WO2019165614A1 - 一种车辆周边环境分析方法、装置及车载设备 - Google Patents

一种车辆周边环境分析方法、装置及车载设备 Download PDF

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Publication number
WO2019165614A1
WO2019165614A1 PCT/CN2018/077683 CN2018077683W WO2019165614A1 WO 2019165614 A1 WO2019165614 A1 WO 2019165614A1 CN 2018077683 W CN2018077683 W CN 2018077683W WO 2019165614 A1 WO2019165614 A1 WO 2019165614A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
sound data
sound
source object
sound source
Prior art date
Application number
PCT/CN2018/077683
Other languages
English (en)
French (fr)
Inventor
刘均
刘新
金武超
Original Assignee
深圳市元征软件开发有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市元征软件开发有限公司 filed Critical 深圳市元征软件开发有限公司
Priority to PCT/CN2018/077683 priority Critical patent/WO2019165614A1/zh
Priority to CN201880000147.7A priority patent/CN108401427B/zh
Publication of WO2019165614A1 publication Critical patent/WO2019165614A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • G01S3/803—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from receiving transducers or transducer systems having differently-oriented directivity characteristics
    • G01S3/8032—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from receiving transducers or transducer systems having differently-oriented directivity characteristics wherein the signals are derived sequentially
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
    • G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination

Definitions

  • the invention belongs to the field of vehicle-mounted devices, and in particular relates to a method, a device and an in-vehicle device for analyzing a surrounding environment of a vehicle.
  • traffic anomalies and irregular driving behaviors are becoming more common, causing more congestion in traffic that is increasingly congested, greatly reducing the efficiency of vehicle traffic.
  • traffic images and irregular driving behaviors are determined mainly by images taken by cameras on both sides of the road, or by alarms sent by other vehicle drivers. .
  • the invention solves the above problems of the prior art, and improves the comprehensiveness and accuracy of analysis of environmental information collection around the vehicle.
  • the embodiments of the present invention provide a method, a device, and an in-vehicle device for analyzing a surrounding environment of a vehicle, so as to solve the method for collecting images or the driver's observation through a camera in the prior art, the information is not comprehensive, the analysis and judgment are inaccurate, and the response is The result is not timely.
  • a first aspect of the embodiments of the present invention provides a method for analyzing a surrounding environment of a vehicle, where the method for analyzing a surrounding environment of the vehicle includes:
  • a traffic anomaly analysis report is generated based on the determined direction of the sound source object of the abnormal sound and the type of the sound source object.
  • the step of collecting sound data of a surrounding environment of the vehicle by a pickup disposed on the vehicle includes:
  • the step of determining the direction of the sound source object of the abnormal sound and the type of the sound source object according to the picked sound data includes:
  • the type of the sound source object is determined based on the timbre and loudness included in the first abnormal sound data and the second abnormal sound data.
  • the method before the step of collecting sound data of a surrounding environment of the vehicle by a pickup disposed on the vehicle, the method further includes:
  • the pickups are evenly distributed around the vehicle.
  • the method further includes:
  • the generated traffic anomaly analysis report is sent to the terminal to which the vehicle is bound.
  • a second aspect of the embodiments of the present invention provides a vehicle perimeter environment analysis device, where the vehicle perimeter environment analysis device includes:
  • a sound data collecting unit configured to collect sound data of a surrounding environment of the vehicle through a pickup disposed on the vehicle;
  • a sound source object determining unit configured to determine a direction of the sound source object of the abnormal sound and a type of the sound source object according to the picked up sound data
  • the analysis report generating unit is configured to generate a traffic abnormality analysis report according to the direction of the sound source object of the determined abnormal sound and the type of the sound source object.
  • the sound data collecting unit includes:
  • a target pickup determining unit configured to detect that the first sound data collected by the pickup is the first abnormal sound data that does not belong to the normal sound data range, and determine the target pickup corresponding to the first abnormal sound data
  • a sound data determining subunit configured to dynamically adjust an angle of the target pickup and acquire a plurality of sound data, and determine that the maximum sound data is the second abnormal sound data
  • the sound source object determining unit includes:
  • An orientation determining subunit configured to determine a direction of the sound source object of the abnormal sound according to the collected sound angle of the second abnormal sound data
  • a type determining subunit configured to determine a type of the sound source object according to the timbre and loudness included in the first abnormal sound data and the second abnormal sound data.
  • the device further includes:
  • the pickup opening unit is configured to detect a road environment in which the vehicle is currently traveling, and open a number of pickups corresponding to the current road environment to collect sound data.
  • the pickups are evenly distributed around the vehicle, and the pickups are not disposed on the front and rear bumpers of the vehicle, and are not disposed on the left and right sides of the vehicle.
  • the outer part In conjunction with the second aspect, in a third possible implementation of the second aspect, the pickups are evenly distributed around the vehicle, and the pickups are not disposed on the front and rear bumpers of the vehicle, and are not disposed on the left and right sides of the vehicle. The outer part.
  • the first possible implementation of the second aspect, the second possible implementation of the first aspect, or the third possible implementation of the second aspect, in a fourth possible implementation of the second aspect further includes:
  • a sending unit configured to send the traffic abnormality analysis report to the terminal bound by the vehicle.
  • a third aspect of an embodiment of the present invention provides an in-vehicle device including a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor executes The steps of the vehicle surroundings analysis method according to any one of the first aspects are implemented in the computer program.
  • a fourth aspect of the embodiments of the present invention provides a computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement any of the first aspects The steps of the vehicle surrounding environment analysis method.
  • the embodiment of the present invention has the beneficial effects of: collecting sound data of the surrounding environment of the vehicle through a pickup provided on the vehicle, determining the direction of the sound source object and the type of the sound source object according to the picked sound data, and Generating a traffic anomaly analysis report according to the direction of the sound source object and the type of the sound source object, so that the information is more comprehensive than the image acquired by the camera or the information observed by the driver, thereby making the analysis and judgment more Accurate, and because of the automatic acquisition by sensors, the collected data is automatically analyzed and the response is more timely.
  • FIG. 1 is a schematic flowchart of an implementation process of a vehicle surrounding environment analysis method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an implementation flow of another method for analyzing a surrounding environment of a vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of an implementation process of a vehicle surrounding environment analysis method according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a vehicle periphery environment analysis apparatus according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an in-vehicle device according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of an implementation process of a vehicle surrounding environment analysis method according to an embodiment of the present application, which is described in detail as follows:
  • step S101 sound data of a surrounding environment of the vehicle is collected by a pickup provided on the vehicle;
  • the pickup may be a sensor device for audio collection such as a microphone.
  • the pickups may be evenly disposed around the vehicle, for example, the pickups may be evenly arranged in the front, rear, left, and right directions of the vehicle.
  • the pickups may not be disposed on the front and rear bumpers of the vehicle, or may not be directly disposed at the outermost portions of the left and right sides of the vehicle.
  • the pickup is connected to a central control unit of the automobile, and the central control unit may be disposed in the in-vehicle device, or may be disposed in an OBD (English full name: On-Board Diagnostic, Chinese full name: on-board diagnostic system) device, or It can be the vehicle's own ECU (English full name is Electronic Control Unit, Chinese full name is electronic control unit).
  • the pickup is arranged with an initial angle when arranged, and the pickup can receive a control command to adjust an angle value of the pickup.
  • the parameter value of the sound collected by the pickup can be changed, so that the position or type of the sound source object can be determined according to the adjusted angle and the parameter value of the collected sound.
  • step S102 determining a direction of the sound source object of the abnormal sound and a type of the sound source object according to the picked up sound data
  • the collected sound data may include values of parameters such as loudness and timbre of the sound.
  • the feature extraction algorithm extracts the timbre features included in the collected sound, compares the extracted timbre features with the pre-stored timbre features, and combines the pre-stored timbre features with the sound source objects.
  • the correspondence of the types can determine the type of the sound source object. For example, the timbre feature of the car horn is pre-stored, and when the timbre feature of the collected sound matches the timbre feature of the car horn, the source object is determined to be a car horn.
  • the orientation of the sound source object that is, the direction and position of the sound source object relative to the vehicle, can be determined based on the loudness of the sound collected by the one or more pickups and the pickup angle of the pickup.
  • the position of the sound source object may be determined according to the time difference of the same sound collected by the plurality of pickups; the pickup angle may be switched according to one or more pickups, and the corresponding angle is determined as the sound source object when the collected sound is maximum The direction.
  • the camera may also perform image acquisition and confirmation on the orientation of the sound source object, or prompt the driver to confirm, to further improve the Accuracy of environmental analysis of the vehicle.
  • step S103 a traffic abnormality analysis report is generated based on the determined direction of the sound source object of the abnormal sound and the type of the sound source object.
  • FIG. 2 is a schematic flowchart of an implementation process of a vehicle surrounding environment analysis method according to an embodiment of the present application, which is described in detail as follows:
  • step S201 detecting that the first sound data collected by the pickup is the first abnormal sound data that does not belong to the normal sound data range, and determining the target pickup corresponding to the first abnormal sound data;
  • the pickup includes a plurality of sounds
  • the first abnormal sound data that the first received sound data does not belong to the normal sound data range may be determined according to the time sequence.
  • determining the sound data received first is determined.
  • the pickup as a target pickup is only one preferred embodiment of the present application.
  • the first abnormal sound data that does not belong to the normal sound data range may be determined by any one of the plurality of pickups without time division.
  • step S202 dynamically adjusting an angle of the target pickup and acquiring a plurality of sound data, and determining that the maximum sound data is the second abnormal sound data;
  • the pickup angle of the target pickup is further adjusted, and the target pickup can be dynamically adjusted at a full angle according to a predetermined angular trajectory. That is, the target pickup can be controlled to uniformly adjust the angle of the target pickup according to a predetermined angle threshold and a predetermined adjustment direction, and record the pickup information of the target pickup after each adjustment of the angle, including recording the current angle and Sound data.
  • the predetermined angle threshold may be 1 degree, 2 degrees, etc.
  • the predetermined angle direction may be a spiral direction, or a small to large circular direction centered on the target pickup, or other user-defined Angle direction, etc.
  • the sound data collected by the target pickup is analyzed and compared to determine that the sound data corresponding to the loudest sound in the collected sound data is the second abnormal sound during the entire dynamic adjustment process. data.
  • step S203 determining a direction of the sound source object of the abnormal sound according to the collected sound angle of the second abnormal sound data
  • the target pickup when the dynamic adjustment is completed, when the target pickup first collects an abnormal sound, the target pickup is generally the pickup closest to the sound source object, and by adjusting the pickup angle of the target pickup, the maximum loudness of the received sound can be determined.
  • the corresponding pickup angle is the angle of the sound source object.
  • the camera may also perform image acquisition and confirmation on the orientation of the sound source object, or prompt the driver to confirm, to further improve the Accuracy of environmental analysis of the vehicle.
  • step S204 determining a type of the sound source object according to the timbre and loudness included in the first abnormal sound data and the second abnormal sound data;
  • the feature extraction algorithm may be used to extract the timbre features included in the collected sound, and the extracted timbre features are compared with the pre-stored timbre features, and the correspondence between the pre-stored timbre features and the types of the sound source objects may be Determining the type of the sound source object.
  • step S205 a traffic abnormality analysis report is generated based on the determined direction of the sound source object of the abnormal sound and the type of the sound source object.
  • the generated traffic anomaly analysis report may include the direction of the sound source object of the abnormal sound, the type of the sound source object, the current position of the vehicle, and the current time.
  • the image may be collected by the camera according to the direction of the sound source object, the collected image data may be analyzed, or the collected image data may be directly written into the traffic abnormality analysis report.
  • the vehicle surrounding environment analysis method described in FIG. 2 determines the orientation and type of the sound source object by determining the manner of the target pickup, so that the traffic anomaly analysis can be generated more effectively in real time. report.
  • FIG. 3 is a schematic flowchart of another implementation method of a vehicle surrounding environment analysis method according to an embodiment of the present application, which is detailed as follows:
  • step S301 the road environment in which the vehicle is currently traveling is detected, and the number of pickups corresponding to the current road environment is turned on.
  • the road environment may include urban roads, highways, country roads or wilderness roads, and the like.
  • the current position of the vehicle can be determined by means of positioning, and the current road environment of the vehicle is determined according to the correspondence between the current position and the road information. For example, if the vehicle is currently positioned as a highway, the road environment in which the vehicle is currently traveling is a highway.
  • the second quantity is less than the first quantity.
  • the second number of pickups may be disposed at the front and rear ends of the vehicle.
  • a third number of pickups may be opened with respect to the first number, or when the road environment is wilderness road, the relative position may also be turned on. In the third number of more pickups.
  • step S302 sound data of a surrounding environment of the vehicle is collected by a pickup provided on the vehicle;
  • step S303 determining a direction of the sound source object of the abnormal sound and a type of the sound source object according to the picked up sound data
  • step S304 a traffic abnormality analysis report is generated based on the determined direction of the sound source object of the abnormal sound and the type of the sound source object.
  • Steps S302-S304 are substantially the same as steps S101-S103 in FIG. 1.
  • the present embodiment further increases the detection of the road environment based on the vehicle surrounding environment analysis method described in FIG. 1, and correspondingly controls the opening of the pickup. Closed, can effectively adapt to the working requirements of the pickups of different scenes, and is beneficial to reduce the power consumption of the pickup.
  • FIG. 4 is a schematic structural diagram of an apparatus for analyzing a surrounding environment of a vehicle according to an embodiment of the present application, which is described in detail as follows:
  • the analysis device of the surrounding environment of the vehicle includes:
  • the sound data collecting unit 401 is configured to collect sound data of a surrounding environment of the vehicle through a pickup disposed on the vehicle;
  • the sound source object determining unit 402 is configured to determine a direction of the sound source object of the abnormal sound and a type of the sound source object according to the picked up sound data;
  • the analysis report generating unit 403 is configured to generate a traffic abnormality analysis report according to the direction of the sound source object of the determined abnormal sound and the type of the sound source object.
  • the sound data collecting unit comprises:
  • a target pickup determining unit configured to detect that the first sound data collected by the pickup is the first abnormal sound data that does not belong to the normal sound data range, and determine the target pickup corresponding to the first abnormal sound data
  • a sound data determining subunit configured to dynamically adjust an angle of the target pickup and acquire a plurality of sound data, and determine that the maximum sound data is the second abnormal sound data
  • the sound source object determining unit includes:
  • An orientation determining subunit configured to determine a direction of the sound source object of the abnormal sound according to the collected sound angle of the second abnormal sound data
  • a type determining subunit configured to determine a type of the sound source object according to the timbre and loudness included in the first abnormal sound data and the second abnormal sound data.
  • the device further comprises:
  • the pickup opening unit is configured to detect a road environment in which the vehicle is currently traveling, and open a number of pickups corresponding to the current road environment to collect sound data.
  • the pickups are evenly distributed around the vehicle, and the pickups are not disposed on the front and rear bumpers of the vehicle, and are not disposed on the left and right sides of the vehicle.
  • the outer part In conjunction with the second aspect, in a third possible implementation of the second aspect, the pickups are evenly distributed around the vehicle, and the pickups are not disposed on the front and rear bumpers of the vehicle, and are not disposed on the left and right sides of the vehicle. The outer part.
  • the first possible implementation of the second aspect, the second possible implementation of the first aspect, or the third possible implementation of the second aspect, in a fourth possible implementation of the second aspect further includes:
  • a sending unit configured to send the traffic abnormality analysis report to the terminal bound by the vehicle.
  • the vehicle surrounding environment analysis device of FIG. 4 corresponds to the vehicle surrounding environment analysis method described in FIGS. 1-3.
  • FIG. 5 is a schematic diagram of an in-vehicle device according to an embodiment of the present invention.
  • the in-vehicle device 5 of this embodiment includes a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and operable on the processor 50, such as a vehicle peripheral environment analysis program. .
  • the processor 50 executes the computer program 52, the steps in the foregoing embodiments of the vehicle surrounding environment analysis method are implemented, such as steps 101 to 103 shown in FIG. 1.
  • the processor 50 executes the computer program 52
  • the functions of the modules/units in the foregoing device embodiments are implemented, such as the functions of the modules 401 to 403 shown in FIG.
  • the computer program 52 can be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to complete this invention.
  • the one or more modules/units may be a series of computer program instruction segments capable of performing a particular function, the instruction segments being used to describe the execution of the computer program 52 in the in-vehicle device 5.
  • the computer program 52 can be divided into a sound data collecting unit, a sound source object determining unit, and an analysis report generating unit, and the specific functions of each unit are as follows:
  • a sound data collecting unit configured to collect sound data of a surrounding environment of the vehicle through a pickup disposed on the vehicle;
  • a sound source object determining unit configured to determine a direction of the sound source object of the abnormal sound and a type of the sound source object according to the picked up sound data
  • the analysis report generating unit is configured to generate a traffic abnormality analysis report according to the direction of the sound source object of the determined abnormal sound and the type of the sound source object.
  • the in-vehicle device may include, but is not limited to, the processor 50 and the memory 51. It will be understood by those skilled in the art that FIG. 5 is merely an example of the in-vehicle device 5 and does not constitute a limitation on the in-vehicle device 5, and may include more or less components than those illustrated, or combine some components or different components.
  • the in-vehicle device may further include an input/output device, a network access device, a bus, and the like.
  • the so-called processor 50 can be a central processing unit (Central Processing Unit, CPU), can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 51 may be an internal storage unit of the in-vehicle device 5, such as a hard disk or a memory of the in-vehicle device 5.
  • the memory 51 may also be an external storage device of the in-vehicle device 5, such as a plug-in hard disk equipped on the in-vehicle device 5, a smart memory card (SMC), and a secure digital (SD). Card, flash card (Flash Card) and so on.
  • the memory 51 may also include both an internal storage unit of the in-vehicle device 5 and an external storage device.
  • the memory 51 is used to store the computer program and other programs and data required by the in-vehicle device.
  • the memory 51 can also be used to temporarily store data that has been output or is about to be output.
  • each functional unit and module described above is exemplified. In practical applications, the above functions may be assigned to different functional units as needed.
  • the module is completed by dividing the internal structure of the device into different functional units or modules to perform all or part of the functions described above.
  • Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit, and the integrated unit may be hardware.
  • Formal implementation can also be implemented in the form of software functional units.
  • the specific names of the respective functional units and modules are only for the purpose of facilitating mutual differentiation, and are not intended to limit the scope of protection of the present application.
  • For the specific working process of the unit and the module in the foregoing system reference may be made to the corresponding process in the foregoing method embodiment, and details are not described herein again.
  • the disclosed apparatus/terminal device and method may be implemented in other manners.
  • the device/terminal device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units.
  • components may be combined or integrated into another system, or some features may be omitted or not performed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated modules/units if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present invention implements all or part of the processes in the foregoing embodiments, and may also be completed by a computer program to instruct related hardware.
  • the computer program may be stored in a computer readable storage medium. The steps of the various method embodiments described above may be implemented when the program is executed by the processor. .
  • the computer program comprises computer program code, which may be in the form of source code, object code form, executable file or some intermediate form.
  • the computer readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard drive, a magnetic disk, an optical disk, a computer memory, a read only memory (ROM, Read-Only) Memory), random access memory (RAM, Random) Access Memory), electrical carrier signals, telecommunications signals, and software distribution media.
  • ROM Read Only memory
  • RAM Random Access Memory
  • electrical carrier signals telecommunications signals
  • telecommunications signals and software distribution media. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, computer readable media It does not include electrical carrier signals and telecommunication signals.

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  • Physics & Mathematics (AREA)
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Abstract

一种车辆周边环境分析方法，包括：通过设置在车辆上的拾音器采集车辆周边环境的声音数据(S101)；根据所采集的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型(S102)；根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告(S103)。通过拾音器采集的声音数据确定声源物体方向和类型的方式，与通过摄像头获取图像或者驾驶员观察方式相比，采集的信息更加全面，分析判断更为准确，并且响应更加及时。

Description

一种车辆周边环境分析方法、装置及车载设备 技术领域
本发明属于车载设备领域，尤其涉及一种车辆周边环境分析方法、装置及车载设备。
 背景技术
随着车辆的日益增多，交通异常状态和不规范驾驶行为也日渐普遍，给本就日益拥堵的交通造成了更多的拥堵，极大地降低了车辆通行的效率。为了能够有效的对交通异常行为和不规范驾驶行为进行检测，现有技术中主要是通过道路两旁的摄像头所拍摄的图像，或者通过其他车辆驾驶员发送的报警来确定交通状态和不规范驾驶行为。
当通过行车记录仪等设备上的摄像头获取车辆所在场景的图像时，由于行车记录仪一般安装在车辆前面，所记录的图像局限于车辆前方，因此，摄像头获取的图像不能完全覆盖车辆周围的场景信息，另外，通过车辆驾驶员观察的角度也会出现死角或者盲区，导致信息不够全面，分析判断不准确，响应结果不及时。
本发明即为解决现有技术的上述问题，提高车辆周边环境信息采集的全面性和分析的准确性。
 技术问题
有鉴于此，本发明实施例提供了一种车辆周边环境分析方法、装置及车载设备，以解决现有技术中通过摄像头采集图像或驾驶员观察的方式，信息不够全面，分析判断不准确，响应结果不及时的问题。
 技术解决方案
本发明实施例的第一方面提供了一种车辆周边环境分析方法，所述车辆周边环境分析方法包括：
通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
结合第一方面，在第一方面的第一种可能实现方式中，所述通过设置在车辆上的拾音器采集车辆的周边环境的声音数据的步骤包括：
检测拾音器所采集的第一声音数据为不属于正常声音数据范围的第一异常声音数据，确定所述第一异常声音数据对应的目标拾音器；
动态调整所述目标拾音器的角度并获取多个声音数据，确定最大的声音数据为第二异常声音数据；
所述根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型的步骤包括：
根据采集所述第二异常声音数据的拾音角度，确定所述异常声音的声源物体的方向；
根据所述第一异常声音数据和第二异常声音数据包括的音色和响度，确定声源物体的类型。
结合第一方面，在第一方面的第二种可能实现方式中，在所述通过设置在车辆上的拾音器采集车辆的周边环境的声音数据的步骤之前，所述方法还包括：
检测车辆当前行驶的道路环境，开启与所述当前道路环境对应数量的拾音器采集声音数据。
结合第一方面，在第一方面的第三种可能实现方式中，所述拾音器均匀分布在车辆的四周。
结合第一方面、第一方面的第一种可能实现方式、第一方面的第二种可能实现方式或第一方面的第三种可能实现方式，在第一方面的第四种可能实现方式中，在所述根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告的步骤之后，所述方法还包括：
将所生成的交通异常分析报告发送给车辆所绑定的终端。
本发明实施例的第二方面提供了一种车辆周边环境分析装置，所述车辆周边环境分析装置包括：
声音数据采集单元，用于通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
声源物体确定单元，用于根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
分析报告生成单元，用于根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
结合第二方面，在第二方面的第一种可能实现方式中，所述声音数据采集单元包括：
目标拾音器确定子单元，用于检测拾音器所采集的第一声音数据为不属于正常声音数据范围的第一异常声音数据，确定所述第一异常声音数据对应的目标拾音器；
声音数据确定子单元，用于动态调整所述目标拾音器的角度并获取多个声音数据，确定最大的声音数据为第二异常声音数据；
所述声源物体确定单元包括：
方位确定子单元，用于根据采集所述第二异常声音数据的拾音角度，确定所述异常声音的声源物体的方向；
类型确定子单元，用于根据所述第一异常声音数据和第二异常声音数据包括的音色和响度，确定声源物体的类型。
结合第二方面，在第二方面的第二种可能实现方式中，所述装置还包括：
拾音器开启单元，用于检测车辆当前行驶的道路环境，开启与所述当前道路环境对应数量的拾音器采集声音数据。
结合第二方面，在第二方面的第三种可能实现方式中，所述拾音器均匀分布在车辆的四周，且所述拾音器没有设置在车辆的前后保险杠上，以及没有设置在车辆左右两侧的外侧部位。
结合第二方面、第二方面的第一种可能实现方式、第一方面的第二种可能实现方式或第二方面的第三种可能实现方式，在第二方面的第四种可能实现方式中，所述装置还包括：
发送单元，用于将所述交通异常分析报告发送给车辆所绑定的终端。
本发明实施例的第三方面提供了一种车载设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如第一方面任一项所述车辆周围环境分析方法的步骤。
本发明实施例的第四方面提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如第一方面任一项所述车辆周围环境分析方法的步骤。
 有益效果
本发明实施例与现有技术相比存在的有益效果是：通过设置在车辆上的拾音器采集车辆周边环境的声音数据，根据拾取的声音数据确定声源物体的方向及声源物体的类型，并根据所述声源物体的方向和声源物体的类型生成交通异常分析报告，从而使得本申请相对于摄像头获取的图像，或者通过驾驶员观察的信息相比，信息更加全面，从而使得分析判断更加准确，并且由于通过传感器自动采集，对采集的数据自动分析，响应更加及时。
 附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种车辆周边环境分析方法的实现流程示意图；
图2是本发明实施例提供的又一种车辆周边环境分析方法的实现流程示意图；
图3是本发明实施例提供的又一种车辆周边环境分析方法的实现流程示意图；
图4是本发明实施例提供的车辆周边环境分析装置的示意图；
图5是本发明实施例提供的车载设备的示意图。
 本发明的实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本发明实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本发明。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本发明的描述。
为了说明本发明所述的技术方案，下面通过具体实施例来进行说明。
图1为本申请实施例提供的一种车辆周边环境分析方法的实现流程示意图，详述如下：
在步骤S101中，通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
具体的，所述拾音器可以为麦克风等音频采集的传感器设备。所述拾音器可以在车辆的四周均匀设置，比如，所述拾音器可以在车辆的前、后、左、右四个方向均匀布置。
进一步可以优化的实施方式中，为了避免拾音器损毁，拾音器可以不设置在车辆的前后保险杠上，或者还不能够直接布置在车辆的左右两侧的最外侧部位。所述拾音器与汽车的中央控制单元相连，所述中央控制单元可以设置于车载设备内，也可以设置于OBD（英文全称为：On-Board Diagnostic，中文全称为：车载诊断系统）设备内，或者，可以为车辆自身的ECU（英文全称为Electronic Control Unit，中文全称为电子控制单元）。
所述拾音器在布置时设置有初始角度，并且所述拾音器可以接收到控制指令调整所述拾音器的角度值。通过调整所述拾音器的角度，可以改变所述拾音器所采集的声音的参数值，从而可以根据调整后的角度、采集的声音的参数值，确定声源物体的位置或类型。
在步骤S102中，根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
在本申请实施例中，所采集的声音数据可以包括声音的响度、音色等参数的数值。在采集到声音数据后，通过特征提取算法，提取所采集的声音中包括的音色特征，将所提取的音色特征与预先存储的音色特征进行比对，结合预先存储的音色特征与声源物体的类型的对应关系，可以确定所述声源物体的类型。比如，预先存储有汽车喇叭的音色特征，当采集的声音中音色特征与汽车喇叭的音色特征匹配时，则确定声源物体为汽车喇叭。
可以根据一个或者多个拾音器所采集的声音的响度、拾音器的拾音角度，确定声源物体的方位，即声源物体相对于车辆的方向和位置。比如，可能根据多个拾音器所采集到同一声音的先后时间差，确定声源物体的位置；可以根据一个或者多个拾音器切换拾音角度，当采集的声音最大时所对应的角度确定为声源物体的方向。
当然，作为本申请可选的一种实施方式，在确定了声源物体的方位后，还可以结合摄像头对声源物体的方位进行图像采集和确认，或者提醒驾驶员进行确认，以进一步提高对车辆周围环境分析的准确性。
在步骤S103中，根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
根据所述声音的响度、接收声音的先后以及拾音器的角度，确定所述声源物体的方向，可以根据声音的音色，确定所述声源物体的类型，比如为撞击声、汽车鸣笛声等。
通过设置在车辆上的拾音器采集车辆周边环境的声音数据，根据拾取的声音数据确定声源物体的方向及声源物体的类型，并根据所述声源物体的方向和声源物体的类型生成交通异常分析报告，从而使得本申请相对于摄像头获取的图像，或者通过驾驶员观察的信息相比，信息更加全面，从而使得分析判断更加准确，并且由于通过传感器自动采集，对采集的数据自动分析，响应更加及时。
图2为本申请实施例提供的又一种车辆周围环境分析方法的实现流程示意图，详述如下：
在步骤S201中，检测拾音器所采集的第一声音数据为不属于正常声音数据范围的第一异常声音数据，确定所述第一异常声音数据对应的目标拾音器；
具体的，本实施例中所述拾音器包括多个，可以根据时间的先后，确定最先接收到声音数据不属于正常声音数据范围的第一异常声音数据，当然，确定最先接收到声音数据的拾音器作为目标拾音器只是本申请优选的一种实施方式。作为可选的实施方式中，还可以不分时间先后，同时由多个拾音器中的任意一个，确定不属于正常声音数据范围的第一异常声音数据。
在步骤S202中，动态调整所述目标拾音器的角度并获取多个声音数据，确定最大的声音数据为第二异常声音数据；
在确定所述目标拾音器后，进一步对所述目标拾音器的拾音角度进行调整，可以根据预定的角度轨迹，对所述目标拾音器进行全角度的动态调整。即可以控制所述目标拾音器按照预定的角度阈值以及预定的调整方向，匀速的调整所述目标拾音器的角度，并且在每次调整角度后对目标拾音器的拾取信息进行记录，包括记录当前的角度和声音数据。所述预定的角度阈值可以为1度、2度等，所述预定的角度方向可以为螺旋的方向、或者以所述目标拾音器为中心的由小到大的圆环方向，或者其它用户定义的角度方向等。
在动态调整过程中，对所述目标拾音器所采集的声音数据进行分析和比较，确定在整个动态调整过程中，所采集到的声音数据中的响度最大时所对应的声音数据为第二异常声音数据。
在步骤S203中，根据采集所述第二异常声音数据的拾音角度，确定所述异常声音的声源物体的方向；
当动态调整完成后，当目标拾音器最先采集到异常声音时，目标拾音器一般为最接近声源物体的拾音器，通过调整所述目标拾音器的拾音角度，可以确定接收的声音的响度最大值时所对应的拾音器角度，为所述声源物体的角度。
当然，作为本申请可选的一种实施方式，在确定了声源物体的方位后，还可以结合摄像头对声源物体的方位进行图像采集和确认，或者提醒驾驶员进行确认，以进一步提高对车辆周围环境分析的准确性。
在步骤S204中，根据所述第一异常声音数据和第二异常声音数据包括的音色和响度，确定声源物体的类型；
可以通过特征提取算法，提取所采集的声音中包括的音色特征，将所提取的音色特征与预先存储的音色特征进行比对，结合预先存储的音色特征与声源物体的类型的对应关系，可以确定所述声源物体的类型。
在步骤S205中，根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
所生成的交通异常分析报告可以包括异常声音的声源物体的方向、声源物体的类型、车辆当前的位置、当前时间。或者进一步优化的实施方式中，还可以根据声源物体的方向，通过摄像头进行图像采集，将采集的图像数据进行分析，或者直接将采集的图像数据写入交通异常分析报告。
和图1所述的车辆周边环境分析方法相比，图2所述的车辆周边环境分析方法通过确定目标拾音器的方式，确定声源物体的方位和类型，使得能够更加实时有效的生成交通异常分析报告。
图3为本申请实施例提供的又一车辆周边环境分析方法实现流程示意图，详述如下：
在步骤S301中，检测车辆当前行驶的道路环境，开启与所述当前道路环境对应数量的拾音器。
其中，所述道路环境可以包括城市道路、高速公路、乡间道路或者荒野道路等。可以通过定位的方式，确定车辆当前的位置，根据当前位置与道路信息的对应关系，确定车辆当前的道路环境。比如，车辆当前定位为高速公路的位置，则车辆当前行驶的道路环境为高速公路。
当道路环境为城市道路时，由于城市道路的路况相对于高速公路较为复杂，在城市道路的各个方向都可能会产生异常的交通状态或者不规范驾驶行为，因此通过开启第一数量的拾音器采集声音数据，从而能够更为全面的采集周围环境的异常声音数据。
当道路环境为高速公路时，在高速公路行驶过程中，由于车速较快，车辆的左右方向一般较少产生异常的交通状态或者不规范驾驶行为，可以只需要开启第二数量的拾音器进行声音数据的采集，优选的实施方式中，第二数量小于第一数量。另外，结合所述高速公路的路况，所述第二数量的拾音器可以设置在车辆的前后端。
当所述道路环境为乡间道路时，可能出现异常的位置会更多，则可以开启相对于第一数量更多的第三数量的拾音器，或者当所述道路环境荒野道路时，还可以开启相对于第三数量更多的拾音器。
在步骤S302中，通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
在步骤S303中，根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
在步骤S304中，根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
步骤S302-S304与图1中的步骤S101-S103基本相同，本实施例在图1所述的车辆周边环境分析方法的基础上，进一步增加了对道路环境的检测，并且相应的控制拾音器的开闭，可以有效的适应不同场景的拾音器的工作要求，并且有利于减少拾音器的功耗。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
图4为本申请实施例提供的一种车辆周边环境的分析装置的结构示意图，详述如下：
所述车辆周边环境的分析装置，包括：
声音数据采集单元401，用于通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
声源物体确定单元402，用于根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
分析报告生成单元403，用于根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
优选的，所述声音数据采集单元包括：
目标拾音器确定子单元，用于检测拾音器所采集的第一声音数据为不属于正常声音数据范围的第一异常声音数据，确定所述第一异常声音数据对应的目标拾音器；
声音数据确定子单元，用于动态调整所述目标拾音器的角度并获取多个声音数据，确定最大的声音数据为第二异常声音数据；
所述声源物体确定单元包括：
方位确定子单元，用于根据采集所述第二异常声音数据的拾音角度，确定所述异常声音的声源物体的方向；
类型确定子单元，用于根据所述第一异常声音数据和第二异常声音数据包括的音色和响度，确定声源物体的类型。
优选的，所述装置还包括：
拾音器开启单元，用于检测车辆当前行驶的道路环境，开启与所述当前道路环境对应数量的拾音器采集声音数据。
结合第二方面，在第二方面的第三种可能实现方式中，所述拾音器均匀分布在车辆的四周，且所述拾音器没有设置在车辆的前后保险杠上，以及没有设置在车辆左右两侧的外侧部位。
结合第二方面、第二方面的第一种可能实现方式、第一方面的第二种可能实现方式或第二方面的第三种可能实现方式，在第二方面的第四种可能实现方式中，所述装置还包括：
发送单元，用于将所述交通异常分析报告发送给车辆所绑定的终端。
图4所述车辆周边环境分析装置与图1-3所述的车辆周边环境分析方法对应。
图5是本发明一实施例提供的车载设备的示意图。如图5所示，该实施例的车载设备5包括：处理器50、存储器51以及存储在所述存储器51中并可在所述处理器50上运行的计算机程序52，例如车辆周边环境分析程序。所述处理器50执行所述计算机程序52时实现上述各个车辆周边环境分析方法实施例中的步骤，例如图1所示的步骤101至103。或者，所述处理器50执行所述计算机程序52时实现上述各装置实施例中各模块/单元的功能，例如图4所示模块401至403的功能。
示例性的，所述计算机程序52可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器51中，并由所述处理器50执行，以完成本发明。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序52在所述车载设备5中的执行过程。例如，所述计算机程序52可以被分割成声音数据采集单元、声源物体确定单元和分析报告生成单元，各单元具体功能如下：
声音数据采集单元，用于通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
声源物体确定单元，用于根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
分析报告生成单元，用于根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
所述车载设备可包括，但不仅限于，处理器50、存储器51。本领域技术人员可以理解，图5仅仅是车载设备5的示例，并不构成对车载设备5的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述车载设备还可以包括输入输出设备、网络接入设备、总线等。
所称处理器50可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器 (Digital Signal Processor，DSP)、专用集成电路 (Application Specific Integrated Circuit，ASIC)、现成可编程门阵列 (Field-Programmable Gate Array，FPGA) 或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器51可以是所述车载设备5的内部存储单元，例如车载设备5的硬盘或内存。所述存储器51也可以是所述车载设备5的外部存储设备，例如所述车载设备5上配备的插接式硬盘，智能存储卡（Smart Media Card, SMC），安全数字（Secure Digital, SD）卡，闪存卡（Flash Card）等。进一步地，所述存储器51还可以既包括所述车载设备5的内部存储单元也包括外部存储设备。所述存储器51用于存储所述计算机程序以及所述车载设备所需的其他程序和数据。所述存储器51还可以用于暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本发明所提供的实施例中，应该理解到，所揭露的装置/终端设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/终端设备实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括是电载波信号和电信信号。
以上所述实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种车辆周边环境分析方法，其特征在于，所述方法包括：
    通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
    根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
    根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
  2. 根据权利要求1所述的车辆周边环境分析方法，其特征在于，所述通过设置在车辆上的拾音器采集车辆的周边环境的声音数据的步骤包括：
    检测拾音器所采集的第一声音数据为不属于正常声音数据范围的第一异常声音数据，确定所述第一异常声音数据对应的目标拾音器；
    动态调整所述目标拾音器的角度并获取多个声音数据，确定最大的声音数据为第二异常声音数据；
    所述根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型的步骤包括：
    根据采集所述第二异常声音数据的拾音角度，确定所述异常声音的声源物体的方向；
    根据所述第一异常声音数据和第二异常声音数据包括的音色和响度，确定声源物体的类型。
  3. 根据权利要求1所述的车辆周围环境分析方法，其特征在于，在所述通过设置在车辆上的拾音器采集车辆的周边环境的声音数据的步骤之前，所述方法还包括：
    检测车辆当前行驶的道路环境，开启与所述当前道路环境对应数量的拾音器采集声音数据。
  4. 根据权利要求1所述的车辆周围环境分析方法，其特征在于，所述拾音器均匀分布在车辆的四周。
  5. 根据权利要求1-4任一项所述的车辆周围环境分析方法，其特征在于，所述方法还包括：
    将所述交通异常分析报告发送给车辆所绑定的终端。
  6. 一种车辆周边环境分析装置，其特征在于，所述车辆周边环境分析装置包括：
    声音数据采集单元，用于通过设置在车辆上的拾音器采集车辆的周边环境的声音数据；
    声源物体确定单元，用于根据所拾取的声音数据，确定异常声音的声源物体的方向，以及声源物体的类型；
    分析报告生成单元，用于根据所确定的异常声音的声源物体的方向，以及声源物体的类型，生成交通异常分析报告。
  7. 根据权利要求6所述的车辆周边环境分析装置，其特征在于，所述声音数据采集单元包括：
    目标拾音器确定子单元，用于检测拾音器所采集的第一声音数据为不属于正常声音数据范围的第一异常声音数据，确定所述第一异常声音数据对应的目标拾音器；
    声音数据确定子单元，用于动态调整所述目标拾音器的角度并获取多个声音数据，确定最大的声音数据为第二异常声音数据；
    所述声源物体确定单元包括：
    方位确定子单元，用于根据采集所述第二异常声音数据的拾音角度，确定所述异常声音的声源物体的方向；
    类型确定子单元，用于根据所述第一异常声音数据和第二异常声音数据包括的音色和响度，确定声源物体的类型。
  8. 根据权利要求6所述的车辆周围环境分析装置，其特征在于，所述装置还包括：
    拾音器开启单元，用于检测车辆当前行驶的道路环境，开启与所述当前道路环境对应数量的拾音器采集声音数据。
  9. 一种车载设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至5任一项所述车辆周围环境分析方法的步骤。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至5任一项所述车辆周围环境分析方法的步骤。
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