技术领域technical field
本发明涉及主动声学技术领域，具体涉及一种主动声浪的发声控制方法。The invention relates to the technical field of active acoustics, in particular to a sound generation control method of active sound waves.
背景技术Background technique
主动声浪技术在新能源汽车上得到了广泛使用。主动声浪程序通过解码CAN信号或接收车机控制信号得到车辆运转状态信息，使用发动机声浪模拟算法模拟不同类型发动机的排气系统声浪声音，或者使用声音拟合算法修改并播放预先保存的音频文件(如时空穿梭声音)，使其与车辆运行状态相匹配。主动声浪技术可以提升车辆驾驶乐趣，增加驾驶的运动感与科技感。Active sound technology has been widely used in new energy vehicles. The active sound program obtains the vehicle operating status information by decoding the CAN signal or receiving the vehicle control signal, uses the engine sound simulation algorithm to simulate the exhaust system sound of different types of engines, or uses the sound fitting algorithm to modify and play the pre-saved audio file ( Such as time and space shuttle sound), so that it matches the running state of the vehicle. The active sound wave technology can enhance the driving pleasure of the vehicle and increase the sporty and technological sense of driving.
然而，主动声浪声音往往会对车辆导航声音产生影响。当声浪声音与车辆导航声音同时产生时，如果压低声浪声音，会破坏声浪的连续感，使声浪声音忽大忽小，影响声浪听觉体验。如果直接混合播放导航声音与声浪声音，会干扰驾驶员对于导航信息的判断，影响驾驶安全性。However, active sounding sounds tend to have an impact on vehicle navigation sounds. When the sound of the sound wave and the vehicle navigation sound are produced at the same time, if the sound of the sound wave is lowered, the sense of continuity of the sound wave will be destroyed, and the sound of the sound wave will fluctuate, affecting the listening experience of the sound wave. If the navigation sound and the sound wave sound are mixed and played directly, it will interfere with the driver's judgment of the navigation information and affect driving safety.
发明内容Contents of the invention
本发明的目的是针对现有技术中的问题，提供一种主动声浪的发声控制方法，使得合成的声浪声音在增强车辆运动感与提升驾驶乐趣的同时，能够通过听觉实时提供导航信息，辅助驾驶者对导航方向与距离进行判断，提升驾驶安全性。The purpose of the present invention is to solve the problems in the prior art and provide a sound control method for active sound waves, so that the synthesized sound waves can provide navigation information in real time through hearing and assist driving while enhancing the vehicle's sense of movement and driving pleasure. The operator judges the navigation direction and distance to improve driving safety.
为达到上述目的，本发明采用的技术方案是：In order to achieve the above object, the technical scheme adopted in the present invention is:
一种主动声浪的发声控制方法，包括如下步骤：A sound control method for active sound waves, comprising the following steps:
S1，通过主动声浪生成程序解析CAN信号或者接收车机控制信号，合成主动声浪音频信号；S1, analyze the CAN signal or receive the control signal of the car through the active sound wave generation program, and synthesize the active sound wave audio signal;
S2，车内布置多个扬声器，以车辆中心点为坐标原点在车内建立平面极坐标系，根据车辆导航方向与路口距离信息，计算声浪在平面极坐标系中的极坐标p(r,θ)；S2, arrange multiple speakers in the car, establish a plane polar coordinate system in the car with the center point of the vehicle as the coordinate origin, and calculate the polar coordinates p(r,θ of the sound wave in the plane polar coordinate system according to the vehicle navigation direction and intersection distance information );
S3，确定各所述扬声器通道最终输出的声浪音频信号。S3. Determine the sound wave audio signal finally output by each speaker channel.
优选地，步骤S2中，将各所述扬声器与车辆中心点之间的最小距离设置为极坐标系的单位长度1。Preferably, in step S2, the minimum distance between each speaker and the center point of the vehicle is set as the unit length 1 of the polar coordinate system.
优选地，声浪在平面极坐标系中的极径r的计算公式为：r＝1-e-d，其中，e为自然对数，d为导航路口与车辆之间的距离。Preferably, the calculation formula of the polar radius r of the sound wave in the plane polar coordinate system is: r=1-e-d , wherein, e is the natural logarithm, and d is the distance between the navigation intersection and the vehicle.
优选地，声浪在平面极坐标系中的极角θ为导航方向，由导航软件给出，将向右直转弯、直行、向左直转弯、掉头分别映射为0°、90°、180°、270°，其余导航方向按角度插值生成。Preferably, the polar angle θ of the sound wave in the plane polar coordinate system is the navigation direction, which is given by the navigation software, and the straight right turn, straight line, left straight turn, and U-turn are respectively mapped to 0°, 90°, 180°, 270°, and the rest of the navigation directions are generated by angle interpolation.
优选地，步骤S3包括如下步骤：Preferably, step S3 includes the following steps:
(1)计算声浪空间位置p(r,θ)与各所述扬声器之间的欧式距离dpm；(1) Calculate the Euclidean distance dpm between the sound wave spatial position p(r, θ) and each of the loudspeakers;
(2)计算各所述扬声器通道音频增益系数gpm；(2) Calculate the audio gain coefficientgpm of each of the loudspeaker channels;
(3)对各所述扬声器通道音频增益系数gpm进行均衡处理；(3) equalize the audio gain coefficientgpm of each speaker channel;
(4)将均衡处理后的各所述扬声器通道音频增益系数与通过步骤S1获得的主动声浪音频信号相乘获得各所述扬声器通道最终输出的声浪音频信号。(4) Multiply the equalized audio gain coefficient of each speaker channel by the active sound wave audio signal obtained in step S1 to obtain the final output sound wave audio signal of each speaker channel.
优选地，dpm的计算公式为：其中，m为扬声器序号，sm(rm,θm)为第m个扬声器的极坐标。Preferably, the calculation formula ofdpm is: Among them, m is the serial number of the loudspeaker, and sm (rm ,θm ) is the polar coordinate of the mth loudspeaker.
优选地，gpm的计算公式为：gpm＝1/dpm。Preferably, the calculation formula of gpm is: gpm =1/dpm .
优选地，均衡处理后的各所述扬声器通道音频增益系数gpm-nom的计算公式为：其中，z为扬声器总数量。Preferably, the formula for calculating the audio gain coefficient gpm-nom of each speaker channel after equalization processing is: Among them, z is the total number of speakers.
优选地，步骤S1包括如下步骤：Preferably, step S1 includes the following steps:
(1)将电机转速rm与内燃机或发动机的转速re、阶次n相匹配，得到待合成声浪的多个声音频率值fn，fn＝rm×re-max/rm-max×n，其中，re-max为内燃机或发动机最大转速，rm-max为电机最大转速，n为小于5的正整数；(1) Match the motor speed rm with the internal combustion engine or engine speed re and order n to obtain multiple sound frequency values fn of the sound wave to be synthesized, fn = rm × re-max /rm- max ×n, where re-max is the maximum speed of the internal combustion engine or engine, rm-max is the maximum speed of the motor, and n is a positive integer less than 5;
(2)将油门踏板或电门开度p与预设的各阶次最大声压幅值an-max相匹配，得到各频率声音的幅值信息afn，afn＝p×rm/rm-max×an-max；(2) Match the accelerator pedal or electric door opening p with the preset maximum sound pressure amplitude an-max of each order to obtain the amplitude information afn of each frequency sound, afn =p×rm / rm-max ×an-max ;
(3)调整声浪的整体加速度幅值增益ag，当车辆当前加速度gc＞0时，ag＝gc/gmax，gmax为车辆最大加速度；当车辆当前加速度gc≤0时，ag＝0；(3) Adjust the overall acceleration amplitude gain ag of the sound wave. When the current acceleration of the vehicle gc >0, ag = gc /gmax , where gmax is the maximum acceleration of the vehicle; when the current acceleration of the vehicle gc ≤0, ag = 0;
(4)对各频率声音进行逆傅里叶变换，累加得到主动声浪音频信号yout，yout＝ag×∑(ifft(afn×fn))。(4) Inverse Fourier transform is performed on the sound of each frequency, and the active sound wave audio signal yout is obtained by accumulating, yout =ag ×∑(ifft(afn ×fn )).
优选地，所述扬声器设置有四个，四个所述扬声器分别设置在车内前部的左右两侧和后部的左右两侧。Preferably, there are four speakers, and the four speakers are respectively arranged on the left and right sides of the front part and the left and right sides of the rear part of the vehicle.
由于上述技术方案的运用，本发明与现有技术相比具有下列优点：本发明的主动声浪的发声控制方法利用车内多通道扬声器的空间定位能力，将导航方向与路口距离映射为车内空间坐标，使用声强定位法使主动声浪声音在听感上实现在车内定位位置播放。由于主动声浪声音的车内位置将随着路口距离的变化而变化，从而使驾驶者在听觉上感受到导航方向与距离信息，在不降低主动声浪声音音量的情况下辅助驾驶者对导航方向与距离进行实时判断，从而在保持主动声浪音量稳定的情况下，增加驾驶乐趣的同时提升驾驶安全性。Due to the application of the above-mentioned technical solution, the present invention has the following advantages compared with the prior art: the sound generation control method of the active sound wave of the present invention utilizes the spatial positioning capability of the multi-channel loudspeaker in the vehicle, and maps the navigation direction and the intersection distance into the space in the vehicle Coordinates, use the sound intensity positioning method to make the active sound sound play at the positioning position in the car in terms of hearing. Since the position of the active sound in the car will change with the distance of the intersection, the driver can hear the navigation direction and distance information, and assist the driver to understand the navigation direction and distance without reducing the volume of the active sound. The distance can be judged in real time, so as to increase the driving pleasure and improve driving safety while keeping the active sound volume stable.
附图说明Description of drawings
附图1为本发明的主动声浪的发声控制方法的算法流程图；Accompanying drawing 1 is the algorithm flow chart of the voice control method of the active sound wave of the present invention;
附图2为本发明的主动声浪的发声控制方法中车内扬声器布局示意图。Accompanying drawing 2 is a schematic diagram of the layout of the loudspeakers in the vehicle in the method for controlling the sound generation of active sound waves according to the present invention.
具体实施方式Detailed ways
下面结合附图来对本发明的技术方案作进一步的阐述。The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.
本发明的主动声浪的发声控制方法的算法流程图如图1所示，具体包括如下步骤。The algorithm flow chart of the method for controlling the sound generation of active sound waves according to the present invention is shown in Fig. 1 , which specifically includes the following steps.
S1，合成主动声浪音频信号。S1, synthesizing an active sound wave audio signal.
通过主动声浪生成程序解析CAN信号或者接收车机控制信号，合成主动声浪音频信号。Analyze the CAN signal or receive the vehicle control signal through the active sound generation program, and synthesize the active sound audio signal.
具体包括：Specifically include:
(1)将电机当前转速rm与内燃机或发动机的转速re、阶次n相匹配，得到待合成声浪的多个声音频率值fn，具体见公式(1)。(1) Match the current speed rm of the motor with the speed re and order n of the internal combustion engine or engine to obtain multiple sound frequency values fn of the sound wave to be synthesized, see formula (1) for details.
fn＝rm×re-max/rm-max×n (1)fn = rm × re-max / rm-max × n (1)
其中，re-max为内燃机或发动机最大转速，rm-max为电机最大转速，n为小于5的正整数。Among them, re-max is the maximum rotational speed of the internal combustion engine or engine, rm-max is the maximum rotational speed of the motor, and n is a positive integer less than 5.
(2)将油门踏板或电门开度p与预设的各阶次最大声压幅值an-max相匹配，得到各频率声音的幅值信息afn，具体见公式(2)。(2) Match the accelerator pedal or electric door opening p with the preset maximum sound pressure amplitude an-max of each order to obtain the amplitude information afn of each frequency sound, see formula (2) for details.
afn＝p×rm/rm-max×an-max (2)afn =p×rm /rm-max ×an-max (2)
其中，油门踏板或电门开度p在0～1之间。Wherein, the accelerator pedal or electric door opening p is between 0 and 1.
(3)结合车辆的加速度状态，调整声浪的整体加速度幅值增益ag，具体见公式(3)。使得合成的声浪幅值在加速、匀速、减速工况下均与驾驶者的心理预期相符，以实现良好的听觉体验。(3) Adjust the overall acceleration amplitude gain ag of the sound wave in combination with the acceleration state of the vehicle, see formula (3) for details. The amplitude of the synthesized sound waves is consistent with the driver's psychological expectations under acceleration, constant speed, and deceleration conditions, so as to achieve a good auditory experience.
其中，gc为车辆当前加速度，gmax为车辆最大加速度。Among them, gc is the current acceleration of the vehicle, and gmax is the maximum acceleration of the vehicle.
(4)对各频率声音进行逆傅里叶变换，累加得到主动声浪音频信号yout，具体见公式(4)。(4) Inverse Fourier transform is performed on the sounds of each frequency, and the active sound wave audio signal yout is obtained by accumulating, see formula (4) for details.
yout＝ag×∑(ifft(afn×fn)) (4)yout ＝ag ×∑(ifft(afn ×fn )) (4)
S2，确定主动声浪空间位置。S2. Determine the spatial position of the active sound wave.
根据车辆导航方向与路口距离信息，确定声浪在车内的空间坐标。以车辆中心点为坐标原点在车内建立平面极坐标系，声浪在平面极坐标系中的极坐标p(r,θ)的计算方法如下。According to the vehicle navigation direction and intersection distance information, determine the spatial coordinates of the sound wave in the vehicle. A plane polar coordinate system is established in the vehicle with the center point of the vehicle as the coordinate origin. The calculation method of the polar coordinate p(r, θ) of the sound wave in the plane polar coordinate system is as follows.
声浪在平面极坐标系中的极径r的计算公式见公式(5)。See formula (5) for the calculation formula of the polar radius r of the sound wave in the plane polar coordinate system.
r＝1-e-d (5)r=1-e-d (5)
其中，e为自然对数，d为导航路口与车辆之间的距离，由导航软件给出，d∈(0,+∞)，于是r∈(0,1)。Among them, e is the natural logarithm, d is the distance between the navigation intersection and the vehicle, given by the navigation software, d∈(0,+∞), so r∈(0,1).
声浪在平面极坐标系中的极角θ为真实的导航方向，由导航软件给出，将向右直转弯、直行、向左直转弯、掉头分别映射到极坐标系中，对应为0°、90°、180°、270°，其余导航方向按角度插值生成。The polar angle θ of the sound wave in the plane polar coordinate system is the real navigation direction, which is given by the navigation software, and the right turn, straight line, left straight turn, and U-turn are respectively mapped to the polar coordinate system, corresponding to 0°, 90°, 180°, 270°, and other navigation directions are generated by angle interpolation.
车内布置多个扬声器，在该极坐标系中，将各扬声器与车辆中心点之间的最小距离设置为极坐标系的单位长度1，这样可保证声浪位置不超出各个扬声器顺序相连所形成的区域范围。本实施例中，如图2所示，扬声器设置有四个，分别为扬声器S1、S2、S3，S4，四个扬声器分别设置在车内前部的左右两侧和后部的左右两侧。四个扬声器依次相连形成矩形结构，极点位于四个扬声器相连形成的矩形结构的中心位置。扬声器在车内的布置方式不局限于本实施例中给出的方式。Multiple speakers are arranged in the car. In the polar coordinate system, the minimum distance between each speaker and the center point of the vehicle is set as the unit length 1 of the polar coordinate system. geographic range. In this embodiment, as shown in Figure 2, there are four loudspeakers, respectively loudspeakers S1, S2, S3, and S4, and the four loudspeakers are respectively arranged on the left and right sides of the front and the left and right sides of the rear in the car. The four loudspeakers are connected in sequence to form a rectangular structure, and the pole is located at the center of the rectangular structure formed by the four loudspeakers connected together. The way of arranging the speakers in the car is not limited to the way given in this embodiment.
S3，主动声浪多通道渲染。S3, active sound wave multi-pass rendering.
使用声强定位方法将生成的主动声浪音频在多通道扬声器中进行功率分配与渲染，具体包括如下步骤。Use the sound intensity localization method to perform power distribution and rendering of the generated active sound wave audio in the multi-channel speakers, specifically including the following steps.
(1)计算声浪空间位置p(r,θ)与各扬声器之间的欧式距离dpm，dpm的计算方法见公式(6)。(1) Calculate the Euclidean distance dpm between the spatial position p(r,θ) of the sound wave and each loudspeaker, the calculation method of dpm is shown in formula (6).
其中，m为扬声器序号，sm(rm,θm)为第m个扬声器在极坐标系中的极坐标。Among them, m is the serial number of the loudspeaker, and sm (rm ,θm ) is the polar coordinate of the mth loudspeaker in the polar coordinate system.
(2)根据dpm计算各扬声器通道音频增益系数gpm，gpm的计算方法见公式(7)。(2) Calculate the audio gain coefficient gpm of each loudspeaker channel according to dpm , the calculation method of gpm is shown in formula (7).
gpm＝1/dpm (7)gpm = 1/dpm (7)
(3)对各扬声器通道音频增益系数gpm进行均衡处理，以保证主动声浪整体输出功率稳定。(3) Equalize the audio gain coefficient gpm of each speaker channel to ensure the stability of the overall output power of the active sound wave.
均衡处理后的各扬声器通道音频增益系数gpm-nom的计算方法见公式(8)。See formula (8) for the calculation method of the audio gain coefficient gpm-nom of each speaker channel after equalization processing.
其中，z为扬声器总数量。Among them, z is the total number of speakers.
(4)将均衡处理后的各扬声器通道音频增益系数gpm-nom与通过步骤S1获得的主动声浪音频信号yout相乘，即获得各扬声器通道最终输出的声浪音频信号。(4) Multiply the equalized audio gain coefficient gpm-nom of each speaker channel by the active sound wave audio signal yout obtained through step S1 to obtain the final output sound wave audio signal of each speaker channel.
如此，多通道扬声器主动声浪音频信号生成完成。本申请通过将导航方向和路口距离映射为车内空间坐标，使用声强定位法通过车内多通道扬声器对主动声浪声音进行定位播放，使主动声浪声音的车内听感位置随着导航方向和路口距离的变化而实时变化，将导航信息和主动声浪声音融为一体，解决了主动声浪声音干扰导航播报声音，影响驾驶员对导航方向和路口距离进行判断的问题。与压低声浪声音播放导航的方法相比，保持了声浪声音的连续性与一致性，保持了听觉上的运动感与愉悦感。与直接混合播放声浪声音与导航声音方法的相比，使用声音定位播放的方法对导航信息进行空间提示，在听觉上呈现了导航方向与路口距离，提升了驾驶安全性，也增加了主动声浪的趣味性。In this way, the generation of the active sound wave audio signal of the multi-channel loudspeaker is completed. In this application, by mapping the navigation direction and the intersection distance into the spatial coordinates in the car, the sound intensity positioning method is used to position and play the active sound wave sound through the multi-channel speakers in the car, so that the position of the active sound wave sound in the car follows the navigation direction and The intersection distance changes in real time, and the navigation information and active sound are integrated, which solves the problem that the active sound interferes with the navigation broadcast sound and affects the driver's judgment on the navigation direction and intersection distance. Compared with the method of lowering the sound of the sound to play the navigation, the continuity and consistency of the sound of the sound is maintained, and the sense of movement and pleasure in the auditory sense is maintained. Compared with the method of directly mixing and playing sound waves and navigation sounds, the method of using sound positioning and playback to give spatial prompts to navigation information presents the navigation direction and intersection distance in the auditory sense, which improves driving safety and also increases the effect of active sound waves. Interesting.
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并加以实施，并不能以此限制本发明的保护范围，凡根据本发明精神实质所作的等效变化或修饰，都应涵盖在本发明的保护范围内。The above-mentioned embodiments are only to illustrate the technical conception and characteristics of the present invention. Substantial equivalent changes or modifications shall fall within the protection scope of the present invention.
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