WO2024001884A1 - Procédé de demande d'état de route, dispositif électronique et support lisible par ordinateur - Google Patents

Procédé de demande d'état de route, dispositif électronique et support lisible par ordinateur Download PDF

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Publication number
WO2024001884A1
WO2024001884A1 PCT/CN2023/101492 CN2023101492W WO2024001884A1 WO 2024001884 A1 WO2024001884 A1 WO 2024001884A1 CN 2023101492 W CN2023101492 W CN 2023101492W WO 2024001884 A1 WO2024001884 A1 WO 2024001884A1
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WO
WIPO (PCT)
Prior art keywords
road condition
target vehicle
information
sound field
prompting method
Prior art date
Application number
PCT/CN2023/101492
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English (en)
Chinese (zh)
Inventor
曹宇宁
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深圳市中兴微电子技术有限公司
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
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Publication of WO2024001884A1 publication Critical patent/WO2024001884A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • 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
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04S—STEREOPHONIC SYSTEMS 
    • H04S7/00—Indicating arrangements; Control arrangements, e.g. balance control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04S—STEREOPHONIC SYSTEMS 
    • H04S7/00—Indicating arrangements; Control arrangements, e.g. balance control
    • H04S7/30—Control circuits for electronic adaptation of the sound field
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04S—STEREOPHONIC SYSTEMS 
    • H04S2420/00—Techniques used stereophonic systems covered by H04S but not provided for in its groups
    • H04S2420/01—Enhancing the perception of the sound image or of the spatial distribution using head related transfer functions [HRTF's] or equivalents thereof, e.g. interaural time difference [ITD] or interaural level difference [ILD]

Definitions

  • the present disclosure relates to, but is not limited to, the field of augmented reality technology.
  • Automobile human-computer interaction systems can also be used to provide road condition prompts.
  • road condition prompts are implemented through traffic lights, displays, radar charts, etc., which not only cause safety hazards due to the driver's movement of sight, but also the content of the traffic conditions that can be prompted. Also very limited.
  • the present disclosure provides a road condition prompting method based on audio augmented reality, an electronic device, and a computer-readable medium.
  • the present disclosure provides a road condition prompting method, which includes: generating a sound field signal according to the road condition information, and the sound field signal is used to perform traffic conditions represented by the road condition information. Simulation; generate a virtual sound field based on the sound field signal, and provide traffic prompts in the form of audio augmented reality.
  • the present disclosure provides an electronic device, including: one or more processors; and a memory on which one or more programs are stored.
  • an electronic device including: one or more processors; and a memory on which one or more programs are stored.
  • Execution causes the one or more processors to implement the traffic prompt method described in the first aspect of this disclosure.
  • the disclosure provides a computer-readable medium on which a computer program is stored.
  • the program is executed by a processor, the road condition prompting method described in the first aspect of the disclosure is implemented.
  • Figure 1 is a flow chart of a road condition prompting method in the present disclosure
  • Figure 2 is a flow chart of some steps in another road condition prompting method in the present disclosure.
  • Figure 3 is a flow chart of some steps in yet another road condition prompting method in the present disclosure.
  • Figure 4 is a flow chart of some steps in yet another road condition prompting method in the present disclosure.
  • Figure 5 is a flow chart of some steps in yet another road condition prompting method in the present disclosure.
  • Figure 6 is a flow chart of some steps in yet another road condition prompting method in the present disclosure.
  • Figure 7 is a flow chart of some steps in yet another road condition prompting method in the present disclosure.
  • Figure 8 is a flow chart of some steps in yet another road condition prompting method in the present disclosure.
  • Figure 9 is a block diagram of an electronic device in the present disclosure.
  • Figure 10 is a block diagram of a computer-readable medium in the present disclosure.
  • Figure 11 is a schematic diagram of the system architecture of a traffic prompt in the present disclosure.
  • an embodiment of the present disclosure provides a road condition prompting method, including S1 and S2.
  • a sound field signal is generated according to the road condition information, and the sound field signal is used to simulate the road condition represented by the road condition information.
  • a virtual sound field is generated according to the sound field signal, and traffic conditions are prompted in the form of audio augmented reality.
  • the road condition prompting method provided by this disclosure can be executed in the centrally controlled Advanced Driving Assistance System (ADAS) of the car, or in the smart wearable device (such as an AR head-mounted display device) worn by the driver of the car. implement.
  • ADAS Advanced Driving Assistance System
  • smart wearable device such as an AR head-mounted display device
  • road condition information is information that can reflect real-time road conditions and is obtained by monitoring the road conditions around the car.
  • the car monitors the road conditions around the car and obtains road condition information through sensors such as millimeter wave radar and cameras.
  • generating a virtual sound field based on a sound field signal refers to generating a virtual sound field based on a sound field signal.
  • Surround sound technology creates a virtual sound field, and audio augmented reality is used to simulate road conditions, thereby achieving the purpose of reminding the driver of road conditions.
  • creating a virtual sound field based on sound field signals is based on auditory psychology and simulates a three-dimensional sound field to make the driver feel like he is in a three-dimensional space.
  • the driver can perceive the road conditions based on the sounds in the virtual sound field. For example, the driver can determine the location of the sound source based on the sound in the virtual sound field, and the location of the sound source in the virtual sound field represents the relative positional relationship between the car and other target vehicles on the road. Therefore, the driver can determine the location of the sound source based on the virtual sound field.
  • the sound in the vehicle determines the relative positional relationship between the car and other target vehicles on the road, that is, it obtains road condition prompts.
  • the process of generating a sound field signal based on road condition information is a process of constructing a three-dimensional sound field to simulate the road conditions, and the sound field signal is a data description of the constructed three-dimensional sound field.
  • a sound field signal can be generated based on the road condition information, the road conditions represented by the road condition information can be simulated, and then a virtual sound field can be created based on the sound field signal, so that the driver can perceive the road conditions using the sounds in the virtual sound field, thereby realizing It uses audio augmented reality to provide drivers with road condition prompts.
  • This disclosure provides road condition prompts based on the driver's hearing, so the driver does not need to move his or her eyes, thus eliminating potential safety hazards, and the audio augmented reality-based prompts for rich road condition content are conducive to improving the driving experience.
  • the morphological characteristics of the target vehicle around the car can be prompted in an audio augmented reality manner.
  • audio augmented reality can be used to prompt the movement status of the target vehicle around the car relative to the car, such as the position and speed of the target vehicle relative to the car.
  • the audio augmented reality method can not only prompt the morphological characteristics of the target vehicles around the car, but also prompt the motion status of the target vehicles around the car relative to the car.
  • This disclosure does not place any special limitations on how to generate sound field signals based on road condition information.
  • the sound field signal generated according to the road condition information determines the traffic condition content prompted in the form of audio augmented reality. For example, if the generated sound field signal contains information that simulates the morphological characteristics of the target vehicle, then the virtual image generated based on the sound field signal will The onomatopoeic field contains sound features that can reflect the morphological characteristics of the target vehicle; the generated sound field signal contains information that simulates the motion state of the target vehicle, and the virtual sound field generated based on the sound field signal contains information that can reflect the motion state of the target vehicle. sound characteristics. This disclosure does not impose special limitations on this.
  • a sound field signal is generated according to the road condition information, including S11 and S12.
  • a virtual sound image is determined based on the morphological information characterizing the morphological characteristics of the target vehicle in the road condition information, where the virtual sound image is used to simulate the morphological characteristics of the target vehicle through sound.
  • a sound field effect is added to the virtual sound image to simulate the motion state of the target vehicle to obtain the sound field signal.
  • the virtual sound image is a virtual sound source corresponding to the target vehicle, and the virtual sound image is used to simulate the sound emitted by the target vehicle.
  • the virtual sound image is used to simulate a sound that is a mixture of at least one of tire noise, wind noise, engine sound, etc. when the target vehicle is driving.
  • the morphological characteristics of the vehicle may include the type of the vehicle, such as a car, a truck, an off-road vehicle, etc.; the morphological characteristics of the vehicle may also include the size of the vehicle; and the morphological characteristics of the vehicle may also include the weight of the vehicle.
  • vehicles of different forms emit different sounds when driving.
  • the sounds emitted by vehicles of different forms while driving can be simulated through different virtual sound images, so that the driver can respond to different sounds based on the virtual sound images. Differentiation of vehicles.
  • a sound field effect is added to the virtual sound image so that the driver can perceive the position and movement state of the virtual sound source in the virtual sound field, and the position and movement state of the virtual sound source in the virtual sound field are The status, etc. are consistent with the position and motion state of the target vehicle relative to the current vehicle, thereby enabling the driver to perceive the position and motion state of the target vehicle relative to the current vehicle.
  • a sound retrieval system is used to process the virtual sound image according to auditory psychological effects, thereby adding a sound field effect to the virtual sound image and creating a virtual sound field.
  • virtual sound and images are used to simulate the morphological characteristics of the target vehicle, and sound field effects are added to the virtual sound and images, which can prompt the driver with road condition information such as the morphological characteristics and motion status of the target vehicle, enriching the content of the road condition prompts.
  • This disclosure does not specifically limit how to determine the virtual sound and image based on the morphological information of the target vehicle.
  • determining the virtual sound image according to the morphological information characterizing the morphological characteristics of the target vehicle in the road condition information includes S111 to S113.
  • the tonnage level of the target vehicle is determined based on the morphological information.
  • At least one voiceprint feature is determined according to the tonnage level of the target vehicle, where different voiceprint features correspond to different tonnage levels.
  • the virtual sound image is generated according to the at least one voiceprint feature.
  • vehicles are divided into multiple tonnage levels, and voiceprint features are recorded or extracted in advance corresponding to each tonnage level.
  • the voiceprint features include tire noise, wind noise, engine sound, etc. when the vehicle of this tonnage level is driving. sound characteristics.
  • a virtual sound image is generated based on at least one voiceprint feature, that is, the voiceprint feature corresponding to at least one sound such as tire noise, wind noise, and engine sound when a vehicle of a corresponding tonnage level is driving is modulated to generate a virtual sound image. picture.
  • This disclosure does not place any special restrictions on how to determine the tonnage level of the target vehicle.
  • the morphological information includes the type and size of the target vehicle; determining the tonnage level of the target vehicle based on the morphological information includes: determining the target vehicle based on the type and size of the target vehicle. The tonnage rating of the vehicle.
  • the current vehicle can obtain the size of the target vehicle through sensors such as millimeter wave radar and cameras around the vehicle, and can identify the type of the target vehicle, such as cars, trucks, off-road vehicles, etc. Based on the size and type of the target vehicle, the tonnage class of the target vehicle can be estimated.
  • the cross-sectional area of the target vehicle on a vertical plane represents the size of the target vehicle.
  • This disclosure does not place special limitations on how to obtain the cross-sectional area of the target vehicle on the vertical plane.
  • the current vehicle uses millimeter wave radar to detect the distance between the target vehicle and the current vehicle, uses a camera to capture the image of the target vehicle, and then determines the position of the target vehicle in the image through a target detection algorithm, and extracts the image block of the target vehicle. , measure the number of pixels corresponding to the length and width of the image block; then calculate the actual width and height of the target vehicle based on the distance of the target vehicle obtained by the millimeter-wave radar and the focal length of the camera lens, and then calculate the distance of the target vehicle on the vertical plane Sectional area.
  • the motion information includes position information and speed information of the target vehicle relative to the current vehicle; according to the motion information characterizing the motion state of the target vehicle in the road condition information, the motion information is Adding a sound field effect to the virtual sound image includes: S121. Adding a sound field effect to the virtual sound image according to the position information and speed information of the target vehicle relative to the current vehicle.
  • a sound field effect is added to the virtual sound image, so that the driver can perceive the position and moving speed of the virtual sound source in the virtual sound field, and the position and moving speed of the virtual sound source in the virtual sound field are consistent with the target vehicle relative to the current vehicle.
  • the position and speed of the target vehicle are consistent, allowing the driver to perceive the position and speed of the target vehicle relative to the current vehicle.
  • the sound field effect includes at least one of binaural volume difference, binaural delay, pinna effect, reflection effect, absorption effect, and Doppler effect.
  • the virtual sound image is processed based on the auditory psychological effect based on the Sound Retrieval System (SRS), adding sound field effects to the virtual sound image, simulating binaural volume difference, binaural delay, and pinna effect. , reflection effect, absorption effect, and Doppler effect, thereby creating a virtual sound field.
  • SRS Sound Retrieval System
  • the road condition prompting method before generating the sound field signal according to the road condition information, the road condition prompting method further includes: S3. Obtaining the road condition information.
  • road condition information is obtained through sensors such as millimeter wave radars and cameras around the vehicle.
  • road condition prompts are provided to the driver only when an event requiring prompts occurs.
  • obtaining the traffic information includes: S31. Monitoring the road conditions to determine whether there is an event to be prompted; S32. When there is an event to be prompted, obtaining the traffic information.
  • the event to be prompted can be that the target vehicle enters the blind spot of the current vehicle's mirror/rearview mirror; the event to be prompted can also be that the distance between the target vehicle and the current vehicle is less than a specific threshold; the event to be prompted can also be that the target vehicle is overtaking.
  • road condition prompts are only provided to the driver when an event that requires prompting occurs, which is helpful to avoid unnecessary prompt information from interfering with the driver and improve the driving experience.
  • This disclosure does not place special restrictions on obtaining traffic information.
  • obtaining the road condition information includes: S321, obtaining the position information and speed information of the target vehicle relative to the current vehicle; S322, obtaining the video data of the target vehicle ; S323. Determine the type and size of the target vehicle based on the position information of the target vehicle relative to the current vehicle and the video data.
  • types of vehicles include cars, trucks, SUVs, and the like.
  • the cross-sectional area of the target vehicle on a vertical plane represents the size of the target vehicle.
  • This disclosure does not place special limitations on how to obtain the cross-sectional area of the target vehicle on the vertical plane.
  • the current vehicle uses millimeter wave radar to detect the distance between the target vehicle and the current vehicle, uses a camera to capture the image of the target vehicle, and then determines the position of the target vehicle in the image through a target detection algorithm, and extracts the image block of the target vehicle. , measure the number of pixels corresponding to the length and width of the image block; then calculate the actual width and height of the target vehicle based on the distance of the target vehicle obtained by the millimeter-wave radar and the focal length of the camera lens, and then calculate the distance of the target vehicle on the vertical plane Sectional area.
  • a virtual sound field is generated according to the sound field signal, and traffic prompts are provided in an audio augmented reality manner, including: S21.
  • the audio playback device Be prepared to play stereo audio based on the sound field signal and provide traffic prompts.
  • the audio playback device plays stereo audio according to the sound field signal, that is, a virtual sound field is created around the driver, thereby realizing road condition prompts in an audio augmented reality manner.
  • the audio playback device can be the sound system of the vehicle; the audio playback device can also be the sound playback system of a smart wearable device worn by the driver (such as an AR head-mounted display device); the audio playback device can also be connected to the central control system of the vehicle. Or the driver wears headphones connected to a smart wearable device.
  • the audio playback device is a bone conduction earphone.
  • bone conduction headphones are used to create a virtual sound field to remind the driver of road conditions.
  • the bone conduction headphones can conduct sound information to the driver's auditory nerve through the auditory ossicles.
  • the driver can also receive other sounds through the ears, such as hearing Music, navigation, etc. can help improve the driving experience.
  • the present disclosure provides an electronic device, which includes: one or more processors 101; a memory 102 on which one or more programs are stored. When one or more programs are processed by one or more A processor is executed, so that one or more processors implement the traffic prompt method described in the first aspect of this disclosure; one or more I/O interfaces 103 are connected between the processor and the memory, and are configured to implement the processor and the memory. Memory information exchange.
  • the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU), etc.
  • the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically Such as SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH);
  • the I/O interface (read-write interface) 103 is connected between the processor 101 and the memory 102 , can realize information interaction between the processor 101 and the memory 102, which includes but is not limited to a data bus (Bus), etc.
  • processor 101 memory 102, and I/O interface 103 are connected to each other and, in turn, to other components of the computing device via bus 104.
  • the electronic device is a head-mounted display device.
  • augmented reality AR, Augmented Reality
  • head-mounted display devices For example, augmented reality (AR, Augmented Reality) head-mounted display devices.
  • the electronic device includes an audio playback device.
  • sound The video playback equipment is bone conduction headphones.
  • the present disclosure provides a computer-readable medium on which a computer program is stored.
  • the program is executed by a processor, the road condition prompting method described in the first aspect of the present disclosure is implemented.
  • the system architecture of traffic prompts based on audio reality augmentation in this exemplary embodiment is shown in Figure 11.
  • the system architecture is centered on an augmented display (AR) head-mounted display device, including multiple automotive sensors and a car central control system.
  • the AR head-mounted display device includes a sound restoration system (SRS) processing engine and bone conduction headphones.
  • SRS sound restoration system
  • Bone conduction headphones are configured to alert drivers to road conditions in an audio-augmented reality manner.
  • the SRS processing engine is configured to simulate a three-dimensional sound field based on auditory psychology, making the driver feel like they are in a three-dimensional sound field.
  • sound can come from anywhere in the spherical space surrounding the driver, and the driver can accurately determine the location of the sound source.
  • the SRS processing engine psychologically and subjectively restores the sound wave state (direct sound, reflected sound, reverberation sound) caused by the real sound source at the ears, and reproduces the orientation and spatial distribution of the real sound source, making it People have the feeling of being there.
  • the system architecture also includes: a communication module.
  • the communication module can choose to support wireless communication protocols such as Bluetooth and wifi or wired communication protocols such as USB. It is configured to receive information from the car’s central control system, instruments, ADAS and physical buttons, and Transmits information to the AR head-mounted display device; the battery and power management module is configured to power the AR head-mounted display device; the operating system is responsible for the software and hardware management of the system.
  • the process of traffic prompts based on audio reality augmentation includes the following three stages.
  • the car central control system monitors road conditions in real time through sensors installed in all directions of the current vehicle.
  • the road condition information is extracted and transmitted to the AR head-mounted display device through the communication module. For example, if a millimeter-wave radar that illuminates the side and rear finds that a target vehicle has invaded the blind spot of the rearview mirror of the current vehicle, the relative position and speed information of the detected target vehicle will be transmitted to the central control system of the current vehicle.
  • the vehicle central control system selects and retrieves the video data of the side and rear cameras according to the message type, and identifies the target vehicle in the video, such as distinguishing cars, off-road vehicles, trucks, etc., and detects the position of the intruding target vehicle on the vertical plane. cross-sectional area, and then transmit this information to the AR head-mounted display device in digital form in real time.
  • the cross-sectional area can be obtained in the following way: the current vehicle uses millimeter wave radar to detect the distance between the target vehicle and the current vehicle, uses a camera to capture the image of the target vehicle, and then determines the position of the target vehicle in the image through the target detection algorithm, and extracts the image of the target vehicle.
  • Block measure the number of pixels corresponding to the length and width of the image block; then calculate the actual width and height of the target vehicle based on the distance of the target vehicle obtained by the millimeter wave radar and the focal length of the camera lens, and then calculate the vertical plane position of the target vehicle cross-sectional area on.
  • the AR head-mounted display device After the AR head-mounted display device receives the road condition information from the car's central control system, it performs secondary processing on the road condition information: estimating the tonnage of the target vehicle based on the type of the target vehicle and the cross-sectional area of the target vehicle on the vertical plane. ; The tonnage of the vehicle is pre-divided into multiple tonnage levels. Each tonnage level corresponds to a voiceprint feature.
  • the voiceprint feature is pre-recorded and extracted, which is roughly equivalent to the tire noise, wind noise and noise of a car of that tonnage level when driving.
  • the mixture of at least one of the engine sound and the like uses the voiceprint characteristics corresponding to the target vehicle to modulate a virtual sound image to simulate the target vehicle.
  • the SRS processing engine creates a virtual sound field based on the auditory psychological effect, and then uses the position and moving speed of the virtual sound image in the sound field to simulate the position and relative speed of the vehicle behind, thereby achieving the purpose of reminding the driver.
  • the principle is as follows:
  • HRTF head-related transfer function
  • the HRTF synthesis simulation circuit can be divided into two main parts: digital filter and delay.
  • the application first sends the optimized composite coordinates to the HRTF to find the appropriate parameters, and then it returns the parameters to the digital filter.
  • the filters of the left and right channels calculate the frequency curve that is easy for people to hear - the volume difference between the two ears (IAD) and the pinna effect of this frequency.
  • ITD interaural time delay difference
  • the central processor of the AR head-mounted display device transmits the processed modulation signal to the bone conduction headset in real time.
  • the headset restores the sound field signal through stereo technology and reminds the driver of road conditions.
  • computer storage media includes volatile and nonvolatile media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. removable, removable and non-removable media.
  • Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disk (DVD) or other optical disk storage, magnetic cassettes, tapes, disk storage or other magnetic storage devices, or may Any other medium used to store desired information and that can be accessed by a computer.
  • communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .
  • Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted in a general illustrative sense only and not for purpose of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics and/or elements described in connection with a particular embodiment may be used alone, or may be used in conjunction with other embodiments, unless expressly stated otherwise. Features and/or components are used in combination. Accordingly, it will be understood by those skilled in the art that various changes in form and details may be made without departing from the scope of the present disclosure as set forth in the appended claims.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Traffic Control Systems (AREA)
  • Stereophonic System (AREA)

Abstract

La présente invention concerne un procédé de demande d'état de route, qui comprend : la génération d'un signal de champ sonore en fonction d'informations d'état de route, le signal de champ sonore étant utilisé pour simuler un état de route, qui est représenté par les informations d'état de route (S1) ; et la génération d'un champ sonore virtuel en fonction du signal de champ sonore, et la fourniture d'un instantané d'état de route en mode réalité augmentée basée sur l'audio (S2). L'invention concerne également un dispositif électronique et un support lisible par ordinateur.
PCT/CN2023/101492 2022-06-29 2023-06-20 Procédé de demande d'état de route, dispositif électronique et support lisible par ordinateur WO2024001884A1 (fr)

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CN202210749766.4A CN117351754A (zh) 2022-06-29 2022-06-29 路况提示方法、电子设备、计算机可读介质
CN202210749766.4 2022-06-29

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CN112882568A (zh) * 2021-01-27 2021-06-01 深圳市慧鲤科技有限公司 音频播放方法及装置、电子设备和存储介质

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Publication number Priority date Publication date Assignee Title
JP2009023486A (ja) * 2007-07-19 2009-02-05 Xanavi Informatics Corp 車載用の音声処理装置、音声処理システム、及び音声処理方法
JP2013143744A (ja) * 2012-01-12 2013-07-22 Denso Corp 音像提示装置
US20150365743A1 (en) * 2014-06-14 2015-12-17 GM Global Technology Operations LLC Method and apparatus for including sound from an external environment into a vehicle audio system
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CN112882568A (zh) * 2021-01-27 2021-06-01 深圳市慧鲤科技有限公司 音频播放方法及装置、电子设备和存储介质

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