WO2024008503A1 - Procédé d'étalonnage directionnel de microphones disposés sur un véhicule - Google Patents

Procédé d'étalonnage directionnel de microphones disposés sur un véhicule Download PDF

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Publication number
WO2024008503A1
WO2024008503A1 PCT/EP2023/067338 EP2023067338W WO2024008503A1 WO 2024008503 A1 WO2024008503 A1 WO 2024008503A1 EP 2023067338 W EP2023067338 W EP 2023067338W WO 2024008503 A1 WO2024008503 A1 WO 2024008503A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
sound source
distance
determined
microphones
Prior art date
Application number
PCT/EP2023/067338
Other languages
German (de)
English (en)
Inventor
Christian Kobetz
Anna Kreidler
Juergen Seekircher
Original Assignee
Mercedes-Benz Group AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mercedes-Benz Group AG filed Critical Mercedes-Benz Group AG
Publication of WO2024008503A1 publication Critical patent/WO2024008503A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R29/00—Monitoring arrangements; Testing arrangements
    • H04R29/004—Monitoring arrangements; Testing arrangements for microphones
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R29/00—Monitoring arrangements; Testing arrangements
    • H04R29/004—Monitoring arrangements; Testing arrangements for microphones
    • H04R29/005—Microphone arrays
    • H04R29/006—Microphone matching

Definitions

  • the invention relates to a method for calibrating the direction of microphones arranged on a vehicle using a reference noise.
  • a system for detecting noises in the surroundings of a vehicle and a method for calibrating and monitoring acoustic sensors in such a system are known.
  • the method provides that reference noises are recognized and a comparison of the signals transmitted from the acoustic sensors to a processor unit is carried out with regard to the sound level detected in each case.
  • a correction factor is used for at least one acoustic sensor if the detected sound levels deviate from expected sound levels and the correction factor is used in further operation of the system to correct the signals of the at least one acoustic sensor.
  • the invention is based on the object of specifying a novel method for directional calibration of microphones arranged on a vehicle using a reference noise.
  • a method for directional calibration of microphones arranged on a vehicle by means of a reference noise provides that the reference noise is generated at least by means of a sound source arranged on the vehicle at a predetermined position and is recorded by means of the microphones.
  • the microphones are used for automated, in particular autonomous, vehicles to detect certain noise sources, such as a siren, based on correspondingly emitted signals and to determine a direction from which the signals come.
  • the direction is determined in particular, based on a vehicle's center of gravity, as an angle with respect to a vehicle's longitudinal axis.
  • Directional calibration largely ensures that the determined angle is within a specified tolerance range.
  • the reference noise is generated and output by means of a vehicle-side sound signal generating device and/or by means of a vehicle-side noise generating device.
  • the reference noise can be output using a vehicle horn as a sound generating device. If the vehicle is an electric vehicle or a vehicle powered by fuel cells, the noise generating device, a so-called sound generator, can be used to generate the reference noise.
  • Another embodiment of the method provides that a distance between the respective microphone and the sound source is determined and stored in a table.
  • the table forms a basis for implementing the procedure, with values stored in the table being essentially unchangeable and fixed.
  • the distance between the respective microphone and the sound source is related to a vehicle longitudinal axis, a vehicle transverse axis and a vehicle vertical axis of a vehicle coordinate system determined and stored in the table. Using the table and the values stored in it, it can then be determined where the sound source is in relation to each individual microphone in the vehicle. In particular, a direct distance between the sound source and the respective microphone as well as an angular orientation of the respective microphone with respect to the sound source, with the vehicle longitudinal axis x forming a reference, are determined.
  • a direct distance and an angle between the vehicle's center of gravity and the sound source are determined based on values stored in another table for a distance of the sound source from a vehicle center of gravity determined in relation to the vehicle's longitudinal axis and the vehicle's transverse axis.
  • This direct distance between the sound source and the vehicle's center of gravity as well as the angle between the sound source and the vehicle's center of gravity, relative to the vehicle's longitudinal axis form the basis for the directional calibration of the microphones.
  • the respective microphone on the vehicle is calibrated in direction accordingly.
  • This directional calibration serves in particular to ensure that the vehicle in automated ferry operation is informed about the presence of an emergency vehicle and is informed about where and how far away the emergency vehicle is from the vehicle.
  • This mathematical directional calibration is checked in a further development and values to be calibrated are corrected until the directional calibration lies within a predetermined tolerance range with regard to the distance and angle between the sound source and the center of gravity of the vehicle. This makes it possible to ensure as far as possible that the vehicle is informed about where and how far away the emergency vehicle is from the vehicle.
  • Fig. 1 shows a schematic, partially transparent top view of a vehicle with microphones arranged on the outside and two sound sources.
  • FIG. 1 shows the vehicle 1 with five microphones M1 to M5, a sound generating device 2 in the form of a horn as a sound source S1 and a noise generating device 3, that is, a so-called sound generator, as another Sound source S2.
  • a vehicle center of gravity SP is shown highlighted.
  • sensors for example automated vehicles 1
  • sensors are calibrated in the factory and/or at a vehicle manufacturer. If a sensor is defective, it must be recalibrated in a workshop. If the sensor is a camera, so-called targets are used, which are set up at a predetermined distance from the camera. Such a calibration process is comparatively complex.
  • a variable number of microphones M1 to M5 are arranged on the outside of the vehicle 1.
  • Such a directional calibration can also be carried out to check functionality, since the position and angular orientation of the respective microphone M1 to M5 can change over time, for example due to vibrations and/or other influences.
  • a method for calibrating the direction of the microphones M1 to M5 arranged on the outside of the vehicle 1 is described below.
  • the microphones M1 to M5 are used in automated ferry operations to detect certain noise sources, for example a siren, based on signals emitted.
  • the microphones M1 to M5 are used to determine the direction from which the signals come. This direction is usually determined as an angle in the vehicle's center of gravity SP relative to a vehicle longitudinal axis x.
  • every vehicle 1 has a horn as a sound generating device 2 and sound source S1
  • an electric vehicle alternatively or additionally has a noise generating device 3 as a further sound source S2.
  • the method envisages using the sound generating device 2 and, depending on its presence, alternatively or additionally the noise generating device 3 to output a reference noise for the directional calibration of the microphones M1 to M5.
  • An embodiment of the method for directional calibration is described using the sound generating device 2 and a microphone M3.
  • a position of the sound generating device 2 and the noise generating device 3 as well as their respective distance a x , a y , a z to the respective microphone M1 to M5 is preset at the factory.
  • the method provides that the respective distance a x , a y , a z of the microphone M1 to M5 to the sound generating device 2 in relation to the vehicle longitudinal axis x, a vehicle transverse axis y and a vehicle vertical axis z of a vehicle coordinate system is stored in a table.
  • a coordinate origin corresponds to the vehicle center of gravity SP.
  • the microphone M3 is located on a windshield 4 of the vehicle 1 and has, for example, a distance a x of 50 cm with respect to the vehicle's longitudinal axis a distance a z of -50 cm. This results in a yaw angle a of 63.5° and a distance a of 1.11 m between the microphone M3 and the sound generating device 2.
  • direction detection and distance detection is carried out in relation to the siren as an external sound source. This means that the algorithm determines the direction from which the siren comes. and a distance from an emergency vehicle that emits the siren is determined. The direction and the distance are determined based on detected signals from all microphones M1 to M5 of the vehicle 1 relative to the vehicle's center of gravity SP.
  • a distance a x , a y between the sound generating device 2 and the vehicle center of gravity SP based on the vehicle longitudinal axis x and the vehicle transverse axis y is stored in another table.
  • a distance a x based on the vehicle's longitudinal axis x is 2.50 m and a distance a y based on the vehicle's transverse axis y is 1 m.
  • a direct distance a between the sound generating device 2 and the vehicle center of gravity SP of 2 is determined under the distances a x , a y specified above. 69 m determined.
  • An angle ⁇ between the vehicle's center of gravity SP and the sound generating device 2 relative to the vehicle's longitudinal axis x is 22°.
  • the algorithm is used to determine, for example, that a direct distance a between the sound generating device 2 and the vehicle's center of gravity SP is 3 m and the angle ⁇ is 10 °, the deviation is determined.
  • the microphones M1 to M5 are then mathematically calibrated for direction, with the deviation determined forming the basis for the direction calibration.
  • the direction calibration of the microphones M1 to M5 is then checked by outputting the reference noise again through the sound generating device 2. This process can be repeated until the deviation of the directional calibration is within the specified tolerance range.
  • the tolerance in terms of deviation is a maximum of 10 cm and 2°.
  • the reference noise for directional calibration can alternatively or additionally be output by means of the noise generating device 3, by means of which a volume and an audio frequency of the reference noise can be varied. Accuracy for directional calibration of the microphones M1 to M5 can thus be increased.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Otolaryngology (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé d'étalonnage directionnel de microphones (M1 à M5) disposés sur un véhicule (1) au moyen d'un son de référence. Selon l'invention, le son de référence est généré au moins au moyen d'une source sonore (S1, S2) disposée sur le véhicule (1) dans une position prédéfinie et reçu au moyen des microphones (M1 à M5).
PCT/EP2023/067338 2022-07-08 2023-06-26 Procédé d'étalonnage directionnel de microphones disposés sur un véhicule WO2024008503A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022002500.0A DE102022002500A1 (de) 2022-07-08 2022-07-08 Verfahren zur Richtungskalibrierung von an einem Fahrzeug angeordneten Mikrofonen
DE102022002500.0 2022-07-08

Publications (1)

Publication Number Publication Date
WO2024008503A1 true WO2024008503A1 (fr) 2024-01-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/067338 WO2024008503A1 (fr) 2022-07-08 2023-06-26 Procédé d'étalonnage directionnel de microphones disposés sur un véhicule

Country Status (2)

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DE (1) DE102022002500A1 (fr)
WO (1) WO2024008503A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023000763A1 (de) 2023-03-02 2024-03-28 Mercedes-Benz Group AG Verfahren zur Erkennung eineer Degradation eines Mikrofons eines Fahrzeuges

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020110256A1 (en) * 2001-02-14 2002-08-15 Watson Alan R. Vehicle accessory microphone
US20150304784A1 (en) * 2014-04-17 2015-10-22 Continental Automotive Systems, Inc. Method and apparatus to provide surroundings awareness using sound recognition
EP1591995B1 (fr) * 2004-04-29 2019-06-19 Harman Becker Automotive Systems GmbH Système de communication d'intérieur pour une cabine de véhicule
US20210109187A1 (en) * 2019-10-10 2021-04-15 Uatc, Llc Microphone Array for Sound Source Detection and Location
DE102019218066A1 (de) 2019-11-22 2021-05-27 Zf Friedrichshafen Ag System zum Detektieren von Geräuschen und Verfahren zum Kalibrieren und Überwachen von Akustiksensoren bei Kraftfahrzeugen

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018222825A1 (de) 2018-12-21 2020-06-25 Robert Bosch Gmbh Verfahren und System zum Betrieb eines Fahrzeugs mit akustischer Erfassung einer Fahrzeugaußenumgebung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020110256A1 (en) * 2001-02-14 2002-08-15 Watson Alan R. Vehicle accessory microphone
EP1591995B1 (fr) * 2004-04-29 2019-06-19 Harman Becker Automotive Systems GmbH Système de communication d'intérieur pour une cabine de véhicule
US20150304784A1 (en) * 2014-04-17 2015-10-22 Continental Automotive Systems, Inc. Method and apparatus to provide surroundings awareness using sound recognition
US20210109187A1 (en) * 2019-10-10 2021-04-15 Uatc, Llc Microphone Array for Sound Source Detection and Location
DE102019218066A1 (de) 2019-11-22 2021-05-27 Zf Friedrichshafen Ag System zum Detektieren von Geräuschen und Verfahren zum Kalibrieren und Überwachen von Akustiksensoren bei Kraftfahrzeugen

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