・効果音発生制御システム及び該システムが搭載された車両
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FR3064806A1 (fr) 2018-10-05
EP3607546A1 (de) 2020-02-12
US20200168200A1 (en) 2020-05-28
US10902836B2 (en) 2021-01-26
WO2018185395A1 (fr) 2018-10-11
CN110476205B (zh) 2023-07-25
CN110476205A (zh) 2019-11-19
FR3064806B1 (fr) 2019-09-27

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