Search

CN-121996198-A - AVAS sound playing control method, device, program product and medium

CN121996198ACN 121996198 ACN121996198 ACN 121996198ACN-121996198-A

Abstract

The invention discloses an AVAS sound playing control method, equipment, a program product and a medium, which comprise the steps of obtaining the current volume of audio to be processed in the current adjusting times and obtaining the target volume of audio to be played, determining the current volume error corresponding to the current adjusting times based on the current volume and the target volume of the current adjusting times, obtaining the contribution coefficient of the current proportional gain for adjusting the current volume error of the current adjusting times to the volume adjusting amplitude in the current adjusting times, determining the current adjusting amplitude of the current adjusting times based on the current volume error and the current proportional gain of the current adjusting times, determining the adjusted volume according to the current volume of the current adjusting times and the current adjusting amplitude of the current adjusting times, updating the adjusted volume to the current volume of the next adjusting times of the current adjusting times, and continuously determining the current adjusting amplitude of the next adjusting times until the adjusted volume reaches the target volume.

Inventors

  • LIU BANGKUN
  • FAN PEIZHI
  • WU PENG

Assignees

  • 共达电声股份有限公司

Dates

Publication Date
20260508
Application Date
20260408

Claims (17)

  1. 1. An AVAS sound play control method, comprising: acquiring the current volume of the audio to be processed in the current adjustment times and acquiring the target volume of the audio to be processed expected to be played; Determining a current volume error corresponding to the current adjustment times based on the current volume of the current adjustment times and the target volume; Acquiring a current proportional gain, wherein the current proportional gain is used for adjusting a contribution coefficient of a current volume error of the current adjustment times to a volume adjustment amplitude in the current adjustment times; determining a current adjustment amplitude of the current adjustment times based on the current volume error of the current adjustment times and the current proportional gain; According to the current volume of the current adjusting times and the current adjusting amplitude of the current adjusting times, determining the adjusted volume, updating the adjusted volume to the current volume of the next adjusting times of the current adjusting times, and continuously determining the current adjusting amplitude of the next adjusting times based on the current volume of the next adjusting times and the target volume until the adjusted volume reaches the target volume.
  2. 2. The AVAS sound play control method of claim 1, wherein the determining a current adjustment magnitude of the current adjustment number based on the current volume error of the current adjustment number and the current proportional gain includes: determining the product of the current volume error of the current adjustment times and the current proportional gain of the current adjustment times as the current adjustment amplitude of the current adjustment times, or The method comprises the steps of obtaining a previous volume error accumulation sum in the last adjustment time of the current adjustment time and obtaining a current integral proportional gain, determining the current volume error accumulation sum of the current adjustment time based on the previous volume error accumulation sum and the current volume error of the current adjustment time, and determining the current adjustment amplitude of the current adjustment time based on the current volume error of the current adjustment time, the current proportional gain, the current volume error accumulation sum and the current integral proportional gain.
  3. 3. The AVAS sound play control method of claim 2, wherein the obtaining the current proportional gain includes: Obtaining the previous error of the last adjustment frequency, calculating the error change rate according to the current volume error of the current adjustment frequency and the previous error, determining the current proportional gain based on the current volume error of the current adjustment frequency and the error change rate, or The obtaining the current proportional gain comprises determining the current proportional gain and the current integral proportional gain based on the current volume error of the current adjusting times and the error change rate.
  4. 4. The AVAS sound play control method of claim 2, wherein the determining a current adjustment magnitude of the current adjustment number based on the current volume error, the current proportional gain, the current volume error based on the current adjustment number, and the current proportional gain includes: Determining the product of the current volume error of the current adjusting times and the current proportional gain as a current first volume adjusting value of the current adjusting times; determining a current second volume adjustment value of the current adjustment times by adding up the current volume error of the current adjustment times and multiplying the current integral proportional gain; and determining the sum of the current first volume adjustment value of the current adjustment times and the current second volume adjustment value of the current adjustment times as the current adjustment amplitude of the current adjustment times.
  5. 5. The AVAS sound play control method of claim 1, wherein the audio to be processed includes at least one of audio to be adjusted for volume to be smoothed by the autonomous mobile apparatus during a speed change, audio to be played indicated by an audio switch instruction, current audio being played and requiring volume adjustment.
  6. 6. The AVAS sound play control method of claim 1, wherein the obtaining a target volume at which the audio to be processed is desired to be played includes: acquiring a target volume configured by a volume configuration control, or And acquiring the current vehicle speed, and determining the target volume corresponding to the current vehicle speed according to the mapping relation of the vehicle speed and the volume.
  7. 7. An AVAS sound playing control method based on multiple audio channels is characterized by being applied to an AVAS sound playing control device, wherein the AVAS sound playing control device is arranged in an autonomous mobile device to provide sound warning information, and the method comprises the following steps: Acquiring current state data of autonomous mobile equipment; determining digital audio data corresponding to the current state data based on the current state data, and generating a plurality of paths of audio signals based on the digital audio data; Outputting a plurality of paths of audio signals through a plurality of paths of signal channels of a digital audio interface connected with a processor in the AVAS sound playing control equipment, wherein the paths of signal channels are independent from each other; Controlling the playback of each audio signal via its respective audio output channel, wherein the volume control of each audio signal is controlled based on the AVAS sound playback control method of any one of claims 1 to 6.
  8. 8. The AVAS sound play control method of claim 7, wherein determining digital audio data corresponding to the current state data based on the current state data includes: according to the current state data, various current target working conditions after the working conditions are changed are determined; Reading prompt audio data corresponding to various current target working conditions from a memory of the AVAS sound playing control equipment; And processing the prompt audio data corresponding to the various current target working conditions to obtain digital audio data corresponding to the various current target working conditions, and writing the digital audio data corresponding to the various working conditions into the buffer areas corresponding to the various working conditions.
  9. 9. The AVAS sound playing control method based on multiple audio channels of claim 8, wherein the processing the prompt audio data corresponding to the current target conditions to obtain digital audio data corresponding to the current target conditions includes at least one of: When the prompt audio data indicate forward prompt audio, based on the forward prompt audio, digital audio data of the forward prompt audio are obtained after resampling, mixing, gain adjustment and filtering are performed; when the prompting audio data indicates a reversing prompting audio, based on the reversing prompting audio, gain adjustment and filtering processing are carried out to obtain digital audio data of the reversing prompting audio or the steering prompting audio; When the prompt audio data indicate steering prompt audio, based on the steering prompt audio, gain adjustment and filtering processing are carried out, and then digital audio data of the steering prompt audio are obtained.
  10. 10. The multi-audio channel based AVAS sound play control method of claim 7 wherein generating multiple audio signals based on the digital audio data includes at least one of: Based on the digital audio data, normally filling an audio signal of a target channel, the target channel indicating a channel into which the digital audio data is input, or Filling 0 into the audio signals which do not output the digital audio data in the multipath audio signals so as to ensure the continuity of signal channels; Or the method further comprises: And when the current state data indicate that the prompting voice does not need to be output, closing the output of all signal channels.
  11. 11. The AVAS sound playing control method based on multiple audio channels as claimed in claim 7, wherein said controlling the playing of each audio signal through its corresponding audio output channel comprises: inputting each path of audio signals to a digital-to-analog converter connected with a digital audio interface, and converting each path of audio signals into analog signals corresponding to each path of audio signals through the digital-to-analog converter; distributing analog signals corresponding to all paths of audio signals to audio output channels corresponding to all paths of audio signals in a power amplifier connected with the digital-to-analog converter, and performing power amplification processing to obtain amplified analog signals corresponding to all paths of audio signals; and driving a sound playing component connected with the audio output channels corresponding to the audio signals to play the amplified analog signals corresponding to the audio signals through the power amplifier.
  12. 12. The AVAS sound playing control method based on multiple audio channels as claimed in any one of claims 7 to 11, wherein the multiple signal channels are two signal channels, a first signal channel is used for forward prompt audio or reverse prompt audio output, and a second signal channel is used for steering prompt audio output.
  13. 13. The AVAS sound playing control device is characterized by comprising a processor, a digital-to-analog converter connected with the processor through a digital audio interface and a power amplifier connected with the digital-to-analog converter, wherein the power amplifier is provided with a plurality of paths of audio output channels, and each path of audio output channel is connected with a respective audio playing component; The processor is used for acquiring current state data of the autonomous mobile equipment, determining digital audio data corresponding to the current state data based on the current state data, and generating multiple paths of audio signals based on the digital audio data; The digital audio interface is provided with a plurality of signal channels, and outputs a plurality of audio signals to the digital-to-analog converter, wherein the signal channels are independent; the digital-to-analog converter is used for converting each path of audio signals into analog signals corresponding to each path of audio signals; The power amplifier performs power amplification processing on each path of audio signals by utilizing an audio output channel corresponding to each path of audio signals to obtain amplified analog signals corresponding to each path of audio signals; The power amplifier drives a sound playing component connected with the audio output channel corresponding to each path of audio signal to play the amplified analog signal corresponding to each path of audio signal; The processor controls the corresponding volume of each path of audio signal based on the AVAS sound play control method of any one of claims 1 to 6.
  14. 14. An AVAS sound play control apparatus comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the AVAS sound play control method of any one of claims 1 to 6 and/or the multi-audio channel based AVAS sound play control method of any one of claims 7 to 12.
  15. 15. An autonomous mobile device comprising the AVAS sound play control device of claim 13 or 14.
  16. 16. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the AVAS sound play control method of any one of claims 1 to 6 and/or the multi-audio channel based AVAS sound play control method of any one of claims 7 to 12.
  17. 17. A non-transitory computer storage medium including a computer program, wherein the computer program is stored and when executed by a processor, causes the processor to perform the AVAS sound play control method of any one of claims 1 to 6 and/or the multi-audio channel based AVAS sound play control method of any one of claims 7 to 12.

Description

AVAS sound playing control method, device, program product and medium Technical Field The present invention relates to the field of audio control technologies, and in particular, to an (active VEHICLE ALERTING SYSTEM, AVAS) sound playing control method, an AVAS sound playing control method based on multiple audio channels, an AVAS sound playing control device, an autonomous mobile device, a computer program product, and a non-volatile computer storage medium. Background With the popularization of new energy vehicles (pure electric vehicles and hybrid vehicles), the running noise of the vehicles is obviously lower than that of the traditional fuel oil vehicles when the vehicles run at low speed, and potential safety hazards are easily caused to pedestrians on roads. Therefore, the new energy vehicle is required to be equipped with a low-speed running warning system according to the rule standard which is continuously issued at home and abroad, and warning sounds are actively played under the low-speed working condition so as to remind surrounding pedestrians to pay attention to avoiding. In the existing AVAS sound playing control scheme, a fixed step length adjustment mode is adopted for volume adjustment. The system presets a fixed volume adjusting step length and a fixed volume adjusting period, and when the volume needs to be transited from the current value to the target value, the volume is gradually increased or decreased according to the fixed step length until the target volume is reached. However, the fixed step length adjustment does not consider factors such as speed change, current volume, environmental noise and the like, and problems such as delay in volume adjustment, obvious stepped feeling, insufficient smoothness and the like easily occur when working conditions are changed severely, so that the warning effect and the acoustic quality in different scenes are difficult to consider. Disclosure of Invention In order to solve the existing technical problems, the invention provides an AVAS sound playing control method, an AVAS sound playing control method based on multiple audio channels, an AVAS sound playing control device, an autonomous mobile device, a computer program product and a nonvolatile computer storage medium, which reduce the problems of step jump and hardness adjustment caused by fixed step length, make the volume transition smoother and more continuous, and make the volume approaching the target more accurate and stable. In a first aspect, an AVAS sound playing control method is provided, which includes obtaining a current volume of audio to be processed in a current adjustment frequency and obtaining a target volume of audio to be processed expected to be played, determining a current volume error corresponding to the current adjustment frequency based on the current volume of the current adjustment frequency and the target volume, obtaining a current proportional gain, wherein the current proportional gain is used for adjusting a contribution coefficient of the current volume error of the current adjustment frequency to a volume adjustment range in the current adjustment frequency, determining the current adjustment range of the current adjustment frequency based on the current volume error of the current adjustment frequency and the current proportional gain, determining an adjusted volume according to the current volume of the current adjustment frequency and the current adjustment range of the current adjustment frequency, updating the adjusted volume to a current volume of a next adjustment frequency of the current adjustment frequency, and continuously determining the current adjustment range of the next adjustment frequency based on the current volume of the next adjustment frequency and the target volume until the adjusted volume reaches the target volume. In a second aspect, an AVAS sound playing control method based on multiple audio channels is provided, and is applied to an AVAS sound playing control device, where the AVAS sound playing control device is provided in an autonomous mobile device to provide sound warning information, and the method includes obtaining current state data of the autonomous mobile device; the method comprises the steps of determining digital audio data corresponding to current state data based on the current state data, generating multiple paths of audio signals based on the digital audio data, outputting the multiple paths of audio signals through multiple paths of signal channels of a digital audio interface connected with a processor in AVAS sound playing control equipment, wherein the multiple paths of signal channels are independent of each other, and controlling playing of the multiple paths of audio signals through audio output channels corresponding to the multiple paths of audio signals, wherein volume control of the multiple paths of audio signals is controlled based on the AVAS sound playing control method provided by the first a