KR20130046779A - Appratus and method for estimating direction of sound source - Google Patents

Appratus and method for estimating direction of sound source Download PDF

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KR20130046779A
KR20130046779A KR1020110111348A KR20110111348A KR20130046779A KR 20130046779 A KR20130046779 A KR 20130046779A KR 1020110111348 A KR1020110111348 A KR 1020110111348A KR 20110111348 A KR20110111348 A KR 20110111348A KR 20130046779 A KR20130046779 A KR 20130046779A
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acoustic sensors
sound source
estimated
estimating
acoustic
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KR1020110111348A
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Korean (ko)
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고한석
손수원
윤종성
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고려대학교 산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/8083—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems determining direction of source
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/20—Position of source determined by a plurality of spaced direction-finders

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention proposes an apparatus and method for estimating the direction of a sound source using at least three acoustic sensors having an arrangement form having at least one bend inside the vehicle and positioned at an end point or a bend point in the arrangement form.
To this end, an arrival delay time is estimated for each pair of acoustic sensors that can be configured by the at least three acoustic sensors based on electrical signals output from each of the at least three acoustic sensors by one sound source. And performing the minimum filtering on the correlation values estimated from all pairs of acoustic sensors measured at all azimuth angles centering on the at least three acoustic sensors based on the arrival delay time estimated for each pair of acoustic sensors. Estimate the direction for the sound source.

Description

Apparatus and method for sound source direction estimation {APPRATUS AND METHOD FOR ESTIMATING DIRECTION OF SOUND SOURCE}

The present invention relates to an apparatus and method for estimating the direction of a sound source, and more particularly to an apparatus and method for estimating the direction of a sound source using a plurality of acoustic sensors.

In general, to estimate the direction of a sound source, a structure in which a plurality of microphones are arranged in a straight line or a circle is used. This is called the 'microphone array structure'.

For example, a system having a linear microphone array structure may correspond to a direction of a sound source within a 180 ° range. However, the front and back can not be distinguished, the accuracy of the direction detection for the sound source located near both sides is inferior.

In contrast, a system having a circular microphone array structure can cope with all 360 ° orientations. However, even in this case, when using the directional microphone to receive the voice signal, it is possible to receive only the sound within the direction angle. In order to receive a signal by detecting a direction of a sound source located in an arbitrary direction, hardware elements such as a microphone and an analog / digital (A / D) converter are required to increase, as well as a calculation cost for signal processing.

In general, a method for estimating the direction of a sound source may be classified into a beamforming based method, a high resolution spectrum estimation based method, and a delay time difference based method.

The beamforming based method has a relatively simple calculation method. However, the resolution of position estimation is low and requires a prior art and a sensor array composed of multiple microphones such as signal and signal models of background noise.

The high resolution spectrum estimation based method has more robust characteristics than the beamforming based method. However, most of them are based on the use of a large number of linearly arranged microphone array structures, which is not suitable for a system that estimates directions by placing a small number of microphones in a general form.

The delay time difference-based method assumes that the sound wave reaches parallel to each microphone by considering the sound source as an infinite origin, and thus, if the distance between the sound source and the microphone is close, the assumption may not be appropriate and an error may increase. In addition, in a noisy real environment, the accuracy is low, and the frequency of misrecognition may increase.

In order to improve the problems of the conventional method of estimating the direction of a sound source classified into a beamforming based method, a high resolution spectrum estimation based method, and a delay time difference based method, Korean Laid-Open Patent Publication No. 10-2008-0071196 discloses We propose a method for estimating the direction of a sound source existing at an arbitrary position in real time by inversely estimating the correlation between the position of the sound source and the delay time difference by receiving a signal through a microphone array in which three microphones are arranged in a triangle shape. Doing.

However, most of the conventional methods for estimating the direction of a sound source have difficulty in estimating the direction of an accurate sound source without considering acoustic reflection.

An embodiment of the present invention provides an apparatus and method for estimating the position of a sound source based on a transmission direction of ambient sound.

In addition, an embodiment of the present invention provides a sound source direction estimation apparatus and method for predicting the direction of the volume delivered from one sound source in a vehicle having at least three acoustic sensors.

In addition, an embodiment of the present invention provides a signal processing application technology for a driver interface in the vehicle field, and provides an apparatus and method for estimating the direction of a sound source generated around a vehicle to warn a driver.

Method of estimating the direction of a sound source using at least three acoustic sensors having an arrangement form having at least one bend inside the vehicle according to an embodiment of the present invention, the end form or bent point in the arrangement form, one Estimating arrival delay time for each pair of acoustic sensors that may be configured by the at least three acoustic sensors based on electrical signals output from each of the at least three acoustic sensors by a sound source of the; The single sound source is performed by performing minimum filtering on correlation values estimated from all pairs of acoustic sensors measured at all azimuth angles centering on the at least three acoustic sensors, based on the estimated delay time of each pair of acoustic sensors. Estimating the direction for.

In addition, the apparatus for estimating the direction of the sound source in the vehicle according to an embodiment of the present invention, has an array form having at least one bend inside the vehicle, at least three acoustic sensors located at the end point or bent point in the arrangement form And reaching estimating arrival delay time for each pair of acoustic sensors that can be configured by the at least three acoustic sensors based on electrical signals output from each of the at least three acoustic sensors by one sound source. Minimum filtration for the correlation value estimated in the pair of delay time estimator and all acoustic sensors measured at all azimuth angles centering on the at least three acoustic sensors based on the arrival delay time estimated for each pair of acoustic sensors And a sound source direction estimator for estimating a direction of the single sound source.

The method of estimating the sound source direction according to an embodiment of the present invention provides an effect of accurately estimating the direction of a desired sound source in an environment in which ambient noise exists, such as a vehicle.

Meanwhile, various other effects will be directly or implicitly disclosed in the detailed description according to the embodiment of the present invention to be described later.

1 is a view showing an example of an acoustic sensor array according to an embodiment of the present invention;
2 is a diagram illustrating an example in which an acoustic sensor array is installed in a vehicle according to an exemplary embodiment of the present disclosure;
3 is a view showing an example of the configuration of the sound source direction estimation apparatus according to an embodiment of the present invention;
4 is a view showing a control flow performed by the sound source direction estimation apparatus according to an embodiment of the present invention to estimate the sound source direction;
5 is a diagram illustrating an example of a virtual sound source;
6 shows an example of an estimated GCC through a pair of a first acoustic sensor composed of a first acoustic sensor and a second acoustic sensor;
7 shows an example of a GCC estimated through a pair of a second acoustic sensor composed of a second acoustic sensor and a third acoustic sensor;
FIG. 8 shows examples of phases and waveforms that can be obtained when applying the minimum filtration technique to the two correlation waveforms shown in FIGS. 6 and 7;
9 is a diagram illustrating an example of displaying a direction of a sound source estimated through a head-up display provided in a vehicle.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intentions or customs of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification.

An embodiment of the present invention to be described later will be described in detail a method for selectively restoring only samples satisfying a desired level when restoring a data box according to a multimedia service.

The sound source localization technique proposed in the embodiment of the present invention is generally used to estimate the direction of a sound source that delivers the received sound through the sound received through the acoustic sensors.

To this end, in an embodiment of the present invention, after estimating the direction of unexpected noise generated around the vehicle by using a sound source direction estimation technique, the driver may visually display a head-up display (HUD) such as a head-up display. We will propose a system that warns through a display device that can achieve the effect.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 shows an example of an acoustic sensor array according to an exemplary embodiment of the present invention. Although FIG. 1 shows an example of an acoustic sensor array in which three acoustic sensors are arranged, it will be sufficient for those skilled in the art to implement an acoustic sensor array using more acoustic sensors.

Referring to FIG. 1, the three acoustic sensors 110, 112, and 114 are spaced apart from each other at predetermined intervals. For example, acoustic sensor 1 110 and acoustic sensor 2 112 are spaced apart by d mic12 distance, and acoustic sensor 2 112 and acoustic sensor 3 114 are spaced apart by d mic 23 distance.

In addition, the acoustic sensor array by the three acoustic sensors 110, 112, 114 has an arrangement form having at least one bend. The three acoustic sensors 110, 112, 114 are located at the end or angled points in the arrangement.

Each of the three acoustic sensors 110, 112, and 114 senses sound generated by the same sound source and outputs an electrical signal according to the detected sound. In this case, even though the same sound source is generated, the sounds detected by each of the three acoustic sensors 110, 112, and 114 may be different from each other. This is because the transmission channels are different from each other, for example, by the distance from one sound source to another acoustic sensor. In addition, the acoustic sensor may detect not only the real sound but also the virtual sound according to the installed position and the sound by other sound sources in addition to the real sound source. This will be described in more detail with reference to FIG. 5.

Meanwhile, in the embodiment of the present invention, at least three acoustic sensors are used to accurately estimate the direction of the sound source. For example, at least three acoustic sensors are needed to estimate the direction of an unexpected sound source generated around a vehicle. If the two acoustic sensors are used, only the direction of the sound source can be found for the sound generated within 180 degrees due to the symmetry between the front and the back. However, placing three or more acoustic sensors in a straight line can cause the same problems as using two acoustic sensors.

Therefore, in the acoustic sensor array according to the exemplary embodiment of the present invention shown in FIG. 1, the three acoustic oaths are arranged such that at least one bend does not exist in a straight line. As such, when arranging at least three acoustic sensors so that at least one bend exists, the range for estimating the direction of the sound source can be extended to 360 degrees.

2 illustrates an example in which an acoustic sensor array is installed in a vehicle according to an exemplary embodiment of the present invention. 2 shows an example in which an array of three acoustic sensors is installed inside a vehicle.

Referring to FIG. 2, in order to estimate the position of the sound source, that is, the direction of the sound transmitted from the sound source, it is necessary to select a position to arrange the acoustic sensors. For this purpose, it is preferable that the acoustic sensor array is installed at a position where it is easy to receive the sound transmitted from the sound source to be estimated.

For example, in order to estimate the direction of sound transmitted from a sound source outside the vehicle, it may be best to install an acoustic sensor outside the vehicle. However, when the vehicle is driving, the acoustic sensor may not work properly due to wind noise.

Thus, as shown in Figure 2 it may be most suitable to install the acoustic sensor to the ceiling of the driver's seat in the vehicle. In this case, when the speed of the vehicle increases, the noise in the vehicle increases, but since the engine sound or the vibration sound is directional noise, it does not affect the position estimation for the sound source.

Meanwhile, in FIG. 2, the distance between the acoustic sensors is limited to 45 centimeters (cm), but the distance between the acoustic sensors is not limited thereto.

The embodiment of the present invention is applied to a vehicle as shown in FIG. 2, in order to provide safety and convenience of a driver through various sensors as well as mechanical development due to rapid development of the automobile industry.

Generally, a laser sensor or a camera sensor is used in a vehicle, but it is possible to provide safety by providing more information to the driver by using an acoustic sensor.

Figure 3 shows an example of the configuration of the sound source direction estimation apparatus according to an embodiment of the present invention. Although FIG. 3 illustrates a sound source direction estimating apparatus having three sound sensors to estimate the sound source direction, it may be possible to include more sound sensors.

Referring to FIG. 3, three acoustic sensors 310a, 310b, and 310c receive sound from the outside and output an electrical signal corresponding to the received sound. The three acoustic sensors 310a, 310b, and 310c preferably receive only sound transmitted from one sound source. However, in a real environment, sounds transmitted from a plurality of sound sources will be mixed and received. Therefore, it may be desirable that the three acoustic sensors 310a, 310b, and 310c have a function of receiving only sound transmitted from the same sound source.

The electrical signals output by the three acoustic sensors 310a, 310b, and 310c are input to a time delay of arrival (TDOA) estimator 320.

The TDOA estimator 320 may be configured by the three acoustic sensors 310a, 310b and 310c based on electrical signals output from the three acoustic sensors 310a, 310b and 310c. TDOA is estimated for each pair of acoustic sensors.

For example, the TDOA estimator 320 estimates TDOA between acoustic sensors at each of a plurality of measurement angles obtained by dividing a total azimuth by a predetermined angle. The full azimuth angle here means 360 degrees with respect to the array formed by the three acoustic sensors 310a, 310b, 310c.

For example, the position of each of the arbitrary acoustic sensors q and l

Figure pat00001
Wow
Figure pat00002
Assume that the direction vector formed by the acoustic sensors q and l
Figure pat00003
May be defined by Equation 1 below.

Figure pat00004

Direction vector defined by Equation 1

Figure pat00005
Considering this, TDOA caused by the position between the acoustic sensors q and l
Figure pat00006
Can be estimated by Equation 2 below.

Figure pat00007

Where d is the distance between acoustic sensors, c is the speed of sound,

Figure pat00008
Represents the phase of the vector,
Figure pat00009
Is a constant,
Figure pat00010
Is the s-th measurement angle of the plurality of measurement angles divided by the total azimuth angle by the predetermined angle.

Therefore, estimated by Equation 2

Figure pat00011
The
Figure pat00012
It can be seen that TDOA estimated between acoustic sensors q and l at .

The TDOA estimator 320 estimates TDOAs at all measurement angles for all pairs of acoustic sensors by Equation 2, and outputs all the estimated TDOAs to the sound source direction estimator 330.

The sound source direction estimator 330 estimates correlation values corresponding to all pairs of acoustic sensors based on the TDOA estimated for each pair of acoustic sensors. For example, when the sound source direction estimator 330 uses a Steered Response Power-Phase Transform (SRP-PHAT) technique to estimate the sound source direction, the acoustic sensor q is expressed by Equation 3 below. A correlation value between and l , that is, a generalized cross correlation (GCC) value, may be calculated.

Figure pat00013

here

Figure pat00014
Is a weight function,
Figure pat00015
Is the result of the short-term Fourier Transform (STFT) of the electrical signal x l input from the acoustic sensor l ,
Figure pat00016
The resulting value according to the STFT of the electrical signal x q input from the acoustic sensor q , w is the frequency index and n is the frame index.

The weight function

Figure pat00017
May be defined as Equation 4 below.

Figure pat00018

If GCC using PHAT is called GCC-PHAT, the following TDOA can be estimated by Equation 5 below.

Figure pat00019

The sound source direction estimator 330 estimates the direction of the desired sound source by performing minimum filtering on correlation values corresponding to all the pairs of the acoustic sensors.

For example, SRP-PHAT technology can recognize the virtual sound source as a real sound source in the process of estimating the direction of the sound source at full azimuth, that is, 360 degrees when the sound source is not one. This is high. In general, virtual sound sources are inevitably present because the sine function is a multi-valued function in estimating the direction of the sound source.

5 shows an example of a virtual sound source. That is, in FIG. 5, τ lq , TDOA estimated by the actual sound source at the measurement angle θ s and TDOA estimated by the virtual sound source at the measurement angle θ i in the situation where TDOA is measured by the acoustic sensors q and l τ lq It can be seen that θ i is the same. As a result, τ lq, θ i is estimated at τ lq, θs and the measured angle θ i is estimated from the measured angle θ s is recognized that all of the sound transmitted from a real sound source.

In order to solve this problem, the direction of the actual sound source can be estimated by applying the improved SRP-PHAT technology that applies the minimum filtration to the GCC-PHAT. In Equation 6, a method of estimating the direction of an actual sound source is defined by applying an improved SRP-PHAT technique.

Figure pat00020

Where R lq is a correlation value between the electrical signals output from the acoustic sensors l and q , and τ lq is the arrival delay time between the acoustic sensors l and q . And n is the frame index and M is the total number of acoustic sensors. L and q may be set to one of positive integers from 1 to M , but may not have the same value.

Information about the direction of the sound source estimated by the sound source direction estimator 330 is provided to the display unit 340. The display unit 340 displays the direction of the sound source estimated by the sound source direction estimation unit 330. For example, the display unit 340 may be implemented by a head-up display. 9 illustrates an example in which a direction of a sound source estimated through a head-up display provided in a vehicle is displayed.

4 shows a control flow performed by the sound source direction estimation apparatus according to an embodiment of the present invention to estimate the sound source direction.

Referring to FIG. 4, in operation 410, the sound source direction estimating apparatus receives sound transmitted from one sound source through at least three sound sensors having a predetermined array. In this case, the reception of the sound may be divided into a plurality of measurement intensities according to a predetermined angle, and may be made for each measurement angle by the division. The full azimuth angle here means 360 degrees around the at least three acoustic sensors.

The sound source direction estimator estimates a TDOA for each pair of acoustic sensors that can be configured by the at least three acoustic sensors based on the electrical signals output by the at least three acoustic sensors in step 412. For example, TDOA between acoustic sensors is estimated corresponding to each of a plurality of measurement angles obtained by dividing the total azimuth angle by a predetermined angle.

On the other hand, the TDOA estimation in step 412 will be applied mutatis mutandis as already described in detail with reference to Equations 1 to 5 above.

In step 414, the sound source direction estimating apparatus estimates the sound source direction based on the estimated TDOA. That is, the sound source direction estimating apparatus estimates the direction of the desired sound source by performing minimum filtration on correlation values corresponding to all the pairs of the acoustic sensors.

On the other hand, the sound source direction estimation in step 414 will be applied mutatis mutandis as already described in detail with reference to Equation 6 above.

The sound source direction estimating apparatus displays the sound source direction estimated in step 416 so that the user can recognize the position of the sound source that generated the sound. For example, the estimated sound source direction may be displayed using a head-up display. 9 illustrates an example in which a direction of a sound source estimated through a head-up display provided in a vehicle is displayed.

6 to 8 show an example of a minimum filtration technique used to estimate the sound source direction according to an embodiment of the present invention.

6 shows an example of a GCC estimated through a pair of a first acoustic sensor composed of a first acoustic sensor and a second acoustic sensor.

According to FIG. 6, the correlation waveform (GCC) estimated for the actual sound source at the measurement angle θ s by the pair of the first acoustic sensors and the virtual sound source at the measurement angle θ i , 1 by the pair of the first acoustic sensors are estimated. It can be seen that the correlated waveform GCC appears.

FIG. 7 shows an example of a GCC estimated through a pair of a second acoustic sensor composed of a second acoustic sensor and a third acoustic sensor.

According to FIG. 7, the correlation waveform GCC estimated for the actual sound source at the measurement angle θ s by the pair of second acoustic sensors and the virtual sound source at the measurement angle θ i , 2 by the pair of second acoustic sensors It can be seen that the correlated waveform GCC appears.

Comparing the waveforms shown in FIGS. 6 and 7, it can be seen that the correlation waveforms estimated for the actual sound source appear in the same phase while the correlation waveforms estimated for the most sound source appear in different phases.

Therefore, 'minimum filtering technique' is to estimate the correlation waveform by selecting a lower correlation value among the correlation values estimated by FIG. 6 and the correlation values estimated by FIG. 7 in all phases included in all azimuth angles.

For example, in the range of phases -100 to -40, there is a correlation waveform in FIG. 6 but no correlation waveform in FIG. Therefore, if the minimum filtering technique is applied to the corresponding phase section, no correlation waveform will exist according to the correlation waveform of FIG. 7. The same applies to phases 80 to 140 where correlation waveforms exist only in FIG. 7. However, in both the phase section 20 to 90, which is the phase section in which the correlation waveform is present in both FIGS. 6 and 7, even if the minimum filtering technique is applied, a constant correlation waveform will appear.

FIG. 8 shows examples of phases and waveforms that can be obtained when the minimum filtration technique is applied to the two correlation waveforms shown in FIGS. 6 and 7. In the correlation waveform shown in FIG. 8, it can be seen that the correlation waveform appears only in a phase section in which the correlation waveform exists in common in FIGS. 6 and 7.

Therefore, according to the correlation waveform shown in FIG. 8, it can be estimated that the actual sound source exists in the θ s direction of all azimuth angles.

On the other hand, while the preferred embodiment of the present invention has been shown and described, the present invention is not limited to the specific embodiments described above, in the technical field to which the invention belongs without departing from the spirit of the invention claimed in the claims Various modifications can be made by those skilled in the art, and these modifications should not be individually understood from the technical spirit or the prospect of the present invention.

Claims (8)

In the method of estimating the direction of the sound source using at least three acoustic sensors having an array form having at least one bend inside the vehicle, and located at the end point or bent point in the arrangement form,
Estimating the arrival delay time for each pair of acoustic sensors configurable by the at least three acoustic sensors based on electrical signals output from each of the at least three acoustic sensors by one sound source;
Based on the arrival delay time estimated for each pair of acoustic sensors, the minimum filtering is performed on the correlation values estimated from all pairs of acoustic sensors measured at all azimuth angles centering on the at least three acoustic sensors. Sound source direction estimation method comprising the step of estimating the direction for the sound source. The method of claim 1, wherein the estimating of the direction comprises:
The lowest of correlation values estimated from all pairs of acoustic sensors at each of a plurality of measurement angles obtained by dividing a total azimuth angle centered on the at least three acoustic sensors by a predetermined angle based on the estimated arrival time estimated by the pair of acoustic sensors. Extracting correlation values,
And estimating a direction of a sound source based on a phase in which the lowest correlation values extracted for the full azimuth angles are distributed. The method of claim 2,
The lowest correlation value
Figure pat00021
silver
Figure pat00022
Extracted by
Where R lq is the correlation value between the electrical signals output from the acoustic sensors l and q , τ lq is the arrival delay time between the acoustic sensors l and q , n is the frame index, M is the total number of acoustic sensors, and l And q cannot be equal to each other. 4. The method according to any one of claims 1 to 3,
And displaying a direction of the estimated one sound source through a head-up display. In the device for estimating the direction of the sound source in the vehicle,
At least three acoustic sensors having an array form having at least one bend inside the vehicle and positioned at an end point or bent point in the arrangement form;
Arrival delay time for estimating arrival delay time for each pair of acoustic sensors that can be configured by the at least three acoustic sensors based on electrical signals output from each of the at least three acoustic sensors by one sound source The estimator,
Based on the arrival delay time estimated for each pair of acoustic sensors, the minimum filtering is performed on the correlation values estimated from all pairs of acoustic sensors measured at all azimuth angles centering on the at least three acoustic sensors. Sound source direction estimation device including a sound source direction estimator for estimating the direction with respect to the sound source. The method of claim 5, wherein the sound source direction estimation unit,
The lowest of correlation values estimated from all pairs of acoustic sensors at each of a plurality of measurement angles obtained by dividing a total azimuth angle centered on the at least three acoustic sensors by a predetermined angle based on the estimated arrival time estimated by the pair of acoustic sensors. And extracting a correlation value and estimating a direction of a sound source based on a phase in which lowest correlation values extracted for the entire azimuth angle are distributed. The method according to claim 6,
The sound source direction estimating unit
Figure pat00023
The lowest correlation value by
Figure pat00024
Extract the,
Where R lq is the correlation value between the electrical signals output from the acoustic sensors l and q , τ lq is the arrival delay time between the acoustic sensors l and q , n is the frame index, M is the total number of acoustic sensors, and l And q cannot be the same. 8. The method according to any one of claims 5 to 7,
And a display unit for displaying a direction of one sound source estimated by the sound source direction estimating unit, further comprising a head-up display.
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KR101519255B1 (en) * 2013-12-10 2015-05-19 현대자동차주식회사 Notification System for Direction of Sound around a Vehicle and Method thereof
KR101529516B1 (en) * 2014-10-27 2015-06-18 국방과학연구소 Sound sourcelocalization device and sound sourcelocalization method
KR20180112570A (en) * 2017-04-04 2018-10-12 현대자동차주식회사 Method for providing sound detection information, apparatus detecting sound around vehicle, and vehicle including the same
KR20190046057A (en) * 2017-10-25 2019-05-07 현대모비스 주식회사 Apparatus and method for driving warning of vehicle
KR101991844B1 (en) 2018-06-20 2019-06-21 국방과학연구소 Apparatus and method for estimating time delay
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101519255B1 (en) * 2013-12-10 2015-05-19 현대자동차주식회사 Notification System for Direction of Sound around a Vehicle and Method thereof
KR101529516B1 (en) * 2014-10-27 2015-06-18 국방과학연구소 Sound sourcelocalization device and sound sourcelocalization method
KR20180112570A (en) * 2017-04-04 2018-10-12 현대자동차주식회사 Method for providing sound detection information, apparatus detecting sound around vehicle, and vehicle including the same
KR20190046057A (en) * 2017-10-25 2019-05-07 현대모비스 주식회사 Apparatus and method for driving warning of vehicle
KR101991844B1 (en) 2018-06-20 2019-06-21 국방과학연구소 Apparatus and method for estimating time delay
KR20200072579A (en) 2018-11-29 2020-06-23 현대자동차주식회사 Driving safety control system in use with around noise and the method of it
US10943486B2 (en) 2018-11-29 2021-03-09 Hyundai Motor Company Traveling safety control system using ambient noise and control method thereof

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