WO2023029263A1 - 车载人机交互系统 - Google Patents

车载人机交互系统 Download PDF

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Publication number
WO2023029263A1
WO2023029263A1 PCT/CN2021/135025 CN2021135025W WO2023029263A1 WO 2023029263 A1 WO2023029263 A1 WO 2023029263A1 CN 2021135025 W CN2021135025 W CN 2021135025W WO 2023029263 A1 WO2023029263 A1 WO 2023029263A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
outside
wake
person
body panel
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Application number
PCT/CN2021/135025
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English (en)
French (fr)
Inventor
梁晨
Original Assignee
博泰车联网科技(上海)股份有限公司
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Publication of WO2023029263A1 publication Critical patent/WO2023029263A1/zh

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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
    • G10K9/00—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers
    • G10K9/12—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers electrically operated
    • G10K9/122—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers electrically operated using piezoelectric driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R11/0217—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for loud-speakers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R11/0247—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for microphones or earphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R17/00—Piezoelectric transducers; Electrostrictive transducers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2499/00—Aspects covered by H04R or H04S not otherwise provided for in their subgroups
    • H04R2499/10—General applications
    • H04R2499/13—Acoustic transducers and sound field adaptation in vehicles

Definitions

  • the present invention generally relates to the field of vehicle control, and more specifically, relates to a vehicle-mounted human-computer interaction system.
  • Human-computer interaction in current vehicles usually focuses on the interaction between people in the car (such as the driver or passengers) and the vehicle control terminal. ).
  • the interaction between people outside the vehicle and the vehicle is currently limited to simple controls such as the vehicle user such as the driver turning on or off the vehicle through a smart key or using a mobile phone client to open or close the vehicle or a part of the vehicle outside the vehicle.
  • the vehicle or the occupants in the vehicle wish to send reminders or reminder messages to the occupants outside the vehicle through voice.
  • the vehicle needs to actively issue a sound to pedestrians or cyclists.
  • the vehicle wants to give way to pedestrians on the side of the crosswalk, it also wants to actively send reminders to pedestrians through voice.
  • the present invention provides a vehicle-mounted human-computer interaction system, in which a piezoelectric sounding module is installed on the vehicle to realize the voice interaction between the vehicle or the personnel inside the vehicle and the personnel outside the vehicle.
  • a vehicle-mounted human-computer interaction system includes: a piezoelectric sounding module, the piezoelectric sounding module is arranged in a cavity between a vehicle body panel as an outer surface of a vehicle and an interior panel as an inner surface of a vehicle and adheres to the body panel Or the interior panel; the wake-up subsystem, the wake-up subsystem is used to wake up the vehicle-mounted controller based on at least one of the voice, motion and image of the object outside the vehicle to start the human-computer interaction function; and the vehicle-mounted controller, the The vehicle-mounted controller is configured to output an audio signal to the piezoelectric sounding module after being awakened by the wake-up subsystem to enable the human-computer interaction function, so that the piezoelectric sounding module is excited by the audio signal, The body panel or the interior panel is vibrated to transmit voice to the exterior of the vehicle.
  • the piezoelectric sound generating module includes: a drive circuit, which receives the audio signal from the vehicle controller and converts the audio signal into an excitation voltage; and a piezoelectric ceramic speaker, which is used in the The driving circuit vibrates under the excitation of the excitation voltage to drive the vehicle body panel or the interior trim panel attached thereto to vibrate, thereby emitting voice.
  • the drive circuit includes a power amplifier configured to modulate a triangular wave signal with the audio signal to generate a pulse width modulated signal; and an LC filter configured to modulate the pulse width The signal is demodulated to produce an amplified audio signal as the excitation voltage.
  • the power amplifier comprises: a voltage limiting current limiter and an audio amplifier connected in series, wherein the voltage limiting current limiter is configured to utilize received audio A signal modulates the triangular wave signal, and the audio amplifier is configured to amplify the modulated triangular wave signal to generate the pulse width modulated signal.
  • the piezoelectric ceramic speaker includes: an electrode piece configured to receive the excitation voltage; a piezoelectric ceramic configured to generate lateral or longitudinal extension or contraction; and a vibrating plate that is bonded to the piezoelectric ceramic and vibrates as the piezoelectric ceramic expands or contracts.
  • the piezoelectric ceramic speaker further includes: a vibration spacer, which is located between the vibration plate and the vehicle body panel or the interior panel, and is configured to adjust the vibration generated by the vibration plate. Frequency response of vibration.
  • the piezoelectric ceramic speaker further includes: a counterweight, which is located on the other side of the piezoelectric ceramic and opposite to the vibration plate, and is used to adjust the vibration generated by the vibration plate. Frequency response.
  • the system further includes: an external microphone disposed on the outside of the vehicle body panel and configured to receive voice input from the object outside the vehicle, and the vehicle controller further It is configured to play the voice input of the object outside the vehicle to people inside the vehicle through the built-in speaker of the vehicle, or perform semantic analysis on the voice input of the object outside the vehicle, and execute the control.
  • an external microphone disposed on the outside of the vehicle body panel and configured to receive voice input from the object outside the vehicle
  • the vehicle controller further It is configured to play the voice input of the object outside the vehicle to people inside the vehicle through the built-in speaker of the vehicle, or perform semantic analysis on the voice input of the object outside the vehicle, and execute the control.
  • the wake-up subsystem includes: a sensing component disposed outside the vehicle and configured to sense at least one of voice, motion and image of the object outside the vehicle; and a wake-up processor configured to determine whether at least one of the sensed voice, motion, and image meets a predetermined wake-up condition, and wake up the vehicle controller to turn on the human body when the predetermined wake-up condition is determined to be satisfied. machine interaction function.
  • the sensing component includes: a shock sensor disposed on the body panel or the vehicle glass and configured to sense the impact of the person outside the vehicle on the body panel or the vehicle. a tap on the glass; and the wake-up processor is configured to determine whether the tap satisfies a predetermined tap condition, and wake up the onboard controller when it is determined that the tap satisfies the predetermined tap condition.
  • the sensing component includes: a sensor disposed outside the body panel configured to sense a distance between the object outside the vehicle and the body panel; and the wake-up processor is configured to determine whether the distance satisfies a predetermined distance threshold, and to wake up the on-board controller when it is determined that the distance satisfies the predetermined distance threshold.
  • the vehicle-mounted human-computer interaction system further includes: an external camera, the external camera is arranged on the outside of the vehicle body panel, and is configured to capture images of persons outside the vehicle; and the vehicle-mounted controller Also configured to determine the identity of the person outside the vehicle based on the image of the person outside the vehicle after being awakened by the wake-up processor, and perform a vehicle control operation when the identity of the person outside the vehicle is determined to be a predetermined person.
  • the vehicle controller configured to perform vehicle control operations includes: establishing a communication connection with a remote vehicle owner through the vehicle mobile communication module, so that the remote vehicle owner can view the object outside the vehicle through the communication connection Or carry out video communication with the person outside the vehicle.
  • the vehicle-mounted human-computer interaction system further includes: an external microphone, the external microphone is arranged on the outside of the vehicle body panel and is configured to receive voice input from people outside the vehicle; and the vehicle-mounted control The device is further configured to perform a vehicle control operation based on the voice input of the person outside the vehicle after being awakened by the wake-up processor.
  • the on-board controller configured to perform vehicle control operations includes: establishing a communication connection with the remote vehicle owner through the vehicle-mounted mobile communication module, so that the person outside the vehicle can communicate with the remote vehicle owner through the communication connection. Make a voice call.
  • the sensing component includes: an external camera arranged on the outside of the vehicle body panel and configured to capture images of persons outside the vehicle; and the wake-up processor is configured to The image of the person outside the vehicle determines the identity of the person outside the vehicle, and wakes up the on-board controller when the identity of the person outside the vehicle is determined to be a predetermined person.
  • the sensing component includes: an external camera disposed on the outside of the vehicle body panel and configured to capture one or more images of people outside the vehicle; and the wake-up processor configured to determine a gesture of the off-vehicle person based on one or more images of the off-vehicle person, and to wake up the on-vehicle controller when it is determined that the off-vehicle person's gesture corresponds to a predetermined gesture.
  • the sensing component includes: an external microphone disposed on the outside of the vehicle body panel and configured to receive a voice input from a person outside the vehicle; and the wake-up processor is activated It is configured to determine whether the voice input of the person outside the vehicle conforms to a predetermined wake-up word or determine whether the identity of the person outside the vehicle matches a predetermined person based on the voice input of the person outside the vehicle, and when determining the voice of the person outside the vehicle When the predetermined wake-up word is input or the identity of the person outside the vehicle is determined to be consistent with the predetermined person based on the voice input of the person outside the vehicle, wake up the on-board controller.
  • Fig. 1 shows a schematic structural diagram of an exemplary vehicle-mounted human-computer interaction system according to an embodiment of the present invention.
  • Fig. 2 shows a side view of a vehicle installed with the vehicle-mounted human-computer interaction system.
  • Fig. 3 shows a circuit diagram of a piezoelectric sound generating module according to some embodiments of the present invention.
  • Fig. 4 shows a circuit diagram of a driving circuit of a piezoelectric sound generating module according to some embodiments of the present invention.
  • Fig. 5 shows a schematic diagram of a piezoelectric ceramic speaker of a piezoelectric sound generating module according to some embodiments of the present invention.
  • Figure 6 shows a block diagram of a control device suitable for implementing embodiments of the present disclosure.
  • first, second, third and other terms used in the specification and claims are only used to distinguish each object for the sake of clarity of description, and do not limit the size or other order of the objects described therein, unless otherwise specified. illustrate.
  • FIG. 1 shows a schematic structural diagram of an exemplary vehicle-mounted human-computer interaction system 100 according to an embodiment of the present invention
  • FIG. 2 shows a side view of a vehicle 200 installed with the vehicle-mounted human-computer interaction system 100 .
  • the vehicle-mounted human-computer interaction system 100 includes one or more piezoelectric sounding modules 110 (one piezoelectric sounding module 110 is schematically shown in Figure 1), each piezoelectric sounding The module 110 may be disposed in a cavity between a body panel 210 as an outer surface of the vehicle 200 and an interior panel 220 as an inner surface of the vehicle 200 and bonded to the body panel 210 or the interior panel 220 . As shown in FIG. 2 , the piezoelectric sound-generating module 110 may be disposed at any one or more of the front side 212, the front door 214, the rear door 216, the rear side 218, etc.
  • the piezoelectric The sounding modules 110 may be symmetrically disposed on both sides of the vehicle 200 .
  • the piezoelectric sound generating module 110 may be disposed on the rear (inner side) of a hood of the vehicle 200 or the like.
  • the vehicle-mounted human-computer interaction system 100 also includes a wake-up subsystem 130 and a vehicle-mounted controller 140, wherein the wake-up subsystem 130 is used to wake up the vehicle-mounted controller 140 based on at least one of the voice, motion and image of objects outside the vehicle to turn on the human-machine interactive function.
  • the objects outside the vehicle may include persons outside the vehicle or objects outside the vehicle (such as another vehicle or an obstacle, etc.).
  • the vehicle-mounted controller 140 is configured to output an audio signal to the piezoelectric sounding module 110 after being awakened by the wake-up subsystem 130 to enable the human-computer interaction function, so that the piezoelectric sounding module 110 vibrates the vehicle body panel 210 under the excitation of the audio signal Or the interior panel 220 to transmit the voice to the outside of the vehicle 200 .
  • FIG. 3 shows a circuit diagram of a piezoelectric sound generating module 110 according to some embodiments of the present invention.
  • the piezoelectric sound generating module 110 includes a driving circuit 112 and a piezoelectric ceramic speaker 120 .
  • Driver circuit 112 receives an audio signal from on-board controller 140 and converts the audio signal to an excitation voltage.
  • the piezoelectric ceramic speaker 120 vibrates under the excitation of the excitation voltage generated by the drive circuit 112 to drive the body panel 210 or the interior panel 220 attached thereto to vibrate, thereby emitting voice.
  • FIG. 4 shows a circuit diagram of the driving circuit 112 of the piezoelectric sound generating module 110 according to some embodiments of the present invention.
  • the driving circuit 112 includes a power amplifier 114 and an LC filter 116, wherein the power amplifier 114 is configured to modulate a triangular wave signal with a received audio signal to generate a pulse width modulated signal, and the LC filter 116 is configured to demodulate the pulse width modulation signal to generate an amplified audio signal as an excitation voltage for the piezoelectric ceramic speaker 120 .
  • the power amplifier 114 is configured to modulate a triangular wave signal with a received audio signal to generate a pulse width modulated signal
  • the LC filter 116 is configured to demodulate the pulse width modulation signal to generate an amplified audio signal as an excitation voltage for the piezoelectric ceramic speaker 120 .
  • the power amplifier 114 can modulate the triangular wave signal based on the audio signal output by the vehicle controller 140 as the audio signal source and the control signal of the vehicle controller 140 (or other control components of the vehicle 200). . Since the piezoelectric ceramic is a capacitive device, the power amplifier 114 preferably uses a class D power amplifier, for example, a TIDRV5825P chip can be used.
  • the power amplifier 114 may include a voltage-limiting current-limiter 1142 and an audio amplifier 1144 connected in series, wherein the voltage-limiting current-limiter 1142 is configured to modulate a triangular wave signal with a received audio signal, and the audio amplifier 1144 It is configured to amplify the modulated triangular wave signal to generate the pulse width modulated signal.
  • the voltage limiting current limiter 1142 is a combination of a pulse width modulator (PWM) and a triangular wave (or sawtooth wave) oscillation generator, in which an input audio signal (such as a time division multiplexing (TDM) audio signal) and a triangular wave oscillation are generated Comparing the triangular wave signal generated by the device can generate a square wave signal whose width varies with the input audio signal, that is, a pulse width modulated signal.
  • the triangular wave oscillator generator can be regarded as the sampling clock of the audio signal.
  • the output of the LC filter 116 can also be fed back to the input of the voltage limiting current limiter 1142 to form a negative feedback loop, so that the impedance of the load (ie, the piezoelectric ceramic speaker 120) can be The characteristic corrects the output excitation voltage to realize the functions of voltage limiting and current limiting.
  • LC filter 116 is a low-pass passive filter, which can be half-bridge or full-bridge.
  • Two full-bridge LC filters are schematically shown in Figure 3, where each full-bridge LC filter includes two half-bridge LC circuits connected in parallel, and each half-bridge LC circuit consists of a capacitor (C) and an inductor (L) formed in series.
  • a current steering switch may also be included, such as two parallel p-channel and n-channel MOSFETs to alternately connect the output of the power amplifier to Internal working voltage VDD and ground voltage, so that the high-frequency square wave with alternating polarity is output.
  • FIG. 5 shows a schematic diagram of the piezoelectric ceramic speaker 120 of the piezoelectric sound generating module 110 according to some embodiments of the present invention.
  • the piezoelectric ceramic speaker 120 may include an electrode sheet 121 configured to receive an excitation voltage from the driving circuit 112 .
  • the electrode sheet 121 may be a pair of positive and negative electrode sheets.
  • the piezoelectric ceramic speaker 120 may further include a piezoelectric ceramic 122 configured to expand or contract laterally or longitudinally under the action of an excitation voltage received through the electrode sheet 121 .
  • the excitation voltage can be a high-frequency square wave with alternating polarities, so the piezoelectric ceramic 122 will undergo mechanical deformation, ie, elongate or contract, under the action of the square waves with alternate polarities.
  • the piezoelectric ceramics 122 may be transversely or longitudinally polarized piezoelectric ceramics, so that transverse or longitudinal mechanical deformation is generated under the action of the excitation voltage.
  • Figure 4 exemplarily shows a laterally polarized piezoelectric ceramic 122, where the positive pole of the excitation voltage is connected to the forward voltage (i.e., the upper surface of the piezoelectric ceramic 122, and the lower surface of the piezoelectric ceramic 122 is connected to the excitation voltage Under the action of the negative pole of the piezoelectric ceramic 122, the piezoelectric ceramic 122 is laterally elongated (that is, elongated along the radial direction of the surface of the vibrating plate 123), and at a negative voltage (that is, the upper surface of the piezoelectric ceramic 122 is connected to the negative pole of the excitation voltage, the voltage The lower surface of the electric ceramic 122 is connected to the positive pole of the excitation voltage), and the piezoelectric ceramic 122 shrinks laterally (that is, shrinks along the radial direction of the surface of the vibrating plate 123 ). The longer the transverse length of the piezoelectric ceramic 122 is, the stronger the low frequency response of its vibration is.
  • the piezoelectric ceramic speaker 120 further includes a vibrating plate 123 , which is attached to the piezoelectric ceramic 122 and vibrates as the piezoelectric ceramic 122 expands or contracts. In this way, the piezoelectric ceramic speaker 120 converts the input excitation voltage into vibration, thereby emitting voice.
  • the vibrating plate 123 can be directly attached to the body panel 210 or the interior panel 220 to drive the body panel 210 or the interior panel 220 to vibrate.
  • the piezoelectric ceramic speaker 120 may further include a vibration spacer 124, which is located between the vibration plate 123 and the vehicle body panel 210 or the interior panel 220 (only the vehicle body panel 210 is shown as an example in FIG. 4 ). , as shown in Figure 4.
  • the vibration spacer 124 With the vibration spacer 124, the frequency response of the vibration generated by the vibration plate 123 can be adjusted. For example, if the low frequency response of the vibration needs to be enhanced, the area of the vibration pad 124 can be increased, and if the low frequency response of the vibration needs to be weakened, the area of the vibration pad 124 can be reduced.
  • the piezoelectric ceramic speaker 120 may further include a counterweight 125 located on the other side of the piezoelectric ceramic 122 opposite to the vibrating plate 123 .
  • the weight 125 can also be used to adjust the frequency response of the vibration generated by the vibrating plate 123 . For example, if the low frequency response of the vibration needs to be enhanced, the weight of the counterweight 125 can be increased; conversely, if the low frequency response of the vibration needs to be weakened, the weight of the counterweight 125 can be reduced.
  • the desired low-frequency response can be obtained conveniently by adapting the area of the vibrating spacer 124 and/or the weight of the counterweight 125 .
  • the piezoelectric ceramic speaker 120 shown in FIG. 5 is only schematic and not intended to limit the scope of the present invention.
  • the electrode piece 121 can be arranged at different positions of the piezoelectric ceramic 122, or apply an excitation voltage to the piezoelectric ceramic 122 in other forms.
  • a plurality of counterweights 125 and the like may be provided in the piezoelectric ceramic speaker 120 .
  • the piezoelectric ceramic speaker 120 may include multiple piezoelectric ceramics 122 and corresponding multiple pairs of electrode sheets 121 .
  • one piezoelectric ceramic 122 can be arranged on the upper and lower sides of the vibrating plate 123 (for example, another piezoelectric ceramic 122 is arranged symmetrically with the piezoelectric ceramic 122 shown below the vibrating plate 123), and the two piezoelectric ceramics 122 can be arranged on their respective sides. Under the action of the electrode sheet 121, it expands or contracts in opposite directions, thereby further enhancing the vibration effect.
  • the vehicle-mounted controller 140 can control the piezoelectric sounding module 110 to send various reminder voices, such as the voice of reminding the vehicle 200 to pass, the voice of reminding the people outside the vehicle to forget their items (such as the voice of the people outside the vehicle) Just get off the car), voice reminders of weather conditions or safety instructions, etc.
  • the piezoelectric sound generating module 110 may not always be in a working state.
  • the occupant in the car actively wants to send a voice to the outside, he can actively manipulate the on-board controller 140 to make a sound through the piezoelectric sounding module 110 , such as sending out a voice reminder or playing music.
  • the vehicle human-computer interaction system 100 can wake up the subsystem 130 based on the vehicle At least one of the voice, motion and image of the external object to wake up the vehicle-mounted controller 140 to start the human-computer interaction function.
  • the wake-up subsystem 130 may include a sensing component 132 and a wake-up processor 134, wherein the sensing component 132 is arranged on the outside of the vehicle 200, and is used to sense at least one of voice, motion and image of an object outside the vehicle, and the wake-up processor 134 is used to determine whether at least one of the sensed voice, action and image meets a predetermined wake-up condition, and when it is determined that the predetermined wake-up condition is satisfied, the on-board controller 140 is awakened to enable the human-computer interaction function.
  • the sensing component 132 is arranged on the outside of the vehicle 200, and is used to sense at least one of voice, motion and image of an object outside the vehicle
  • the wake-up processor 134 is used to determine whether at least one of the sensed voice, action and image meets a predetermined wake-up condition, and when it is determined that the predetermined wake-up condition is satisfied, the on-board controller 140 is awakened to enable the human-computer interaction function.
  • the sensing component 132 may include one or more vibration sensors 1322 , which may be disposed on the outside of the vehicle body panel 210 (such as near the windshield) or on the vehicle glass 230 (as shown in FIG. 2 ).
  • the shock sensor 1322 is configured to sense a knock on the body panel 210 or the vehicle glass 230 by a person outside the vehicle.
  • the wake-up processor 134 is configured to determine whether the knock sensed by the vibration sensor 1322 satisfies a predetermined knock condition, and wakes up the vehicle-mounted controller 140 to turn on the man-machine when it is determined to meet the predetermined knock condition.
  • the predetermined tapping condition may include a predetermined number of consecutive tappings (such as 2 or 3 times).
  • the wake-up processor 134 may determine that a predetermined tapping condition is met when determining that the number of tappings sensed by the shock sensor 1322 reaches the predetermined number of consecutive tappings. In this way, the wake-up subsystem 130 can easily understand the intention of the person outside the vehicle to interact with the vehicle 200 through the intentional tapping behavior of the person outside the vehicle, so as to control the on-board controller 140 to enable the human-computer interaction function.
  • the wake-up processor 134 may also filter out taps whose intensity is lower than a predetermined threshold when determining whether a predetermined tap condition is satisfied. In this way, the wake-up subsystem 130 can identify valid taps and filter out invalid or unintentional taps.
  • the sensing component 132 may include one or more sensors 1324 that may be disposed on the outside of the body panel 210 (as shown in FIG. 2 ).
  • Sensor 1324 is configured to sense the distance between objects outside the vehicle and body panel 210 .
  • the sensor 1324 may be a biometric sensor such as an infrared proximity sensor or a sensor such as a proximity ultrasonic sensor or a UWB (Ultra Wideband) sensor that can sense people or other objects outside the vehicle and The distance between these external objects and the vehicle 200 is determined.
  • a biometric sensor such as an infrared proximity sensor or a sensor such as a proximity ultrasonic sensor or a UWB (Ultra Wideband) sensor that can sense people or other objects outside the vehicle and The distance between these external objects and the vehicle 200 is determined.
  • the wake-up processor 134 is configured to determine whether the distance sensed by the biometric sensor 1324 meets a predetermined distance threshold, and when it is determined that the predetermined distance threshold is satisfied, wakes up the vehicle controller 140 to start the human-computer interaction function .
  • the predetermined distance threshold may be a distance smaller than the conventional safety distance, and has a different value or range depending on the sensing object (ie, whether it is a person or other objects outside the vehicle). For example, if the object outside the vehicle is a person, the distance threshold may be a value within the range of 0.2 meters to 0.5 meters, and if the object outside the vehicle is another vehicle, the distance threshold may be within the range of 5 meters to 10 meters A value within etc.
  • the wake-up processor 134 may determine that a predetermined wake-up condition is satisfied when it is determined that the distance sensed by the sensor 1324 is less than the distance threshold. In this way, the wake-up subsystem 130 can easily understand the intention of the person outside the vehicle to interact with the vehicle 200 through the behavior of the person outside the vehicle obviously getting too close to the vehicle 200 , so as to control the on-board controller 140 to enable the human-computer interaction function. Alternatively, the wake-up subsystem 130 can actively issue a voice reminder to other vehicles when the other vehicles are too close to the vehicle 200 , so as to remind the other vehicle to pay attention to the distance between vehicles.
  • the sensing component 132 may include one or more external cameras 1326, which may be disposed on the outside of the body panel 210, for example, may be disposed near the windshield of the vehicle 200 (such as above the B-pillar of the vehicle 200) , as shown in Figure 2.
  • External camera 1326 is configured to capture images of people outside the vehicle.
  • the wake-up processor 134 is configured to determine the identity of the person outside the vehicle based on the image of the person outside the vehicle, and when it is determined that the identity of the person outside the vehicle is a predetermined person, wake up the on-vehicle controller 140 to enable the human-computer interaction function.
  • the wake-up processor 134 may pre-store images of permitted users of the vehicle 200 (such as members of the family), and the people outside the vehicle obtained by the external camera 1326 The image of the vehicle is compared with the pre-stored image of the permitted user to determine whether the person outside the vehicle belongs to the permitted user.
  • the wake-up processor 134 can obtain the image of the user who reserved the vehicle via the vehicle-mounted controller 140 or other vehicle-mounted terminals, and use the image obtained by the external camera 1326 to The image of the outsider is compared with the pre-acquired image of the user who reserved the vehicle to determine whether the outsider belongs to the user who reserved the vehicle. In this way, the wake-up subsystem 130 can easily determine that the person outside the vehicle may be the person who wants to interact with the vehicle 200 through the image of the person outside the vehicle, so as to control the on-board controller 140 to enable the human-computer interaction function.
  • the on-board controller 140 can play welcome music or voices to people outside the vehicle through the piezoelectric sounding module 110, or can send other voices, such as requiring people outside the vehicle to provide specific use credentials (such as when booking the vehicle 200 The verification code sent to it by the predetermined platform, etc.) for further interaction with people outside the vehicle.
  • the wake-up processor 134 can determine the gesture of the person outside the vehicle based on one or more images acquired by the external camera 1326, and wake up the vehicle-mounted controller 140 to turn on the Human-computer interaction function.
  • the predetermined gesture may be a hand waving action.
  • the wake-up processor 134 may determine whether the person outside the vehicle is waving toward the vehicle 200 based on the images, and when it is determined that the person outside the vehicle is waving toward the vehicle 200, wake up the on-board controller 140. In this way, the wake-up subsystem 130 can easily determine the intention of the person outside the vehicle to interact with the vehicle 200 through the image of the person outside the vehicle, so as to control the on-board controller 140 to enable the human-computer interaction function.
  • the wake-up subsystem 130 can easily determine that the person outside the vehicle wants to ride the vehicle 200 through the waving action of the person outside the vehicle, and can turn on the human-computer interaction function to Further confirm their riding intentions with people outside the car or perform other identity verification operations.
  • the sensing component 132 may include one or more external microphones 1328, which may be disposed on the outside of the body panel 210 (as shown in FIG. 2 ).
  • the external microphone 1328 is configured to receive voice input from people outside the vehicle.
  • the wake-up processor 134 is configured to determine whether the voice input of the person outside the vehicle matches a predetermined wake-up word or determine whether the identity of the person outside the vehicle matches the predetermined person based on the voice input of the person outside the vehicle, When the voice input of the person matches the predetermined wake-up word or the identity of the person outside the vehicle is determined to be the predetermined person based on the voice input of the person outside the vehicle, the on-board controller 140 is awakened to enable the human-computer interaction function.
  • the wake-up word may include "taxi” or “taxi” and the like.
  • the wake-up processor 134 can determine whether the voice input received by the external microphone 1328 matches the wake-up word, and if it matches the wake-up word, wakes up the vehicle controller 140 to enable the human-computer interaction function.
  • the wake-up processor 134 may pre-store the voiceprint of the permitted user of the vehicle 200 (such as a member of the family), and analyze the voice received by the external microphone 1328 The obtained voiceprint of the person outside the vehicle is compared with the voiceprint of the pre-stored permitted user to determine whether the person outside the vehicle belongs to the permitted user.
  • the wake-up subsystem 130 can easily determine that the person outside the vehicle may be the person who wants to interact with the vehicle 200 through the voice of the person outside the vehicle, so as to control the on-board controller 140 to enable the human-computer interaction function.
  • the on-board controller 140 can play welcome music or voices to people outside the vehicle through the piezoelectric sounding module 110, or can send other voices, such as requiring people outside the vehicle to provide specific use credentials (such as when booking the vehicle 200 The verification code sent to it by the predetermined platform, etc.) for further interaction with people outside the vehicle.
  • the external microphone 1328 can also be used to actively receive the voice input of people outside the vehicle and the vehicle controller 140 is configured to pass through the built-in speaker of the vehicle 200 (such as the built-in speaker 152 connected to the vehicle controller 140 as shown in FIG. 1 ). ) to play the received voice to the people in the car. In this way, voice transparent transmission between people inside and outside the car can be realized, thereby realizing voice interaction between people inside and outside the car.
  • the external microphone 1328 may perform semantic analysis on the voice input of people outside the vehicle, and control the vehicle 200 based on the result of the semantic analysis.
  • the on-board controller 140 can The voice input carries out semantic analysis, combined with the current trunk state (that is, whether the trunk is closed or open), determines whether the result of the semantic analysis is to open or close the trunk (for example, if the current trunk is closed, it is determined that the result of the semantic analysis is Open the trunk, and determine that the result of the semantic analysis is to close the trunk if the trunk is currently open).
  • the on-board controller 140 can control the vehicle 200 according to the semantic analysis result, such as closing or opening the trunk.
  • a prompt device (not shown in the figure), such as a prompt light, may also be configured around the external microphone 1328 for the external microphone 1328 .
  • the prompting device is activated when the vehicle-mounted controller 140 activates the human-computer interaction function, to remind people outside the vehicle of the location of the external microphone 1328 so that people outside the vehicle can interact with the vehicle 200 or people inside the vehicle through the external microphone 1328 .
  • the on-vehicle controller 140 may perform different control operations based on the identified identities of persons outside the vehicle. Specifically, the wake-up processor 134 and/or the on-board controller 140 may further determine the authority corresponding to the identity of the person outside the vehicle, and the on-board controller 140 may perform different control operations on the vehicle 200 based on the authority. For example, in the case that the recognized identity of the person outside the vehicle is the owner or a driver authorized by the owner, the on-board controller 140 can determine that the person outside the vehicle has the highest authority, and can control the vehicle 200 according to the voice input by the person outside the vehicle.
  • Various operations such as opening/closing doors, trunk, front hatch, charging port, refueling port, etc., and can provide various information according to the requests of people outside the vehicle, such as the fuel volume, power, and weather information of the vehicle 200 wait.
  • the on-board controller 140 can further contact the vehicle owner (for example, through the vehicle customer service center or through a dedicated app) to further confirm whether the vehicle owner is authorized.
  • Authorize the outside personnel and give the above-mentioned highest authority to the outside personnel under the situation that the owner authorizes the outside personnel.
  • the on-board controller 140 can determine that the person outside the vehicle has general authority, and can control the movement of the vehicle 200 according to the voice input by the person outside the vehicle.
  • Various general operations such as opening/closing doors, trunk, etc., and can provide general information, such as weather information, etc., upon request from people outside the vehicle.
  • the on-vehicle controller 140 may perform a voice call operation with a person outside the vehicle after being woken up by the wake-up subsystem 130 without identifying the identity of the person outside the vehicle.
  • the vehicle-mounted controller 140 may enable a human-computer interaction function to receive voice input from a person outside the vehicle.
  • the onboard controller 140 may directly analyze the voice input and perform corresponding control operations on the vehicle 200 .
  • the on-board controller 140 can establish a voice connection with the remote vehicle owner, so that people outside the vehicle can communicate with the remote vehicle owner through the voice connection.
  • the on-board controller 140 and the wake-up processor 134 are described separately, but those skilled in the art can understand that the present invention is not limited thereto, and the wake-up processor 134 can also be implemented as a part of the on-board controller 140 .
  • the vibration sensor 1322, the sensor 1324, the external camera 1326, and the external microphone 1328 are described as separate implementations of the sensing component 132, but those skilled in the art can understand that the present invention is not limited to
  • the sensing component 132 may include any one or more of a vibration sensor 1322 , a sensor 1324 , an external camera 1326 and an external microphone 1328 .
  • sensing component 132 may only include shock sensor 1322 and/or sensor 1324 to wake up on-board controller 140 .
  • the vehicle-mounted human-computer interaction system 100 may still include an external camera and/or an external microphone as hardware devices supporting further human-computer interaction functions.
  • the vehicle-mounted human-computer interaction system 100 may include the aforementioned external camera 1326.
  • the vehicle-mounted controller 140 is also configured to, after being woken up by the wake-up processor 134, The image of the vehicle determines the identity of the person outside the vehicle, and performs a vehicle control operation when the identity of the person outside the vehicle is determined to be a predetermined person.
  • the vehicle-mounted controller 140 can establish a communication connection with the remote vehicle owner through the vehicle-mounted mobile communication module (such as a vehicle-mounted 4G or 5G communication module), so that the remote vehicle owner can view objects outside the vehicle or perform video communication with people outside the vehicle through the communication connection.
  • the vehicle-mounted mobile communication module such as a vehicle-mounted 4G or 5G communication module
  • the remote owner of the vehicle 200 can check the purchased items, gas stations or car rental personnel, etc. through the communication connection established by the vehicle controller 140, or communicate with shopping places Workers, gas station staff, or rental car personnel conduct video communication to further complete the required service.
  • the vehicle-mounted human-computer interaction system 100 may include the above-mentioned external microphone 1328, in this case, the vehicle-mounted controller 140 is also configured to, after being woken up by the wake-up processor 134, based on The external microphone 1328 receives voice input from people outside the vehicle to perform vehicle control operations.
  • the vehicle-mounted controller 140 can establish a communication connection with the remote vehicle owner through the vehicle-mounted mobile communication module (such as the vehicle-mounted 4G or 5G communication module), so that people outside the vehicle can make a voice call with the remote vehicle owner through the communication connection.
  • the vehicle-mounted mobile communication module such as the vehicle-mounted 4G or 5G communication module
  • the remote owner of the vehicle 200 can communicate with the staff of the shopping place, the staff of the gas station, or the car rental personnel through the communication connection established by the vehicle controller 140. Call to complete the desired service further.
  • the rest of the present invention can be realized by means of software, hardware or firmware.
  • the computer program product may include a computer readable storage medium carrying computer readable program instructions for carrying out various aspects of the present invention.
  • FIG. 6 shows a block diagram of a control device 600 suitable for implementing embodiments of the present disclosure.
  • Control device 600 may be used to implement on-board controller 140 and/or wake-up processor 134 as described above.
  • the control device 600 may include a processor 610 .
  • the processor 610 controls the operation and functions of the control device 600 .
  • processor 610 may perform various operations by means of instructions 630 stored in memory 620 coupled thereto.
  • Memory 620 may be of any suitable type suitable for the local technical environment and may be implemented using any suitable data storage technology, including but not limited to semiconductor-based storage devices, magnetic storage devices and systems, optical storage devices and systems. Although only one memory 620 is shown in FIG. 6 , those skilled in the art can understand that the control device 600 may include more physically different memories 620 .
  • Processor 610 may be of any suitable type suitable for the local technical environment, and may include, but is not limited to, general purpose computers, special purpose computers, microprocessors, digital signal processors (DSPs), and processor-based multi-core processor architectures. One or more than one.
  • the control device 600 may also include a plurality of processors 610 .
  • Processor 610 is coupled to transceiver 640, which may enable reception and transmission of information by means of one or more communication components. All the features about the on-board controller 140 and/or the wake-up processor 134 described above with reference to FIGS. 1 to 5 are applicable to the control device 600 , and will not be repeated here.
  • the functions described herein may be implemented by hardware, software, firmware, or any combination thereof.
  • the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
  • Each unit of the device disclosed herein can be implemented using discrete hardware components, or integrated on one hardware component, such as a processor.
  • a processor for example, a general purpose processor, digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components or for
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the various exemplary logical blocks, modules and circuits described in connection with the invention are implemented or performed by performing any combination of the functions described herein.

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Abstract

一种车载人机交互系统（100），包括：压电发声模块（110），压电发声模块（110）设置在作为车辆（200）外表面的车身面板（210）和作为车辆（200）内表面的内饰面板（220）之间的空腔中并且贴合车身面板（210）或者内饰面板（220）；唤醒子系统（130），唤醒子系统（130）用于基于车外对象的语音、动作和图像中的至少一项唤醒车载控制器（140）以开启人机交互功能；以及车载控制器（140），车载控制器（140）被配置为在被唤醒子系统（130）唤醒以开启人机交互功能之后，向压电发声模块（110）输出音频信号以使得压电发声模块（110）在音频信号的激励下，振动车身面板（210）或者内饰面板（220）以向车辆（200）的外部发送语音。该车载人机交互系统允许用户在车外对车辆进行唤醒操作，并向车外发声。

Description

车载人机交互系统 技术领域
本发明概括而言涉及车辆控制领域，更具体地，涉及一种车载人机交互系统。
背景技术
当前，汽车产业正呈现出电气化、网联化、共享化和智能化的发展趋势，这对车辆的驾驶方式、用户交互体验、车辆使用模式等方面都提出了新的技术需求，迫切需要对当前的车辆系统的技术改进以满足这些需求。
当前车辆的人机交互通常侧重于车内人员(如驾驶员或者乘客)与车载控制终端的交互，例如车载控制终端接收车内人员的语音指令以执行相应的操作(如播放音乐、开启空调等)。车外人员与车辆的交互目前仍仅仅局限于诸如驾驶员之类的车辆用户通过智能钥匙开启或关闭车辆或者通过手机客户端等在车外对车辆或车辆的一部分进行开启、关闭等简单控制，目前尚没有适用性更强的满足车外人员与车辆(或者进一步地与车内人员或远程的其他人员)进行交互的车载人机交互系统。
随着车辆智能化要求的提高，出现了越来越多的需要车外人员与车辆进行人机交互的应用场景。在很多情况下，车辆或者车内人员希望通过语音的方式向车外人员发送提示或提醒消息等。例如，由于电动汽车的噪音非常小，路上的行人或骑行人员很难仅凭声音注意到车辆的靠近，在这种情况下，车辆需要主动向行人或骑行人员发出提示声音。或者，在车辆想要礼让人行横道边的行人时，也想要通过语音主动向行人发出提醒。
然而，由于当前的车辆完全没有设计能够允许车辆与车外人员 进行交互的软硬件设施，也就无法满足上述需求。
发明内容
针对上述问题，本发明提供了一种车载人机交互系统，其中通过在车辆上安装压电发声模块来实现车辆或车内人员与车外人员的语音交互。
根据本发明的一个方面，提供了一种车载人机交互系统。该车载人机交互系统包括：压电发声模块，所述压电发声模块设置在作为车辆外表面的车身面板和作为车辆内表面的内饰面板之间的空腔中并且贴合所述车身面板或者所述内饰面板；唤醒子系统，所述唤醒子系统用于基于车外对象的语音、动作和图像中的至少一项唤醒车载控制器以开启人机交互功能；以及车载控制器，所述车载控制器被配置为在被所述唤醒子系统唤醒以开启人机交互功能之后，向所述压电发声模块输出音频信号以使得所述压电发声模块在所述音频信号的激励下，振动所述车身面板或者所述内饰面板以向所述车辆的外部发送语音。
在一些实施例中，所述压电发声模块包括：驱动电路，其从所述车载控制器接收所述音频信号并将所述音频信号转换为激励电压；以及压电陶瓷扬声器，其在所述驱动电路产生的激励电压的激励下振动，以带动与之贴合的所述车身面板或者所述内饰面板振动，从而发出语音。
在一些实施例中，所述驱动电路包括功率放大器，其被配置为利用所述音频信号对三角波信号进行调制以产生脉宽调制信号；以及LC滤波器，其被配置为对所述脉宽调制信号进行解调以产生放大的音频信号作为所述激励电压。
在一些实施例中，所述功率放大器包括：串联的限压限流器和音频放大器，其中所述限压限流器被配置为在所述音频放大器的反馈输出的控制下，利用接收的音频信号对所述三角波信号进行调制，并且所述音频放大器被配置为对调制后的三角波信号进行放大以产生所述脉宽调制信号。
在一些实施例中，所述压电陶瓷扬声器包括：电极片，其被配置为接收所述激励电压；压电陶瓷，其被配置为在所述激励电压的作用下产生横向或者纵向伸长或收缩；以及振动板，其与所述压电陶瓷贴合，并且随着所述压电陶瓷的伸长或收缩而产生振动。
在一些实施例中，所述压电陶瓷扬声器还包括：振动垫片，其位于所述振动板和所述车身面板或者所述内饰面板之间，其被配置为调整所述振动板产生的振动的频率响应。
在一些实施例中，所述压电陶瓷扬声器还包括：配重块，其位于所述压电陶瓷的、与所述振动板相反的另一侧，用于调整所述振动板产生的振动的频率响应。
在一些实施例中，所述系统还包括：外置麦克风，所述外置麦克风设置在所述车身面板的外侧并且被配置为接收所述车外对象的语音输入，并且所述车载控制器还被配置为通过所述车辆的内置扬声器将所述车外对象的语音输入播放给车内人员，或者对所述车外对象的语音输入进行语义分析，并且基于语义分析的结果对所述车辆执行控制。
在一些实施例中，所述唤醒子系统包括：感知部件，所述感知部件设置在所述车辆外侧，其被配置为感测所述车外对象的语音、动作和图像中的至少一种；以及唤醒处理器，其被配置为确定所感测的语音、动作和图像中的至少一项是否满足预定的唤醒条件，并且在确定满足所述预定的唤醒条件时唤醒所述车载控制器以开启人机交互功能。
在一些实施例中，所述感知部件包括：震动感应器，所述震动感应器设置在所述车身面板或者车辆玻璃上，其被配置为感测所述车外人员对所述车身面板或者车辆玻璃的敲击；并且所述唤醒处理器被配置为确定所述敲击是否满足预定的敲击条件，并且在确定所述敲击满足所述预定的敲击条件时唤醒所述车载控制器。
在一些实施例中，所述感知部件包括：传感器，所述传感器设置在所述车身面板外侧，其被配置为感测所述车外对象与所述车身 面板的距离；并且所述唤醒处理器被配置为确定所述距离是否满足预定的距离阈值，并且在确定所述距离满足所述预定的距离阈值时唤醒所述车载控制器。
在一些实施例中，所述车载人机交互系统还包括：外置摄像头，所述外置摄像头设置在所述车身面板外侧，其被配置为拍摄车外人员的图像；并且所述车载控制器还被配置为在被所述唤醒处理器唤醒之后，基于所述车外人员的图像确定所述车外人员的身份，并且在确定所述车外人员的身份是预定人员时执行车辆控制操作。
在一些实施例中，所述车载控制器被配置为执行车辆控制操作包括：通过车载移动通信模块建立与远程车主的通信连接，以使得所述远程车主通过所述通信连接查看所述车外对象或与所述车外人员进行视频通信。
在一些实施例中，所述车载人机交互系统还包括：外置麦克风，所述外置麦克风设置在所述车身面板的外侧并且被配置为接收车外人员的语音输入；并且所述车载控制器还被配置为在被所述唤醒处理器唤醒之后，基于所述车外人员的语音输入执行车辆控制操作。
在一些实施例中，所述车载控制器被配置为执行车辆控制操作包括：通过车载移动通信模块建立与远程车主的通信连接，以使得所述车外人员通过所述通信连接与所述远程车主进行语音通话。
在一些实施例中，所述感知部件包括：外置摄像头，所述外置摄像头设置在所述车身面板外侧，其被配置为拍摄车外人员的图像；并且所述唤醒处理器被配置为基于所述车外人员的图像确定所述车外人员的身份，并且在确定所述车外人员的身份是预定人员时唤醒所述车载控制器。
在一些实施例中，所述感知部件包括：外置摄像头，所述外置摄像头设置在所述车身面板外侧，其被配置为拍摄车外人员的一个或多个图像；并且所述唤醒处理器被配置为基于所述车外人员的一个或多个图像确定所述车外人员的手势，并且在确定所述车外人员的手势符合预定手势时唤醒所述车载控制器。
在一些实施例中，所述感知部件包括：外置麦克风，所述外置麦克风设置在所述车身面板的外侧并且被配置为接收所述车外人员的语音输入；并且所述唤醒处理器被配置为确定所述车外人员的语音输入是否符合预定的唤醒词或者基于所述车外人员的语音输入确定所述车外人员的身份是否符合预定人员，并且在确定所述车外人员的语音输入符合所述预定的唤醒词或者基于所述车外人员的语音输入确定所述车外人员的身份符合所述预定人员时，唤醒所述车载控制器。
附图说明
通过参考下列附图所给出的本发明的具体实施方式的描述，将更好地理解本发明，并且本发明的其他目的、细节、特点和优点将变得更加显而易见。
图1示出了根据本发明的实施例的示例性车载人机交互系统的结构示意图。
图2示出了安装有该车载人机交互系统的车辆的侧视图。
图3示出了根据本发明的一些实施例的压电发声模块的电路图。
图4示出了根据本发明的一些实施例的压电发声模块的驱动电路的电路图。
图5示出了根据本发明的一些实施例的压电发声模块的压电陶瓷扬声器的示意图。
图6示出了适合实现本公开的实施例的控制设备的方框图。
具体实施方式
下面将参照附图更详细地描述本发明的优选实施方式。虽然附图中显示了本发明的优选实施方式，然而应该理解，可以以各种形式实现本发明而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了使本发明更加透彻和完整，并且能够将本发明的范围完整的传达给本领域的技术人员。
在下文的描述中，出于说明各种发明的实施例的目的阐述了某些具体细节以提供对各种发明实施例的透彻理解。但是，相关领域 技术人员将认识到可在无这些具体细节中的一个或多个细节的情况来实践实施例。在其它情形下，与本申请相关联的熟知的装置、结构和技术可能并未详细地示出或描述从而避免不必要地混淆实施例的描述。
除非语境有其它需要，在整个说明书和权利要求中，词语“包括”和其变型，诸如“包含”和“具有”应被理解为开放的、包含的含义，即应解释为“包括，但不限于”。
在整个说明书中对“一个实施例”或“一些实施例”的提及表示结合实施例所描述的特定特点、结构或特征包括于至少一个实施例中。因此，在整个说明书的各个位置“在一个实施例中”或“在一些实施例”中的出现不一定全都指相同实施例。另外，特定特点、结构或特征可在一个或多个实施例中以任何方式组合。
此外，说明书和权利要求中所用的第一、第二、第三等术语，仅仅出于描述清楚起见来区分各个对象，而并不限定其所描述的对象的大小或其他顺序等，除非另有说明。
图1示出了根据本发明的实施例的示例性车载人机交互系统100的结构示意图，图2示出了安装有该车载人机交互系统100的车辆200的侧视图。
如图1和图2中所示，车载人机交互系统100包括一个或多个压电发声模块110(图1中示意性地示出了1个压电发声模块110)，每个压电发声模块110可以设置在作为车辆200外表面的车身面板210和作为车辆200内表面的内饰面板220之间的空腔中并且贴合车身面板210或者内饰面板220。如图2中所示，压电发声模块110可以设置在车辆200的前侧212、前门214、后门216、后侧218等处中的任意一处或多处，并且在一些情况下，压电发声模块110可以对称地设置在车辆200的两侧。或者，压电发声模块110可以设置在车辆200的车前盖的背面(内侧)等。
车载人机交互系统100还包括唤醒子系统130和车载控制器140，其中唤醒子系统130用于基于车外对象的语音、动作和图像中 的至少一项来唤醒车载控制器140以开启人机交互功能。这里，车外对象可以包括车外人员或者车外物体(如另一车辆或者障碍物等)。
车载控制器140被配置为在被唤醒子系统130唤醒以开启人机交互功能之后，向压电发声模块110输出音频信号以使得压电发声模块110在该音频信号的激励下，振动车身面板210或者内饰面板220以向车辆200的外部发送语音。
图3示出了根据本发明的一些实施例的压电发声模块110的电路图。如图3中所示，压电发声模块110包括驱动电路112和压电陶瓷扬声器120。驱动电路112从车载控制器140接收音频信号并将该音频信号转换为激励电压。压电陶瓷扬声器120在驱动电路112产生的激励电压的激励下振动，以带动与之贴合的车身面板210或者内饰面板220振动，从而发出语音。
图4示出了根据本发明的一些实施例的压电发声模块110的驱动电路112的电路图。如图3和图4中所示，驱动电路112包括功率放大器114和LC滤波器116，其中功率放大器114被配置为利用接收的音频信号对三角波信号进行调制以产生脉宽调制信号，LC滤波器116被配置为对该脉宽调制信号进行解调以产生放大的音频信号作为压电陶瓷扬声器120的激励电压。例如，如图3中所示，功率放大器114可以基于作为音频信号源的车载控制器140所输出的音频信号以及车载控制器140(或者车辆200的其他控制部件)的控制信号对三角波信号进行调制。由于压电陶瓷为容性器件，因此功率放大器114优选地使用D类功率放大器，例如可以采用TIDRV5825P芯片。
如图4中所示，功率放大器114可以包括串联的限压限流器1142和音频放大器1144，其中限压限流器1142被配置为利用接收的音频信号对三角波信号进行调制，并且音频放大器1144被配置为对调制后的三角波信号进行放大以产生该脉宽调制信号。
这里，限压限流器1142是脉宽调制(PWM)器和三角波(或锯 齿波)振荡发生器的组合，其中将输入的音频信号(如时分复用(TDM)音频信号)与三角波振荡发生器产生的三角波信号进行比较可以产生宽度随输入的音频信号变化的方波信号，即脉宽调制信号。这里，三角波振荡发生器可以看做音频信号的采样时钟。
此外，如图4中所示，还可以将LC滤波器116的输出反馈至限压限流器1142的输入，以形成负反馈环路，从而可以基于负载(即压电陶瓷扬声器120)的阻抗特性对输出的激励电压进行校正以实现限压和限流的功能。
这里，LC滤波器116是一个低通无源滤波器，其可以是半桥或全桥的。图3中示意性地示出了2个全桥LC滤波器，其中每个全桥LC滤波器包括并联的两个半桥LC电路，每个半桥LC电路由一个电容(C)和一个电感(L)串联而成。
此外，虽然图中未示出，在功率放大器114和LC滤波器116之间，还可以包括电流导向开关，如两个并联的p沟道和n沟道MOSFET以将功率放大器的输出交替连接至内部工作电压VDD和地电压，从而使得输出极性交替变化的高频方波。
图5示出了根据本发明的一些实施例的压电发声模块110的压电陶瓷扬声器120的示意图。如图5中所示，压电陶瓷扬声器120可以包括电极片121，其被配置为接收来自驱动电路112的激励电压。电极片121可以是一对正负极电极片。压电陶瓷扬声器120还可以包括压电陶瓷122，其被配置为在通过电极片121接收的激励电压的作用下产生横向或者纵向伸长或收缩。如前所述，激励电压可以是极性交替变化的高频方波，因此压电陶瓷122将在该极性交替变化的方波的作用下产生机械形变，即伸长或收缩。此外，压电陶瓷122可以是横向或纵向极化的压电陶瓷，从而在激励电压的作用下产生横向或者纵向的机械形变。图4中示例性地示出了一种横向极化的压电陶瓷122，其中在正向电压(即压电陶瓷122的上表面连接激励电压的正极，压电陶瓷122的下表面连接激励电压的负极)作用下，压电陶瓷122横向伸长(即沿着振动板123的表面径向方 向伸长)，而在负向电压(即压电陶瓷122的上表面连接激励电压的负极，压电陶瓷122的下表面连接激励电压的正极)作用下，压电陶瓷122横向收缩(即沿着振动板123的表面径向方向收缩)。压电陶瓷122的横向长度越长，其振动的低频响应越强。
压电陶瓷扬声器120还包括振动板123，其与压电陶瓷122贴合，并且随着压电陶瓷122的伸长或收缩而产生振动。通过这种方式，压电陶瓷扬声器120将输入的激励电压转换为振动，从而发出语音。
在一些实施例中，振动板123可以直接与车身面板210或者内饰面板220贴合以带动车身面板210或者内饰面板220振动。在压电陶瓷扬声器120所带动振动的车身面板210或者内饰面板220的面积越大，振动的低频响应越强，高频响应越弱。
在另一些实施例中，压电陶瓷扬声器120还可以包括振动垫片124，其位于振动板123和车身面板210或者内饰面板220(图4中仅示例性地示出了车身面板210)之间，如图4中所示。利用振动垫片124，可以调整振动板123产生的振动的频率响应。例如，在需要增强振动的低频响应的情况下，可以增大振动垫片124的面积，在需要减弱振动的低频响应的情况下，可以减小振动垫片124的面积。
此外，在一些实施例中，压电陶瓷扬声器120还可以包括配重块125，其位于压电陶瓷122的、与振动板123相反的另一侧。配重块125也可以用于调整振动板123产生的振动的频率响应。例如，在需要增强振动的低频响应的情况下，可以增大配重块125的重量，反之，在需要减弱振动的低频响应的情况下，可以减小配重块125的重量。
由于压电陶瓷122本身的高频响应通常较好，因此通过适配振动垫片124的面积和/或配重块125的重量可以方便地得到期望的低频响应。
本领域技术人员可以理解，图5所示的压电陶瓷扬声器120仅仅是示意性的，其并不用于限制本发明的范围。例如，在一些实施例中，电极片121可以设置在压电陶瓷122的不同位置，或者以其 他形式向压电陶瓷122施加激励电压。或者，在一些实施例中，可以在压电陶瓷扬声器120中设置多个配重块125等。此外，在一些实施例中，压电陶瓷扬声器120可以包括多个压电陶瓷122和相对应的多对电极片121。例如，可以在振动板123的上下两侧各设置一个压电陶瓷122(例如在振动板123下方与所示的压电陶瓷122对称地设置另一压电陶瓷122)，并且使得二者在各自的电极片121的作用下沿相反方向伸长或收缩，从而进一步增强振动效果。
在压电发声模块110处于工作状态时，车载控制器140可以控制该压电发声模块110发出各种提醒语音，如提醒车辆200通过的语音、提醒车外人员遗忘物品的语音(例如车外人员是刚刚下车的情况下)、提醒天气情况或安全须知的语音等。
在实际应用场景下，压电发声模块110有可能不总是处于工作状态。在车内人员主动想要对外发送语音的情况下，其可以通过主动操纵车载控制器140来通过压电发声模块110发出声音，如发出语音提醒或者播放音乐等。然而，在车外人员想要与车辆或车内人员交互的情况下，或者车外对象是诸如另一车辆之类的物体的情况下，车载人机交互系统100可以通过唤醒子系统130基于车外对象的语音、动作和图像中的至少一项来唤醒车载控制器140以开启人机交互功能。为此，唤醒子系统130可以包括感知部件132和唤醒处理器134，其中感知部件132设置在车辆200外侧，用于感测车外对象的语音、动作和图像中的至少一种，唤醒处理器134用于确定所感测的语音、动作和图像中的至少一项是否满足预定的唤醒条件，并且在确定满足预定的唤醒条件时唤醒车载控制器140以开启人机交互功能。
在一些实施例中，感知部件132可以包括一个或多个震动感应器1322，其可以设置在车身面板210外侧(如靠近前窗玻璃处)或者车辆玻璃230上(如图2中所示)。震动感应器1322被配置为感测车外人员对车身面板210或者车辆玻璃230的敲击。在这种情况下，唤醒处理器134被配置为确定震动感应器1322感测的敲击是否 满足预定的敲击条件，并且在确定满足预定的敲击条件时唤醒车载控制器140以开启人机交互功能。例如，该预定的敲击条件可以包括预定的连续敲击次数(如2次或3次)。唤醒处理器134可以在确定震动感应器1322感测的敲击的次数达到该预定的连续敲击次数时，确定满足预定的敲击条件。通过这种方式，唤醒子系统130可以通过车外人员有意的敲击行为而容易地理解车外人员希望与车辆200进行交互的意图，从而控制车载控制器140开启人机交互功能。
这里，进一步地，唤醒处理器134在确定是否满足预定的敲击条件时还可以过滤掉强度低于预定阈值的敲击。通过这种方式，唤醒子系统130可以识别出有效的敲击而过滤掉无效的或者无意的敲击。
在另一些实施例中，感知部件132可以包括一个或多个传感器1324，其可以设置在车身面板210外侧(如图2中所示)。传感器1324被配置为感测车外对象与车身面板210之间的距离。例如，传感器1324可以是诸如红外近距传感器之类的生物感知传感器或者是诸如近距超声波传感器或者UWB(超宽带)传感器之类的传感器，其可以感测到车外人员或者其他车外对象并且确定这些车外对象与车辆200之间的距离。在这种情况下，唤醒处理器134被配置为确定生物感知传感器1324感测的距离是否满足预定的距离阈值，并且在确定满足该预定的距离阈值时唤醒车载控制器140以开启人机交互功能。例如，该预定的距离阈值可以是一个小于常规安全距离的距离，并且取决于感测对象(即车外是人员还是其他物体)而有不同的值或者范围。例如，在车外对象是人员的情况下，该距离阈值可以是0.2米至0.5米范围内的一个值，在车外对象是其他车辆的情况下，该距离阈值可以是5米至10米范围内的一个值等。在这种情况下，唤醒处理器134可以在确定传感器1324感测的距离小于该距离阈值时，确定满足预定的唤醒条件。通过这种方式，唤醒子系统130可以通过车外人员明显过于靠近车辆200的行为容易地理解车外人员希望与车辆200进行交互的意图，从而控制车载控制器140 开启人机交互功能。或者，唤醒子系统130可以在其他车辆过于靠近车辆200时向其他车辆主动发出语音提醒，以提醒该另一车辆注意车距。
在另一些实施例中，感知部件132可以包括一个或多个外置摄像头1326，其可以设置在车身面板210外侧，例如可以设置在车辆200的前窗玻璃附近(例如车辆200的B柱上方)，如图2中所示。外置摄像头1326被配置为拍摄车外人员的图像。在这种情况下，唤醒处理器134被配置为基于车外人员的图像确定车外人员的身份，并且在确定车外人员的身份是预定人员时唤醒车载控制器140以开启人机交互功能。例如，在车辆200是家庭使用的车辆的情况下，唤醒处理器134中可以预先存储有车辆200的允许用户(如该家庭的成员)的图像，并且通过将外置摄像头1326获得的车外人员的图像与预先存储的允许用户的图像进行比较以确定该车外人员是否属于允许用户。或者，在车辆200是无人驾驶共享或出租车辆的情况下，唤醒处理器134可以经由车载控制器140或其他车载终端获取预定该车辆的用户的图像，并且通过将外置摄像头1326获得的车外人员的图像与预先获取的预定该车辆的用户的图像进行比较以确定该车外人员是否属于预定该车辆的用户。通过这种方式，唤醒子系统130可以通过车外人员的图像容易地确定该车外人员可能是要与车辆200进行交互的人员，从而控制车载控制器140开启人机交互功能。在这种情况下，车载控制器140可以通过压电发声模块110向车外人员播放欢迎音乐或语音，或者可以发送其他语音，例如要求车外人员提供特定的使用凭证(如预定该车辆200时预定平台向其发送的验证码等)，以与车外人员进行进一步的交互。
在另一些实施例中，唤醒处理器134可以基于外置摄像头1326获取的一个或多个图像确定车外人员的手势，并且在确定车外人员的手势符合预定手势时唤醒车载控制器140以开启人机交互功能。例如，该预定手势可以是挥手动作。在这种情况下，唤醒处理器134可以基于这些图像确定车外人员是否在朝着车辆200挥手，并且在 确定车外人员在朝着车辆200挥手时，唤醒车载控制器140。通过这种方式，唤醒子系统130可以通过车外人员的图像容易地确定该车外人员要与车辆200进行交互的意图，从而控制车载控制器140开启人机交互功能。例如，在车辆200是无人驾驶出租车的情况下，唤醒子系统130可以通过车外人员的挥手动作容易地确定该车外人员想要乘坐车辆200，并且可以开启人机交互功能以通过语音进一步与车外人员确认其乘坐意图或者进行其他身份验证操作等。
在另一些实施例中，感知部件132可以包括一个或多个外置麦克风1328，其可以设置在车身面板210外侧(如图2中所示)。外置麦克风1328被配置为接收车外人员的语音输入。在这种情况下，唤醒处理器134被配置为确定车外人员的语音输入是否符合预定的唤醒词或者基于车外人员的语音输入确定车外人员的身份是否符合预定人员，并且在确定车外人员的语音输入符合预定的唤醒词或者基于车外人员的语音输入确定车外人员的身份符合预定人员时，唤醒车载控制器140以开启人机交互功能。例如，在车辆200是出租车的情况下，唤醒词可以包括“出租车”或者“taxi”等。在这种情况下，唤醒处理器134可以确定外置麦克风1328接收的语音输入是否符合该唤醒词，并且在符合该唤醒词的情况下，唤醒车载控制器140以开启人机交互功能。或者，在车辆200是家庭使用的车辆的情况下，唤醒处理器134中可以预先存储有车辆200的允许用户(如该家庭的成员)的声纹，并且通过将分析外置麦克风1328接收的语音输入所获得的车外人员的声纹与预先存储的允许用户的声纹进行比较以确定该车外人员是否属于允许用户。通过这种方式，唤醒子系统130可以通过车外人员的声音容易地确定该车外人员可能是要与车辆200进行交互的人员，从而控制车载控制器140开启人机交互功能。在这种情况下，车载控制器140可以通过压电发声模块110向车外人员播放欢迎音乐或语音，或者可以发送其他语音，例如要求车外人员提供特定的使用凭证(如预定该车辆200时预定平台向其发送的验证码等)，以与车外人员进行进一步的交互。
此外，外置麦克风1328还可以用于主动接收车外人员的语音输入并且车载控制器140被配置为通过车辆200的内置扬声器(如图1中所示的与车载控制器140相连的内置扬声器152)将接收的语音播放给车内人员。通过这种方式，可以实现车内人员与车外人员的语音透传，从而实现车内人员与车外人员的语音交互。
或者，在一些实施例中，外置麦克风1328可以对车外人员的语音输入进行语义分析，并且基于语义分析的结果对车辆200执行控制。例如，在车外人员是车辆200的允许用户的情况下(其可以通过上述图像或声纹方式或者其他方式来判断)并且输入的语音是“后备箱”的情况下，车载控制器140可以对该语音输入进行语义分析，结合当前的后备箱状态(即后备箱是关闭还是打开)，确定语义分析的结果是打开还是关闭后备箱(例如在当前后备箱关闭的情况下确定语义分析的结果是打开后备箱，在当前后备箱打开的情况下确定语义分析的结果是关闭后备箱)。在这种情况下，车载控制器140可以根据语义分析的结果对车辆200进行控制，如关闭或者打开后备箱。
在一些实施例中，作为车载人机交互系统100的一部分，还可以在外置麦克风1328周围为外置麦克风1328配置提示装置(图中未示出)，如提示灯。该提示装置在车载控制器140开启人机交互功能时被激活，以提示车外人员该外置麦克风1328的位置从而使得车外人员可以通过外置麦克风1328与车辆200或车内人员进行交互。
进一步地，在一些实施例中，车载控制器140可以基于所识别出的车外人员的身份执行不同的控制操作。具体地，唤醒处理器134和/或车载控制器140可以进一步确定与车外人员的身份相对应的权限，并且车载控制器140可以基于该权限对车辆200执行不同的控制操作。例如，在所识别出的车外人员的身份是车主或者车主授权的驾驶员的情况下，车载控制器140可以确定该车外人员具有最高权限，并且可以根据车外人员输入的语音控制车辆200的各种操作， 如打开/关闭车门、后备箱、前舱盖、充电口、加油口等等，并且可以根据车外人员的请求提供各种信息，如车辆200的油量、电量、天气信息等。在所识别出的车外人员的身份是车主未授权的驾驶员的情况下，车载控制器140还可以进一步联系车主(例如通过车辆客服中心或者通过专用app)以向车主进一步确认是否对该车外人员进行授权，并且在车主对该车外人员授权的情况下给予该车外人员如上所述的最高权限。另一方面，在所识别出的车外人员的身份是车主授权的乘客的情况下，车载控制器140可以确定该车外人员具有一般权限，并且可以根据车外人员输入的语音控制车辆200的各种一般操作，如打开/关闭车门、后备箱等，并且可以根据车外人员的请求提供一般信息，如天气信息等。
可选地，在一些实施例中，车载控制器140可以在被唤醒子系统130唤醒之后执行与车外人员的语音通话操作，而无需识别车外人员的身份。具体地，在被车外人员的敲击唤醒的情况下，车载控制器140可以开启人机交互功能以接收车外人员的语音输入。在一些情况下，车载控制器140可以直接分析该语音输入并且对车辆200执行对应的控制操作。替换地或附加地，车载控制器140可以建立与远程车主的语音连接，从而车外人员可以通过该语音连接与远程车主进行通话。
在上述描述中，将车载控制器140和唤醒处理器134单独描述，然而本领域技术人员可以理解，本发明并不局限于此，唤醒处理器134也可以实现为车载控制器140的一部分。
此外，在上述描述中，将震动感应器1322、传感器1324、外置摄像头1326和外置麦克风1328等描述为感知部件132的单独的实现方式，然而本领域技术人员可以理解，本发明并不局限于此，感知部件132可以包括震动感应器1322、传感器1324、外置摄像头1326和外置麦克风1328中的任意一种或多种。在一些情况下，感知部件132可以仅包括震动感应器1322和/或传感器1324来唤醒车载控制器140。对此，车载人机交互系统100仍然可以包括外置摄像头和/ 或外置麦克风用作支持进一步的人机交互功能的硬件设备。为了便于描述起见，仍然使用上述相同的标号来描述该外置摄像头和/或外置麦克风。具体地，在一些实施例中，车载人机交互系统100可以包括上述外置摄像头1326，在这种情况下，车载控制器140还被配置为在被唤醒处理器134唤醒之后，基于车外人员的图像确定车外人员的身份，并且在确定车外人员的身份是预定人员时执行车辆控制操作。例如，车载控制器140可以通过车载移动通信模块(如车载4G或5G通信模块)建立与远程车主的通信连接，以使得远程车主能够通过该通信连接查看车外对象或与车外人员进行视频通信。例如，在车辆200执行自助购物、加油、共享租车等应用时，车辆200的远程车主可以通过车载控制器140所建立的通信连接来查看购买的物品、加油站或者租车人员等，或者与购物场所工作人员、加油站工作人员或者租车人员进行视频通信以进一步完成所需的服务。替换地或者附加地，在一些实施例中，车载人机交互系统100可以包括上述外置麦克风1328，在这种情况下，车载控制器140还被配置为在被唤醒处理器134唤醒之后，基于外置麦克风1328接收的车外人员的语音输入执行车辆控制操作。例如，车载控制器140可以通过车载移动通信模块(如车载4G或5G通信模块)建立与远程车主的通信连接，以使得车外人员能够通过该通信连接与远程车主进行语音通话。例如，类似地，在车辆200执行上述加油、共享租车等应用时，车辆200的远程车主可以通过车载控制器140所建立的通信连接来与购物场所工作人员、加油站工作人员或者租车人员进行语音通话以进一步完成所需的服务。
除了特定的硬件部件，如压电发声模块110和感知部件132之外，本发明的其余部分可以通过软件、硬件或者固件的方式来实现。在通过软件实现为计算机程序产品的情况下，计算机程序产品可以包括计算机可读存储介质，其上载有用于执行本发明的各个方面的计算机可读程序指令。
图6示出了适合实现本公开的实施例的控制设备600的方框图。 控制设备600可以用来实现如上所述的车载控制器140和/或唤醒处理器134。
如图所示，控制设备600可以包括处理器610。处理器610控制控制设备600的操作和功能。例如，在某些实施例中，处理器610可以借助于与其耦合的存储器620中所存储的指令630来执行各种操作。存储器620可以是适用于本地技术环境的任何合适的类型，并且可以利用任何合适的数据存储技术来实现，包括但不限于基于半导体的存储器件、磁存储器件和系统、光存储器件和系统。尽管图6中仅仅示出了一个存储器620，但是本领域技术人员可以理解，控制设备600可以包括更多个物理上不同的存储器620。
处理器610可以是适用于本地技术环境的任何合适的类型，并且可以包括但不限于通用计算机、专用计算机、微处理器、数字信号处理器(DSP)以及基于处理器的多核处理器架构中的一个或多个多个。控制设备600也可以包括多个处理器610。处理器610与收发器640耦合，收发器640可以借助于一个或多个通信部件来实现信息的接收和发送。上文参考图1至图5所描述的关于车载控制器140和/或唤醒处理器134的所有特征均适用于控制设备600，在此不再赘述。
在一个或多个示例性设计中，可以用硬件、软件、固件或它们的任意组合来实现本发明所述的功能。例如，如果用软件来实现，则可以将所述功能作为一个或多个指令或代码存储在计算机可读介质上，或者作为计算机可读介质上的一个或多个指令或代码来传输。
本文公开的装置的各个单元可以使用分立硬件组件来实现，也可以集成地实现在一个硬件组件，如处理器上。例如，可以用通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或其它可编程逻辑器件、分立门或者晶体管逻辑、分立硬件组件或用于执行本文所述的功能的任意组合来实现或执行结合本发明所描述的各种示例性的逻辑块、模块和电路。
本领域普通技术人员还应当理解，结合本发明的实施例描述的 各种示例性的逻辑块、模块、电路和算法步骤可以实现成电子硬件、计算机软件或二者的组合。
本发明的以上描述用于使本领域的任何普通技术人员能够实现或使用本发明。对于本领域普通技术人员来说，本发明的各种修改都是显而易见的，并且本文定义的一般性原理也可以在不脱离本发明的精神和保护范围的情况下应用于其它变形。因此，本发明并不限于本文所述的实例和设计，而是与本文公开的原理和新颖性特性的最广范围相一致。

Claims (18)

  1. 一种车载人机交互系统，包括：
    压电发声模块，所述压电发声模块设置在作为车辆外表面的车身面板和作为车辆内表面的内饰面板之间的空腔中并且贴合所述车身面板或者所述内饰面板；
    唤醒子系统，所述唤醒子系统用于基于车外对象的语音、动作和图像中的至少一项唤醒车载控制器以开启人机交互功能；以及
    车载控制器，所述车载控制器被配置为在被所述唤醒子系统唤醒以开启人机交互功能之后，向所述压电发声模块输出音频信号以使得所述压电发声模块在所述音频信号的激励下，振动所述车身面板或者所述内饰面板以向所述车辆的外部发送语音。
  2. 如权利要求1所述的系统，其中所述压电发声模块包括：
    驱动电路，其从所述车载控制器接收所述音频信号并将所述音频信号转换为激励电压；以及
    压电陶瓷扬声器，其在所述驱动电路产生的激励电压的激励下振动，以带动与之贴合的所述车身面板或者所述内饰面板振动，从而发出语音。
  3. 如权利要求2所述的系统，其中所述驱动电路包括
    功率放大器，其被配置为利用所述音频信号对三角波信号进行调制以产生脉宽调制信号；以及
    LC滤波器，其被配置为对所述脉宽调制信号进行解调以产生放大的音频信号作为所述激励电压。
  4. 如权利要求3所述的系统，其中所述功率放大器包括：
    串联的限压限流器和音频放大器，其中所述限压限流器被配置为在所述音频放大器的反馈输出的控制下，利用接收的音频信号对所述三角波信号进行调制，并且所述音频放大器被配置为对调制后的三角波信号进行放大以产生所述脉宽调制信号。
  5. 如权利要求2所述的系统，其中所述压电陶瓷扬声器包括：
    电极片，其被配置为接收所述激励电压；
    压电陶瓷，其被配置为在所述激励电压的作用下产生横向或者纵向伸长或收缩；以及
    振动板，其与所述压电陶瓷贴合，并且随着所述压电陶瓷的伸长或收缩而产生振动。
  6. 如权利要求5所述的系统，其中所述压电陶瓷扬声器还包括：
    振动垫片，其位于所述振动板和所述车身面板或者所述内饰面板之间，其被配置为调整所述振动板产生的振动的频率响应。
  7. 如权利要求5所述的系统，其中所述压电陶瓷扬声器还包括：
    配重块，其位于所述压电陶瓷的、与所述振动板相反的另一侧，用于调整所述振动板产生的振动的频率响应。
  8. 如权利要求1所述的系统，还包括：
    外置麦克风，所述外置麦克风设置在所述车身面板的外侧并且被配置为接收所述车外对象的语音输入，并且
    所述车载控制器还被配置为通过所述车辆的内置扬声器将所述车外对象的语音输入播放给车内人员，或者对所述车外对象的语音输入进行语义分析，并且基于语义分析的结果对所述车辆执行控制。
  9. 如权利要求1所述的系统，其中所述唤醒子系统包括：
    感知部件，所述感知部件设置在所述车辆外侧，其被配置为感测所述车外对象的语音、动作和图像中的至少一种；以及
    唤醒处理器，其被配置为确定所感测的语音、动作和图像中的至少一项是否满足预定的唤醒条件，并且在确定满足所述预定的唤醒条件时唤醒所述车载控制器以开启人机交互功能。
  10. 如权利要求9所述的系统，其中所述感知部件包括：
    震动感应器，所述震动感应器设置在所述车身面板或者车辆玻璃上，其被配置为感测所述车外人员对所述车身面板或者车辆玻璃的敲击；并且
    所述唤醒处理器被配置为确定所述敲击是否满足预定的敲击条件，并且在确定所述敲击满足所述预定的敲击条件时唤醒所述车载 控制器。
  11. 如权利要求9所述的系统，其中所述感知部件包括：
    传感器，所述传感器设置在所述车身面板外侧，其被配置为感测所述车外对象与所述车身面板的距离；并且
    所述唤醒处理器被配置为确定所述距离是否满足预定的距离阈值，并且在确定所述距离满足所述预定的距离阈值时唤醒所述车载控制器。
  12. 如权利要求10或11所述的系统，其中所述车载人机交互系统还包括：
    外置摄像头，所述外置摄像头设置在所述车身面板外侧，其被配置为拍摄车外人员的图像；并且
    所述车载控制器还被配置为在被所述唤醒处理器唤醒之后，基于所述车外人员的图像确定所述车外人员的身份，并且在确定所述车外人员的身份是预定人员时执行车辆控制操作。
  13. 如权利要求12所述的系统，其中所述车载控制器被配置为执行车辆控制操作包括：
    通过车载移动通信模块建立与远程车主的通信连接，以使得所述远程车主通过所述通信连接查看所述车外对象或与所述车外人员进行视频通信。
  14. 如权利要求10或11所述的系统，其中所述车载人机交互系统还包括：
    外置麦克风，所述外置麦克风设置在所述车身面板的外侧并且被配置为接收车外人员的语音输入；并且
    所述车载控制器还被配置为在被所述唤醒处理器唤醒之后，基于所述车外人员的语音输入执行车辆控制操作。
  15. 如权利要求14所述的系统，其中所述车载控制器被配置为执行车辆控制操作包括：
    通过车载移动通信模块建立与远程车主的通信连接，以使得所述车外人员通过所述通信连接与所述远程车主进行语音通话。
  16. 如权利要求9所述的系统，其中所述感知部件包括：
    外置摄像头，所述外置摄像头设置在所述车身面板外侧，其被配置为拍摄车外人员的图像；并且
    所述唤醒处理器被配置为基于所述车外人员的图像确定所述车外人员的身份，并且在确定所述车外人员的身份是预定人员时唤醒所述车载控制器。
  17. 如权利要求9所述的系统，其中所述感知部件包括：
    外置摄像头，所述外置摄像头设置在所述车身面板外侧，其被配置为拍摄车外人员的一个或多个图像；并且
    所述唤醒处理器被配置为基于所述车外人员的一个或多个图像确定所述车外人员的手势，并且在确定所述车外人员的手势符合预定手势时唤醒所述车载控制器。
  18. 如权利要求9所述的系统，其中所述感知部件包括：
    外置麦克风，所述外置麦克风设置在所述车身面板的外侧并且被配置为接收所述车外人员的语音输入；并且
    所述唤醒处理器被配置为确定所述车外人员的语音输入是否符合预定的唤醒词或者基于所述车外人员的语音输入确定所述车外人员的身份是否符合预定人员，并且在确定所述车外人员的语音输入符合所述预定的唤醒词或者基于所述车外人员的语音输入确定所述车外人员的身份符合所述预定人员时，唤醒所述车载控制器。
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