CN117789750A - Audio signal processing method, device, vehicle and storage medium - Google Patents

Abstract

The disclosure relates to an audio signal processing method, an audio signal processing device, a vehicle and a storage medium, and relates to the technical field of vehicles, wherein the method comprises the following steps: and acquiring a sound wave audio signal corresponding to the simulated sound wave in the vehicle, wherein the simulated sound wave is generated by playing the target audio signal by the vehicle. And determining a correction frequency response relation according to the sound wave audio signal and the target audio signal. And adjusting the target audio signal according to the corrected frequency response relation. According to the method and the device, the target audio signal played by the vehicle is corrected according to the sound wave audio signal corresponding to the simulated sound wave obtained from the environment, so that the target audio signal can be flexibly adapted to various different environments, the vehicle can be ensured to stably output ideal simulated sound waves in different environments, and the flexibility and stability of generating the simulated sound waves are improved.

Description

Audio signal processing method, device, vehicle and storage medium

Technical field

The present disclosure relates to the field of vehicle technology, and in particular to an audio signal processing method, device, vehicle and storage medium.

Background technique

With the rapid development of society, electric vehicles are rapidly becoming popular. Unlike traditional fuel vehicles, electric vehicles do not have an engine and are too quiet during driving, lacking a driving feel, thus creating a need for electronic sound. Electronic sound wave technology emits matching sounds according to the vehicle's driving status, giving the driver a sense of driving. For example, it simulates the sound of the engine to give electric vehicles and fuel vehicles the same driving feeling. The existing sound wave synthesis algorithm obtains the working condition information of the car during the driving process, and then uses the sound wave synthesis algorithm to generate an audio signal based on the working condition information, and plays it through the speaker.

Contents of the invention

In order to overcome problems existing in related technologies, the present disclosure provides an audio signal processing method, device, vehicle and storage medium.

According to a first aspect of an embodiment of the present disclosure, an audio signal processing method is provided, the method including:

Obtain the sound wave audio signal corresponding to the simulated sound wave in the vehicle, where the simulated sound wave is the sound wave generated by the vehicle playing the target audio signal;

Determining a modified frequency response relationship according to the sound wave audio signal and the target audio signal;

The target audio signal is adjusted according to the modified frequency response relationship.

Optionally, determining the modified frequency response relationship based on the sound wave audio signal and the target audio signal includes:

Determining a target frequency response relationship according to the sound audio signal and the target audio signal;

The modified frequency response relationship is determined based on the target frequency response relationship and the preset frequency response relationship.

Optionally, determining a target frequency response relationship according to the sound audio signal and the target audio signal includes:

Determine a first power spectrum according to the sound wave audio signal and the target audio signal; the first power spectrum includes the cross power spectrum of the sound wave audio signal and the target audio signal;

Determine a second power spectrum based on the target audio signal, the second power spectrum including an autopower spectrum of the target audio signal;

The target frequency response relationship is determined based on the first power spectrum and the second power spectrum.

Optionally, the target frequency response relationship includes a target frequency response function, the preset frequency response relationship includes a preset frequency response function, and the modified frequency response relationship includes a modified frequency response function; relationship and the preset frequency response relationship. Determining the modified frequency response relationship includes:

The difference between the target frequency response function and the preset frequency response function is used as the modified frequency response function.

Optionally, the method also includes:

Acquiring operating condition information of the vehicle;

Determine target phase information according to the working condition information;

The adjusting the target audio signal according to the modified frequency response relationship includes:

The target audio signal is adjusted according to the target phase information and the modified frequency response relationship.

Optionally, the adjusting the target audio signal according to the target phase information and the modified frequency response relationship includes:

Determine target amplitude information according to the modified frequency response relationship;

The target audio signal is adjusted based on the target phase information and the target amplitude information.

Optionally, determining target amplitude information according to the modified frequency response relationship includes:

The product of the modified frequency response relationship and the original amplitude information is used as the target amplitude information, and the original amplitude information is the amplitude information of the working condition information.

Optionally, adjusting the target audio signal according to the target phase information and the target amplitude information includes:

An inverse Fourier transform is performed according to the target phase information and the target amplitude information to obtain the adjusted target audio signal.

According to a second aspect of an embodiment of the present disclosure, an audio information processing device is provided, and the device includes:

The first acquisition module is configured to acquire the sound wave audio signal corresponding to the simulated sound wave in the vehicle, where the simulated sound wave is the sound wave generated by the vehicle playing the target audio signal;

A first determination module configured to determine a modified frequency response relationship based on the sound wave audio signal and the target audio signal;

An adjustment module configured to adjust the target audio signal according to the modified frequency response relationship.

Optionally, the first determining module includes:

The first determination sub-module is configured to determine the target frequency response relationship according to the sound wave audio signal and the target audio signal;

The second determination sub-module is configured to determine the modified frequency response relationship according to the target frequency response relationship and the preset frequency response relationship.

Optionally, the first determination sub-module is configured as:

Determine a first power spectrum according to the sound wave audio signal and the target audio signal; the first power spectrum includes the cross power spectrum of the sound wave audio signal and the target audio signal;

determining a second power spectrum according to the target audio signal, wherein the second power spectrum includes an autopower spectrum of the target audio signal;

The target frequency response relationship is determined based on the first power spectrum and the second power spectrum.

Optionally, the target frequency response relationship includes a target frequency response function, the preset frequency response relationship includes a preset frequency response function, and the modified frequency response relationship includes a modified frequency response function; the second determination sub-module is Configured as:

The difference between the target frequency response function and the preset frequency response function is used as the modified frequency response function.

Optionally, the device further comprises:

a second acquisition module configured to acquire working condition information of the vehicle;

A second determination module is configured to determine target phase information according to the operating condition information;

The adjustment module is configured as:

The target audio signal is adjusted according to the target phase information and the modified frequency response relationship.

Optionally, the adjustment module includes:

A third determination submodule is configured to determine target amplitude information according to the modified frequency response relationship;

The adjustment sub-module is configured to adjust the target audio signal according to the target phase information and the target amplitude information.

Optionally, the third determination sub-module is configured as:

The product of the modified frequency response relationship and the original amplitude information is used as the target amplitude information, and the original amplitude information is the amplitude information corresponding to the working condition information.

Optionally, the adjustment submodule is configured as follows:

An inverse Fourier transform is performed according to the target phase information and the target amplitude information to obtain the adjusted target audio signal.

According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

A memory on which a computer program is stored;

A processor, configured to execute the computer program in the memory to implement the steps of the method described in the first aspect of the embodiment of the present disclosure.

According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method described in the first aspect of the embodiment of the present disclosure are implemented.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

This disclosure first obtains the sound wave audio signal corresponding to the simulated sound wave generated by the vehicle playing the target audio signal, then determines the corrected frequency response relationship based on the sound wave audio signal and the target audio signal, and adjusts the target audio signal according to the corrected frequency response relationship. This disclosure corrects the target audio signal played by the vehicle based on the sound wave audio signal corresponding to the simulated sound wave obtained from the environment, so that the target audio signal can be flexibly adapted to various different environments, and can ensure that the vehicle can play in different environments. Stable output of ideal simulated sound waves improves the flexibility and stability of generating simulated sound waves.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

FIG. 1 is a flow chart of an audio signal processing method according to an exemplary embodiment.

FIG. 2 is a flowchart of another audio signal processing method according to an exemplary embodiment.

FIG. 3 is a schematic diagram of a frequency response curve according to the embodiment of FIG. 2 .

Fig. 4 is a flow chart showing another audio signal processing method according to an exemplary embodiment.

FIG. 5 is a block diagram of an audio signal processing device according to an exemplary embodiment.

FIG. 6 is a block diagram of another audio signal processing device according to an exemplary embodiment.

FIG. 7 is a block diagram of another audio signal processing device according to an exemplary embodiment.

FIG. 8 is a block diagram of another audio signal processing device according to an exemplary embodiment.

Figure 9 is a schematic functional block diagram of a vehicle according to an exemplary embodiment.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the disclosure as detailed in the appended claims.

It should be noted that all actions to obtain signals, information or data in this application are performed under the premise of complying with the corresponding data protection regulations and policies of the country where the location is located, and with authorization from the owner of the corresponding device.

Before introducing an audio signal processing method, device, vehicle and storage medium according to the embodiments of the present disclosure, the application scenarios involved in the embodiments of the present disclosure are first introduced.

Normally, vehicles are equipped with a sound synthesis algorithm when they leave the factory. However, when users actually use the vehicle, the number of passengers, the space occupied by items placed in the vehicle, and the sound-absorbing materials of items such as clothes will all cause changes in the cabin acoustic environment. The sound synthesis algorithm plays the same sound through the speaker, and there will be large differences in different cabin acoustic environments. Especially when the cabin acoustic environment is not ideal, the expected simulated sound effect may not be achieved, affecting the user's driving experience.

Figure 1 is a flow chart of an audio signal processing method according to an exemplary embodiment. As shown in Figure 1, the method may include:

In step S101, the sound wave audio signal corresponding to the simulated sound wave in the vehicle is obtained. The simulated sound wave is the sound wave generated by the vehicle playing the target audio signal.

For example, while the vehicle is playing the target audio signal, a sound wave audio signal corresponding to the simulated sound wave can be collected in real time through a sound collection device arranged in the vehicle. The simulated sound wave is generated by the vehicle playing the target audio signal, that is, the sound wave audio signal is the actual audio signal propagated in the environment when the target audio signal is played in the current cabin acoustic environment.

In step S102, a modified frequency response relationship is determined based on the sound wave audio signal and the target audio signal.

For example, in the current cockpit acoustic environment of the vehicle, the target frequency response curve corresponding to the sound audio signal and the target audio signal may not be an ideal frequency response curve, resulting in the corresponding simulated sound failing to achieve the expected optimal effect. Therefore, a corrected frequency response relationship can be obtained based on the sound audio signal and the target audio signal, and the target audio signal can be adjusted by correcting the frequency response relationship so that the simulated sound obtained by playing the target audio signal can achieve the expected optimal effect.

In some embodiments, an ideal frequency response relationship can be set in advance as the preset frequency response relationship. The actual target frequency response relationship can be obtained according to the sound wave audio signal and the target audio signal. According to the preset frequency response relationship and the target frequency response relationship The difference between them can be obtained by correcting the frequency response relationship. In a possible implementation, the ratio of the cross power spectrum between the sound wave audio signal and the target audio signal to the autopower spectrum of the sound wave audio signal can be used as the target frequency response relationship. Among them, the preset frequency response relationship can be expressed as a preset frequency response curve, the target frequency response relationship can be expressed as a target frequency response curve, and the modified frequency response relationship can be expressed as a modified frequency response curve.

In other embodiments, a frequency response relationship correction model can be pre-trained, and the acquired sound wave audio signal and the target audio signal are input into the frequency response relationship correction model to obtain a corrected frequency response relationship output by the frequency response relationship correction model.

In step S103, the target audio signal is adjusted according to the modified frequency response relationship.

For example, the original amplitude information can be corrected according to the modified frequency response relationship to obtain the target amplitude information, and then the target audio signal can be adjusted according to the target amplitude information. The original amplitude information can be understood as the amplitude information corresponding to the current working condition information. . In a possible implementation, the specified audio information corresponding to the current working condition information can be determined from multiple preset audio information, and the amplitude information of the specified audio information can be used as the original amplitude information, and the original amplitude information can be combined with The product of the corrected frequency response curves is used as the target amplitude information.

In some embodiments, an inverse Fourier transform can be performed on the frequency domain signal corresponding to the target audio signal according to the target amplitude information to obtain the adjusted target audio signal.

In other embodiments, the vehicle's working condition information can be obtained, the target phase information corresponding to the working condition information can be determined, and the frequency domain signal corresponding to the target audio signal can be inversely Fourier transformed according to the target amplitude information and the target phase information. The adjusted target audio signal can be obtained.

To sum up, the present disclosure first obtains the sound wave audio signal corresponding to the simulated sound wave generated by the vehicle playing the target audio signal, then determines the corrected frequency response relationship based on the sound wave audio signal and the target audio signal, and adjusts the target audio signal according to the corrected frequency response relationship. . This disclosure corrects the target audio signal played by the vehicle based on the sound wave audio signal corresponding to the simulated sound wave obtained from the environment, so that the target audio signal can be flexibly adapted to various different environments, and can ensure that the vehicle can play in different environments. Stable output of ideal simulated sound waves improves the flexibility and stability of generating simulated sound waves.

Figure 2 is a flow chart of another audio signal processing method according to an exemplary embodiment. As shown in Figure 2, step S102 can be implemented through the following steps:

In step S1021, the target frequency response relationship is determined based on the sound wave audio signal and the target audio signal.

For example, the first power spectrum may be determined based on the sound wave audio signal and the target audio signal, and the second power spectrum may be determined based on the target audio signal. The first power spectrum may include a cross power spectrum of the sound wave audio signal and the target audio signal, and the second power spectrum may include an autopower spectrum of the target audio signal. The target frequency response relationship can then be determined based on the first power spectrum and the second power spectrum.

In some embodiments, the target frequency response relationship can be a target frequency response function, and the target frequency response function can be calculated by Formula 1:

Among them, H _AB (k) is the target frequency response function, A is the target audio signal, B is the sound wave audio signal, G _AB is the cross power spectrum of A and B, that is, the first power spectrum, G _AA is the autopower spectrum of A , that is, the second power spectrum, k represents the frequency point, and N is the number of points of FFT (English: Fast Fourier Transform, Chinese: Fast Fourier Transform).

In step S1022, a modified frequency response relationship is determined based on the target frequency response relationship and the preset frequency response relationship.

Among them, the preset frequency response relationship can be understood as a pre-stored ideal frequency response relationship. When the frequency response relationship is an ideal frequency response relationship, the sound effect of simulated sound waves is the best.

For example, the target frequency response relationship may include a target frequency response function, the preset frequency response relationship may include a preset frequency response function, and the modified frequency response relationship may include a modified frequency response function. As shown in Equation 2, the difference between the target frequency response function and the preset frequency response function can be used as the modified frequency response function.

w(k)＝T(k)-H _AB (k),k＝0,1,2,3,…,N-1(Formula 2)

Among them, w(k) is the modified frequency response function, and T(k) is the preset frequency response function.

3 , curve X is a preset frequency response curve corresponding to the preset frequency response function, curve Y is a target frequency response curve corresponding to the target frequency response function, and the modified frequency response curve corresponding to the modified frequency response function is curve Z.

Figure 4 is a flow chart of another audio signal processing method according to an exemplary embodiment. As shown in Figure 4, the method further includes:

In step S104, the vehicle's operating condition information is obtained.

In step S105, target phase information is determined according to the operating condition information.

For example, during the operation of the vehicle, the vehicle can obtain the working condition information of the car through the CAN (English: Controller Area Network, Chinese: Controller Area Network) bus, and then use the sound wave synthesis algorithm to generate the target audio signal based on the working condition information, and Play the target audio information through the speaker. The working condition information may include one or more types of information including motor speed, vehicle speed, vehicle acceleration, and pedal opening and closing.

Taking the working condition information as motor speed as an example, different motor speeds correspond to different audio signals. For example, when the rotation speed is 4000, the corresponding audio signal is audio A, and when the rotation speed is 5000, the corresponding audio signal is audio B. Because the actual vehicle chip space is limited, it is impossible to pre-store the audio signals under all working conditions such as 4000, 4100, 4200, 4300, etc. before playing them. Instead, it stores a part of the audio signals at the rotation speed and then expands them according to the stored audio signals. output audio signals at other rotational speeds. For example, audio signals corresponding to rotational speeds of 2000, 4000, 6000, 8000, 10000, 12000, etc. can be stored. The audio signals corresponding to rotational speeds between 1000-3000 can be expanded by the audio signals corresponding to 2000 rotational speeds. The audio signals corresponding to rotational speeds between 3000-3000 can be stored. The audio signal corresponding to the rotation speed between 5000 and 5000 can be expanded by the audio signal corresponding to the rotation speed 4000, and so on.

In a possible implementation, a phase vocoder algorithm can be used to expand the audio signal corresponding to the rotation speed. For example, frame processing is performed on a selected specified audio signal, and the frame shift hop _in of the specified audio signal can be set based on experience, for example, it can be 25% to 50% of the frame length. Perform FFT transformation on the specified audio signal after framing to obtain the amplitude information and phase information at each frequency point.

After obtaining the working condition information, the corresponding specified audio signal can be determined based on the current working condition information, and then the moving magnification can be determined based on the difference between the current working condition information and the working condition information corresponding to the specified audio signal. For example, the current rotation speed is 3000, and the selected designated audio signal is the audio signal corresponding to the rotation speed 2000, then the movement magnification ratio can be 1.5. Refer to Formula 3. According to the movement magnification ratio, the frame shift hop _out corresponding to the rotation speed 3000 can be calculated:

hop _out =ratio*hop _in (Formula 3)

Referring to Formula 4, according to the phase vocoder algorithm, the target phase information corresponding to the current working condition information can be obtained:

Among them, k represents the frequency point, i represents the current frame, and i-1 represents the previous frame. Indicates the phase information corresponding to the kth frequency point of the current frame,/> Represents the phase information corresponding to the k-th frequency point of the previous frame, _Δt =hop _out ÷Fs, Fs is the sampling rate, ω(k) _i represents the frequency value corresponding to the k-th frequency point of the current frame.

Correspondingly, an implementation manner of step S103 may be:

Adjust the target audio signal based on the target phase information and modified frequency response relationship.

For example, if the environment inside the vehicle changes, the target frequency response relationship may also change accordingly, which will affect the effect of simulated sound waves. Therefore, the amplitude of the target audio signal can be adjusted according to the modified frequency response relationship, so that the target audio signal It can flexibly adapt to various environments, ensuring that vehicles can stably output ideal simulated sound waves in different environments.

In some embodiments, the target amplitude information of the specified audio signal may be determined according to the modified frequency response relationship, and then the target audio signal may be adjusted according to the target phase information and the target amplitude information.

In a possible implementation, the product of the modified frequency response function and the original amplitude information of the specified audio signal can be used as the target amplitude information. The target amplitude information can be calculated, for example, through Formula 5.

AMP(k)＝|w(k)·X(k)|,i＝0,1,…,N-1 (Formula 5)

Among them, AMP(k) is the target amplitude information, and X(k) is the original amplitude information.

In other embodiments, an inverse Fourier transform may be performed according to the target phase information and the target amplitude information to obtain an adjusted target audio signal.

In a possible implementation, as shown in Equation 6, the frequency domain signal corresponding to the specified audio signal can be inverse Fourier transformed according to the target phase information and target amplitude information to obtain the modified audio signal, and then the modified audio signal can be obtained according to Equation 7. The frequency shift algorithm shown in the figure is used to process the modified audio signal to obtain the adjusted target audio signal.

Among them, _xi is the modified audio signal, y(n) is the adjusted target audio signal, L is the frame length, and u(n) is the unit step signal.

To sum up, the present disclosure first obtains the sound wave audio signal corresponding to the simulated sound wave generated by the vehicle playing the target audio signal, then determines the corrected frequency response relationship based on the sound wave audio signal and the target audio signal, and adjusts the target audio signal according to the corrected frequency response relationship. . This disclosure corrects the target audio signal played by the vehicle based on the sound wave audio signal corresponding to the simulated sound wave obtained from the environment, so that the target audio signal can be flexibly adapted to various different environments, and can ensure that the vehicle can play in different environments. Stable output of ideal simulated sound waves improves the flexibility and stability of generating simulated sound waves.

Figure 5 is a block diagram of an audio signal processing device according to an exemplary embodiment. As shown in Figure 5, the device 200 includes:

The first acquisition module 201 is configured to acquire the sound wave audio signal corresponding to the simulated sound wave in the vehicle. The simulated sound wave is the sound wave generated by the vehicle playing the target audio signal.

The first determination module 202 is configured to determine the modified frequency response relationship according to the sound wave audio signal and the target audio signal.

The adjustment module 203 is configured to adjust the target audio signal according to the modified frequency response relationship.

Figure 6 is a block diagram of another audio signal processing device according to an exemplary embodiment. As shown in Figure 6, the first determination module 202 includes:

The first determination sub-module 2021 is configured to determine the target frequency response relationship based on the sound wave audio signal and the target audio signal.

The second determination sub-module 2022 is configured to determine the modified frequency response relationship according to the target frequency response relationship and the preset frequency response relationship.

In some embodiments, the first determination sub-module 2021 is configured as:

A first power spectrum is determined according to the sound wave audio signal and the target audio signal. The first power spectrum includes a cross power spectrum of the sound wave audio signal and the target audio signal.

A second power spectrum is determined based on the target audio signal, and the second power spectrum includes an autopower spectrum of the target audio signal.

The target frequency response relationship is determined based on the first power spectrum and the second power spectrum.

In other embodiments, the target frequency response relationship includes a target frequency response function, the preset frequency response relationship includes a preset frequency response function, and the modified frequency response relationship includes a modified frequency response function. The second determination sub-module 2022 is configured as:

The difference between the target frequency response function and the preset frequency response function is used as the modified frequency response function.

Figure 7 is a block diagram of another audio signal processing device according to an exemplary embodiment. As shown in Figure 7, the device 200 further includes:

The second acquisition module 204 is configured to acquire the operating condition information of the vehicle.

The second determination module 205 is configured to determine the target phase information according to the operating condition information.

The adjustment module 203 is configured as:

Adjust the target audio signal based on the target phase information and modified frequency response relationship.

Figure 8 is a block diagram of another audio signal processing device according to an exemplary embodiment. As shown in Figure 8, the adjustment module 203 includes:

The third determination sub-module 2031 is configured to determine the target amplitude information according to the modified frequency response relationship.

The adjustment sub-module 2032 is configured to adjust the target audio signal according to the target phase information and the target amplitude information.

In other embodiments, the third determination sub-module 2031 is configured as:

The product of the corrected frequency response relationship and the original amplitude information is used as the target amplitude information, and the original amplitude information is the amplitude information corresponding to the target audio information before adjustment.

In other embodiments, the adjustment sub-module 2032 is configured to:

The inverse Fourier transform is performed based on the target phase information and target amplitude information to obtain the adjusted target audio signal.

Regarding the devices in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

In summary, the present disclosure first obtains a sound wave audio signal corresponding to the simulated sound wave generated by the vehicle playing the target audio signal, and then determines the corrected frequency response relationship based on the sound wave audio signal and the target audio signal, and adjusts the target audio signal based on the corrected frequency response relationship. The present disclosure corrects the target audio signal played by the vehicle according to the sound wave audio signal corresponding to the simulated sound wave obtained from the environment, so that the target audio signal can flexibly adapt to various different environments, and can ensure that the vehicle can stably output relatively ideal simulated sound waves in different environments, thereby improving the flexibility and stability of generating simulated sound waves.

The present disclosure also provides a computer-readable storage medium on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the audio signal processing method provided by the present disclosure are implemented.

Figure 9 is a block diagram of a vehicle according to an exemplary embodiment. For example, the vehicle 300 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to FIG. 9 , vehicle 300 may include various subsystems, such as infotainment system 310 , perception system 320 , decision control system 330 , drive system 340 , and computing platform 350 . The vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 300 can be interconnected in a wired or wireless manner.

In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, a navigation system, etc.

The sensing system 320 may include several types of sensors for sensing information about the environment around the vehicle 300 . For example, the sensing system 320 may include a global positioning system (the global positioning system may be a GPS system, a Beidou system or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter wave radar, ultrasonic radar and camera equipment.

The decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle and a braking system.

The drive system 340 may include components that provide power movement for the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert energy provided by the energy source into mechanical energy.

Some or all functions of the vehicle 300 are controlled by a computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, and the processor 351 may execute instructions 353 stored in the memory 352.

Processor 351 may be any conventional processor, such as a commercially available CPU. The processor may also include graphics processors (Graphic Process Unit, GPU), Field Programmable Gate Array (FPGA), System on Chip (SOC), Application Specific Integrated Circuit (ASIC). or a combination of them.

Memory 352 may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EEPROM), Programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to instructions 353 , memory 352 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 352 may be used by computing platform 350 .

In this embodiment of the present disclosure, the processor 351 can execute instructions 353 to complete all or part of the steps of the audio signal processing method described above.

In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above audio signal processing method when executed by the programmable device.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common common sense or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (11)

1. A method for processing an audio signal, characterized in that the method comprises: Obtain the sound wave audio signal corresponding to the simulated sound wave in the vehicle, where the simulated sound wave is the sound wave generated by the vehicle playing the target audio signal; Determine a modified frequency response relationship based on the sound wave audio signal and the target audio signal; The target audio signal is adjusted according to the modified frequency response relationship. 2. The method according to claim 1, wherein determining the modified frequency response relationship according to the sound wave audio signal and the target audio signal includes: Determine the target frequency response relationship according to the sound wave audio signal and the target audio signal; The modified frequency response relationship is determined based on the target frequency response relationship and the preset frequency response relationship. 3. The method according to claim 2, wherein determining the target frequency response relationship according to the sound wave audio signal and the target audio signal includes: Determine a first power spectrum according to the sound wave audio signal and the target audio signal; the first power spectrum includes the cross power spectrum of the sound wave audio signal and the target audio signal; Determine a second power spectrum based on the target audio signal, the second power spectrum including an autopower spectrum of the target audio signal; The target frequency response relationship is determined based on the first power spectrum and the second power spectrum. 4. The method of claim 2, wherein the target frequency response relationship includes a target frequency response function, the preset frequency response relationship includes a preset frequency response function, and the modified frequency response relationship includes a modified frequency response relationship. response function; determining the modified frequency response relationship based on the target frequency response relationship and the preset frequency response relationship includes: The difference between the target frequency response function and the preset frequency response function is used as the modified frequency response function. 5. The method according to any one of claims 1-4, characterized in that the method further includes: Obtain the operating condition information of the vehicle; Determine target phase information according to the working condition information; The adjusting the target audio signal according to the modified frequency response relationship includes: The target audio signal is adjusted according to the target phase information and the modified frequency response relationship. 6. The method of claim 5, wherein adjusting the target audio signal according to the target phase information and the modified frequency response relationship includes: Determine target amplitude information according to the modified frequency response relationship; The target audio signal is adjusted based on the target phase information and the target amplitude information. 7. The method according to claim 6, wherein the modified frequency response relationship includes modifying a frequency response function; and the determining the target amplitude information according to the modified frequency response relationship includes: The product of the modified frequency response function and the original amplitude information is used as the target amplitude information, and the original amplitude information is the amplitude information corresponding to the working condition information. 8. The method of claim 6, wherein adjusting the target audio signal according to the target phase information and the target amplitude information includes: An inverse Fourier transform is performed according to the target phase information and the target amplitude information to obtain the adjusted target audio signal. 9. An audio information processing device, characterized in that the device includes: The first acquisition module is configured to acquire the sound wave audio signal corresponding to the simulated sound wave in the vehicle, where the simulated sound wave is the sound wave generated by the vehicle playing the target audio signal; A first determination module configured to determine a modified frequency response relationship based on the sound wave audio signal and the target audio signal; An adjustment module configured to adjust the target audio signal according to the modified frequency response relationship. 10. A vehicle, characterized in that it includes: A memory on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 8. 11. A computer-readable storage medium having computer program instructions stored thereon, characterized in that when the program instructions are executed by a processor, the steps of the method according to any one of claims 1-8 are implemented.