US-20260129391-A1 - AUDIO CONTROL METHOD, AUDIO CONTROL DEVICE AND IN-VEHICLE SOUND SYSTEM

Abstract

Provided are an audio control method, an audio control device, and an in-vehicle sound system. The audio control method includes: acquiring an initial auditory model of a target user in an in-vehicle acoustic environment and an ideal auditory model of the target user in a reference acoustic environment; fitting the ideal auditory model and the initial auditory model based on predetermined fitting constraints to obtain target acoustic characteristic parameters corresponding to an acoustic signal output by each respective target speaker of the plurality of target speakers; and generating a target acoustic transfer function of the respective target speaker to the target user based on the target acoustic characteristic parameters, and updating the target acoustic transfer function to a digital filter of the respective target speaker.

Inventors

• Shuyuan Sun
• Yiming Meng
• Xin Zhang

Assignees

• AAC MICROTECH (CHANGZHOU) CO., LTD.

Dates

Publication Date

20260507

Application Date

20250226

Claims (20)

1. 1 . An audio control method for an in-vehicle sound system, wherein the in-vehicle sound system is configured with a plurality of target speakers, and the audio control method comprises: acquiring an initial auditory model of a target user in an in-vehicle acoustic environment and an ideal auditory model of the target user in a reference acoustic environment; fitting the ideal auditory model and the initial auditory model based on predetermined fitting constraints to obtain target acoustic characteristic parameters corresponding to an acoustic signal output by each respective target speaker of the plurality of target speakers; and generating a target acoustic transfer function of the respective target speaker to the target user based on the target acoustic characteristic parameters, and updating the target acoustic transfer function to a digital filter of the respective target speaker.
2. 2 . The audio control method for the in-vehicle sound system according to claim 1 , wherein before acquiring the initial auditory model of the target user in the in-vehicle acoustic environment and the ideal auditory model of the target user in the reference acoustic environment, the audio control method further comprises: acquiring, in the in-vehicle acoustic environment, a first acoustic transfer function of the respective target speaker to a target listening position, and a first electroacoustic conversion transfer function of the respective target speaker, wherein the first acoustic transfer function represents acoustic-physiological properties of the target user in the in-vehicle acoustic environment, and the first electroacoustic conversion transfer function represents software transfer characteristics and hardware transfer characteristics of the respective target speaker; and constructing the initial auditory model of the target user in the in-vehicle acoustic environment based on the first acoustic transfer function and the first electroacoustic conversion transfer function.
3. 3 . The audio control method for the in-vehicle sound system according to claim 2 , wherein the initial auditory model is expressed as: { S @ L ⁢ _ ⁢ Ear model = [ CH @ L ⁢ _ ⁢ Ear model ( 1 ) CH @ L ⁢ _ ⁢ Ear model ( 2 ) ⋮ CH @ L ⁢ _ ⁢ Ear model ( N ) ] S @ R ⁢ _ ⁢ Ear model = [ CH @ L ⁢ _ ⁢ Ear model ( 1 ) CH @ L ⁢ _ ⁢ Ear model ( 2 ) ⋮ CH @ L ⁢ _ ⁢ Ear model ( N ) ] , wherein S @ L ⁢ _ ⁢ Ear model denotes an acoustic signal matrix corresponding to a left ear of the target user in the in-vehicle acoustic environment, S @ R ⁢ _ ⁢ Ear model denotes an acoustic signal matrix corresponding to a right ear of the target user in the in-vehicle acoustic environment, N denotes a number of original sound source channels in the reference acoustic environment, C ⁢ H @ L E ⁢ a ⁢ r m ⁢ o ⁢ d ⁢ e ⁢ l ( ) denotes an acoustic signal received by the left ear of the target user, and C ⁢ H @ R E ⁢ a ⁢ r m ⁢ o ⁢ d ⁢ e ⁢ l ( ) denotes an acoustic signal received by the right ear of the target user.
4. 4 . The audio control method for the in-vehicle sound system according to claim 3 , wherein the acoustic signal received by the left ear of the target user is expressed as: { C ⁢ H @ L - ⁢ Ear m ⁢ o ⁢ d ⁢ e ⁢ l ( 1 ) = CH ⁡ ( 1 ) ⁢ ∑ m = 1 M a 1 ( m ) · H L M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T s ⁢ p ⁢ e ⁢ a ⁢ k ⁢ e ⁢ r M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T D ⁢ S ⁢ P M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) C ⁢ H @ L - ⁢ E ⁢ a ⁢ r m ⁢ o ⁢ d ⁢ e ⁢ l ( 2 ) = CH ⁡ ( 2 ) ⁢ ∑ m = 1 M a 2 ( m ) · H L M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T s ⁢ p ⁢ e ⁢ a ⁢ k ⁢ e ⁢ r M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T D ⁢ S ⁢ P M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) ⋮ C ⁢ H @ L - ⁢ E ⁢ a ⁢ r m ⁢ o ⁢ d ⁢ e ⁢ l ( N ) = CH ⁡ ( N ) ⁢ ∑ m = 1 M a N ( m ) · H L M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T s ⁢ p ⁢ e ⁢ a ⁢ k ⁢ e ⁢ r M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T D ⁢ S ⁢ P M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) , and the acoustic signal received by the right ear of the target user is expressed as: { C ⁢ H @ R - ⁢ E ⁢ a ⁢ r m ⁢ o ⁢ d ⁢ e ⁢ l ( 1 ) = CH ⁡ ( 1 ) ⁢ ∑ m = 1 M a 1 ( m ) · H R M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T s ⁢ p ⁢ e ⁢ a ⁢ k ⁢ e ⁢ r M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T D ⁢ S ⁢ P M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) C ⁢ H @ R - ⁢ E ⁢ a ⁢ r m ⁢ o ⁢ d ⁢ e ⁢ l ( 2 ) = CH ⁡ ( 2 ) ⁢ ∑ m = 1 M a 2 ( m ) · H R M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T s ⁢ p ⁢ e ⁢ a ⁢ k ⁢ e ⁢ r M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T D ⁢ S ⁢ P M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) ⋮ C ⁢ H @ R - ⁢ E ⁢ a ⁢ r m ⁢ o ⁢ d ⁢ e ⁢ l ( N ) = CH ⁡ ( N ) ⁢ ∑ m = 1 M a N ( m ) · H R M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T s ⁢ p ⁢ e ⁢ a ⁢ k ⁢ e ⁢ r M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) · T D ⁢ S ⁢ P M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) , wherein M denotes a number of target channels in the in-vehicle acoustic environment, each of the plurality of target speakers corresponds to respective target channel of the target channels in the in-vehicle acoustic environment, CH(n) denotes an original sound source signal of an n-th channel in the reference acoustic environment, for the target channels in the in-vehicle acoustic environment, there exists m∈[1, M], wherein m is a natural number greater than or equal to 1, H L M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) denotes the first acoustic transfer function of an m-th target speaker to the left ear of the target user, H R M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) denotes the first acoustic transfer function of the m-th target speaker to the right ear of the target user, T s ⁢ p ⁢ e ⁢ a ⁢ k ⁢ e ⁢ r M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) denotes the first electroacoustic conversion transfer function of the m-th target speaker, T D ⁢ S ⁢ P M ⁢ o ⁢ d ⁢ e ⁢ l ( m ) denotes a digital tilter transfer function applied to the m-th target speaker, and a n (m) denotes an enablement judgement parameter corresponding to the m-th target speaker.
5. 5 . The audio control method for the in-vehicle sound system according to claim 1 , wherein a plurality of speaker groups are provided in the reference acoustic environment, and a number of the plurality of speaker groups is equal to a number of the plurality of target speakers; and wherein before acquiring the initial auditory model of the target user in the in-vehicle audio environment and the ideal auditory model of the target user in the reference audio environment, the audio control method further comprises: acquiring, in the reference acoustic environment, a second acoustic transfer function of each respective speaker group of the plurality of speaker groups to an ideal listening position where the target user is located, and a second electroacoustic conversion transfer function of the respective speaker group, wherein the second acoustic transfer function represents acoustic-physiological characteristics of the target user in the reference acoustic environment, and the second electroacoustic conversion transfer function represents software transfer characteristics and hardware transfer characteristics of the respective speaker group; and constructing the ideal auditory model of the target user in the reference acoustic environment based on the second acoustic transfer function and the second electroacoustic conversion transfer function.
6. 6 . The audio control method for the in-vehicle sound system according to claim 5 , wherein the ideal auditory model is expressed as: { S @ L ⁢ _ ⁢ Ear model = [ CH @ L ⁢ _ ⁢ Ear model ( 1 ) CH @ L ⁢ _ ⁢ Ear model ( 2 ) ⋮ CH @ L ⁢ _ ⁢ Ear model ( N ) ] = [ H L ref ( 1 ) · CH ⁡ ( 1 ) · T ref ( 1 ) H L ref ( 2 ) · CH ⁡ ( 2 ) · T ref ( 2 ) ⋮ H L ref ( N ) · CH ⁡ ( N ) · T ref ( N ) ] S @ R ⁢ _ ⁢ Ear model = [ CH @ R ⁢ _ ⁢ Ear model ( 1 ) CH @ R ⁢ _ ⁢ Ear model ( 2 ) ⋮ CH @ R ⁢ _ ⁢ Ear model ( N ) ] = [ H R ref ( 1 ) · CH ⁡ ( 1 ) · T ref ( 1 ) H R ref ( 2 ) · CH ⁡ ( 2 ) · T ref ( 2 ) ⋮ H R ref ( N ) · CH ⁡ ( N ) · T ref ( N ) ] , wherein S @ L - ⁢ E ⁢ a ⁢ r r ⁢ e ⁢ f denotes an acoustic signal matrix corresponding to the left ear of the target user in the reference acoustic environment, and S @ R - ⁢ E ⁢ a ⁢ r r ⁢ e ⁢ f denotes an acoustic signal matrix corresponding to the right ear of the target user in the reference acoustic environment, N denotes a number of original sound source channels in the reference acoustic environment, CH @ L Ear ref ( ) denotes an acoustic signal received by the left ear of the target user, CH @ R Ear ref ( ) denotes an acoustic signal received by the right ear of the target user, CH( ) denotes an original source signal in the reference acoustic environment, and accordingly, H L ref ( ) denotes the second acoustic transfer function of a target speaker group to the left ear of the target user, H R ref ( ) denotes the second acoustic transfer function of the target speaker group to the right ear of the target user, and T ref ( ) denotes the second electroacoustic conversion transfer function of the target speaker group.
7. 7 . The audio control method for the in-vehicle sound system according to claim 5 , wherein acquiring, in the reference acoustic environment, the second acoustic transfer function of each respective speaker group of the plurality of speaker groups to the ideal listening position where the target user is located includes: acquiring sound data returned by a microphone fixed at an ear position of the target user after the respective speaker group outputs a corresponding first test signal, wherein the ear position of the target user is the ideal listening position of the target user in the reference acoustic environment; and generating the second acoustic transfer function of the respective speaker group to the ear position of the target user in the reference acoustic environment based on the sound data.
8. 8 . The audio control method for the in-vehicle sound system according to claim 5 , wherein obtaining the second electroacoustic conversion transfer function of the respective speaker group includes: after the respective speaker group outputs a corresponding second test signal, in response to a completion instruction of a debugging operation on the respective speaker group by the target user, determining an electroacoustic conversion transfer function of the respective speaker group after completion of the debugging operation as the second electroacoustic conversion transfer function, wherein the debugging operation is configured for adjustment of the second electroacoustic conversion transfer function of the respective target speaker group so that sound quality of the respective speaker group conforms to a listening preference of the target user.
9. 9 . The audio control method for the in-vehicle sound system according to claim 1 , wherein fitting the ideal auditory model and the initial auditory model based on the predetermined fitting constraints to obtain the target acoustic characteristic parameters corresponding to the acoustic signal output by each respective target speaker of the plurality of target speakers includes: fitting the ideal auditory model and the initial auditory model to obtain a difference calculation model of the acoustic signal; and finding an optimal solution of the difference calculation model based on the preset fitting constraints, and determining the optimal solution as the target acoustic characteristic parameters corresponding to the acoustic signal output by the respective target speaker.
10. 10 . The audio control method for the in-vehicle sound system according to claim 9 , wherein the difference calculation model includes a first difference calculation formula, a second difference calculation formula, and a third difference calculation formula, wherein the first difference calculation formula is configured to calculate a difference between target acoustic characteristic parameters of an acoustic signal received by the target user in the in-vehicle acoustic environment and reference acoustic characteristic parameters of an ideal acoustic signal received by the target user in the reference acoustic environment, the second difference calculation formula is configured to calculate a binaural hearing difference index of the target user when an acoustic signal output from the same target speaker is applied to the target user in the in-vehicle acoustic environment, and the third difference calculation formula is configured to calculate a binaural hearing difference index of the target user when an acoustic signal output from the same speaker group is applied to the target user in the reference acoustic environment; wherein finding the optimal solution of the difference calculation model based on the preset fitting constraints and determining the optimal solution as the target acoustic characteristic parameters corresponding to the acoustic signal output by the respective target speaker include: finding the optimal solution of the difference calculation model based on a first fitting constraint and a second fitting constraint, wherein the first fitting constraint is that a result of the first difference calculation formula is zero, and the second fitting constraint is that a calculation result of the second difference calculation formula is equal to a calculation result of the third difference calculation formula; and determining the optimal solution as the target acoustic characteristic parameters corresponding to the acoustic signal output by the respective target speaker.
11. 11 . The audio control method for the in-vehicle sound system according to claim 10 , wherein at least one of the following is included: the first difference calculation formula is expressed as: { S @ L_Ear ref - S @ L_Ear model = [ Δ ⁢ A L ⁢ ( 1 ) ⁢ e j ⁢ ΔΦ L ( 1 ) Δ ⁢ A L ( 2 ) ⁢ e j ⁢ ΔΦ L ( 2 ) … Δ ⁢ A L ( N ) ⁢ e j ⁢ ΔΦ L ( N ) ] s S @ R_Ear ref - S @ R_Ear model = [ Δ ⁢ A R ⁢ ( 1 ) ⁢ e j ⁢ ΔΦ R ( 1 ) Δ ⁢ A R ( 2 ) ⁢ e j ⁢ ΔΦ R ( 2 ) … Δ ⁢ A R ( N ) ⁢ e j ⁢ ΔΦ R ( N ) ] ; the third difference calculation formula is expressed as: S @ L Ear ref - S @ R Ear ref = [ ( ILD 1 ref , ITD 1 ref ) ( ILD 2 ref , ITD 2 ref ) … ( ILD N ref , ITD N ref ) ] ; and the second difference calculation formula is expressed as: S @ L_Ear model - S @ R_Ear model = [ ( ILD 1 model , ITD 1 model ) ( ILD 2 model , ITD 2 model ) … ( ILD N model , ITD N model ) ] ; wherein ⁢ S @ L_Ear ref denotes an acoustic signal matrix corresponding to a left ear of the target user in the reference acoustic environment, S @ R_Ear ref denotes an acoustic signal matrix corresponding to a right ear of the target user in the reference acoustic environment, S @ L_Ear model denotes an acoustic signal matrix corresponding to the left ear of the target user in the in-vehicle acoustic environment, S @ R_Ear model denotes an acoustic signal matrix corresponding to the right ear of the target user in the in-vehicle acoustic environment; wherein N denotes a number of original sound source channels in the reference acoustic environment, for the original sound source channels in the reference acoustic environment, there exists n∈[1, N], wherein n is a natural number greater than or equal to 1, ΔA L (n) denotes a difference in amplitude between an acoustic signal of an n-th channel received by the left ear of the target user in the reference acoustic environment and an acoustic signal of an n-th channel received by the left ear of the target user in the in-vehicle acoustic environment, ΔΦ L (n) denotes a difference in phase between the acoustic signal of the n-th channel received by the left ear of the target user in the reference acoustic environment and the acoustic signal of the n-th channel received by the left ear of the target user in the in-vehicle acoustic environment, ΔA R (n) denotes a difference in amplitude between an acoustic signal of an n-th channel received by the right ear of the target user in the reference acoustic environment and an acoustic signal of an n-th channel received by the right ear in the in-vehicle acoustic environment, ΔΦ R (n) denotes a difference in phase between the acoustic signal of the n-th channel received by the right ear of the target user in the reference acoustic environment and the acoustic signal of the n-th channel received by the right ear of the target user in the in-vehicle acoustic environment, e denotes a natural constant, and j is an imaginary number; wherein ILD n ref denotes a binaural sound level difference of the acoustic signal of the n-th acoustic channel received by the target user in the reference acoustic environment, ITD n ref denotes a binaural time difference of the acoustic signal of the n-th acoustic channel received by the target user in the reference acoustic environment; and wherein ILD n model denotes a binaural sound level difference of the acoustic signal of the n-th acoustic channel received by the target user in the in-vehicle acoustic environment, and ITD n model denotes a binaural time difference of the acoustic signal of the n-th acoustic channel received by the target user in the in-vehicle acoustic environment.
12. 12 . An audio control device for an in-vehicle sound system, wherein the in-vehicle sound system is configured with a plurality of target speakers, and the audio control device comprises: an acquisition module, configured to acquire an initial auditory model of a target user in an in-vehicle acoustic environment and an ideal auditory model of the target user in a reference acoustic environment; a fitting module, configured to fit the ideal auditory model and the initial auditory model based on predetermined fitting constraints to obtain target acoustic characteristic parameters corresponding to an acoustic signal output by each respective target speaker of the plurality of target speakers; and a generation module, configured to generate a target acoustic transfer function of the respective target speaker to the target user based on the target acoustic characteristic parameters, and update the target acoustic transfer function to a digital filter of the respective target speaker.
13. 13 . An in-vehicle sound system, comprising a memory, a processor, and a plurality of target speakers, wherein: each of the plurality of target speakers is configured to sound based on a corresponding target acoustic transfer function; the processor is configured to execute a computer program stored on the memory; and the processor is configured to perform, when executing the computer programs, an audio control method including: acquiring an initial auditory model of a target user in an in-vehicle acoustic environment and an ideal auditory model of the target user in a reference acoustic environment; fitting the ideal auditory model and the initial auditory model based on predetermined fitting constraints to obtain target acoustic characteristic parameters corresponding to an acoustic signal output by each respective target speaker of the plurality of target speakers; and generating a target acoustic transfer function of the respective target speaker to the target user based on the target acoustic characteristic parameters, and updating the target acoustic transfer function to a digital filter of the respective target speaker.
14. 14 . The in-vehicle sound system according to claim 13 , wherein before acquiring the initial auditory model of the target user in the in-vehicle acoustic environment and the ideal auditory model of the target user in the reference acoustic environment, the audio control method further comprises: acquiring, in the in-vehicle acoustic environment, a first acoustic transfer function of the respective target speaker to a target listening position, and a first electroacoustic conversion transfer function of the respective target speaker, wherein the first acoustic transfer function represents acoustic-physiological properties of the target user in the in-vehicle acoustic environment, and the first electroacoustic conversion transfer function represents software transfer characteristics and hardware transfer characteristics of the respective target speaker; and constructing the initial auditory model of the target user in the in-vehicle acoustic environment based on the first acoustic transfer function and the first electroacoustic conversion transfer function.
15. 15 . The in-vehicle sound system according to claim 14 , wherein the initial auditory model is expressed as: { S @ L_Ear model = [ CH @ L_Ear model ( 1 ) CH @ L_Ear model ( 2 ) ⋮ CH @ L_Ear model ( N ) ] S @ R_Ear model = [ CH @ R_Ear model ⁢ ( 1 ) CH @ R_Ear model ( 2 ) ⋮ CH @ R_Ear model ( N ) ] , wherein ⁢ S @ L_Ear model denotes an acoustic signal matrix corresponding to a left ear of the target user in the in-vehicle acoustic environment, S @ R ⁢ _ ⁢ Ear model denotes an acoustic signal matrix corresponding to a right ear of the target user in the in-vehicle acoustic environment, N denotes a number of original sound source channels in the reference acoustic environment, CH @ L Ear model ⁢ ( ) denotes an acoustic signal received by the left ear of the target user, and CH @ R Ear model ⁢ ( ) denotes an acoustic signal received by the right ear of the target user.
16. 16 . The audio control method for the in-vehicle sound system according to claim 15 , wherein the acoustic signal received by the left ear of the target user is expressed as: { CH @ L ⁢ _ ⁢ Ear model ( 1 ) = CH ⁡ ( 1 ) ⁢ ∑ m = 1 M a 1 ( m ) · H L Model ( m ) · T speaker Model ( m ) · T DSP Model ( m ) CH @ L ⁢ _ ⁢ Ear model ( 2 ) = CH ⁡ ( 2 ) ⁢ ∑ m = 1 M a 2 ⁢ ( m ) · H L Model ⁢ ( m ) · T speaker Model ⁢ ( m ) · T DSP Model ⁢ ( m ) ⋮ CH @ L ⁢ _ ⁢ Ear model ( N ) = CH ⁡ ( N ) ⁢ ∑ m = 1 M a N ⁢ ( m ) · H L Model ⁢ ( m ) · T speaker Model ⁢ ( m ) · T DSP Model ⁢ ( m ) , and the acoustic signal received by the right ear of the target user is expressed as: { CH @ R ⁢ _ ⁢ Ear model ( 1 ) = CH ⁡ ( 1 ) ⁢ ∑ m = 1 M a 1 ( m ) · H R Model ( m ) · T speaker Model ( m ) · T DSP Model ( m ) CH @ R ⁢ _ ⁢ Ear model ( 2 ) = CH ⁡ ( 2 ) ⁢ ∑ m = 1 M a 2 ⁢ ( m ) · H R Model ⁢ ( m ) · T speaker Model ⁢ ( m ) · T DSP Model ⁢ ( m ) ⋮ CH @ R ⁢ _ ⁢ Ear model ( N ) = CH ⁡ ( N ) ⁢ ∑ m = 1 M a N ⁢ ( m ) · H R Model ⁢ ( m ) · T speaker Model ⁢ ( m ) · T DSP Model ⁢ ( m ) , wherein M denotes a number of target channels in the in-vehicle acoustic environment, each of the plurality of target speakers corresponds to respective target channel of the target channels in the in-vehicle acoustic environment, CH(n) denotes an original sound source signal of an n-th channel in the reference acoustic environment, for the target channels in the in-vehicle acoustic environment, there exists m∈[1, M], wherein m is a natural number greater than or equal to 1, H L Model ( m ) denotes the first acoustic transfer function of an m-th target speaker to the left ear of the target user, H R Model ( m ) denotes the first acoustic transfer function of the m-th target speaker to the right ear of the target user, T speaker Model ( m ) denotes the first electroacoustic conversion transfer function of the m-th target speaker, T DSP Model ( m ) denotes a digital filter transfer function applied to the m-th target speaker, and a n (m) denotes an enablement judgement parameter corresponding to the m-th target speaker.
17. 17 . The audio control method for the in-vehicle sound system according to claim 13 , wherein a plurality of speaker groups are provided in the reference acoustic environment, and a number of the plurality of speaker groups is equal to a number of the plurality of target speakers; and wherein before acquiring the initial auditory model of the target user in the in-vehicle audio environment and the ideal auditory model of the target user in the reference audio environment, the audio control method further comprises: acquiring, in the reference acoustic environment, a second acoustic transfer function of each respective speaker group of the plurality of speaker groups to an ideal listening position where the target user is located, and a second electroacoustic conversion transfer function of the respective speaker group, wherein the second acoustic transfer function represents acoustic-physiological characteristics of the target user in the reference acoustic environment, and the second electroacoustic conversion transfer function represents software transfer characteristics and hardware transfer characteristics of the respective speaker group; and constructing the ideal auditory model of the target user in the reference acoustic environment based on the second acoustic transfer function and the second electroacoustic conversion transfer function.
18. 18 . The audio control method for the in-vehicle sound system according to claim 17 , wherein the ideal auditory model is expressed as: { S @ L ⁢ _ ⁢ Ear ref = [ CH @ L Ear ref ( 1 ) CH @ L Ear ref ( 2 ) ⋮ CH @ L Ear ref ( N ) ] = [ H L ref ( 1 ) · CH ⁡ ( 1 ) · T ref ( 1 ) H L ref ( 2 ) · CH ⁡ ( 2 ) · T ref ( 2 ) ⋮ H L ref ( N ) · CH ⁡ ( N ) · T ref ( N ) ] S @ R ⁢ _ ⁢ Ear ref = [ CH @ R Ear ref ⁢ ( 1 ) CH @ R Ear ref ⁢ ( 2 ) ⋮ CH @ R Ear ref ⁢ ( N ) ] = [ H R ref ( 1 ) · CH ⁡ ( 1 ) · T ref ( 1 ) H R ref ( 2 ) · CH ⁡ ( 2 ) · T ref ( 2 ) ⋮ H R ref ( N ) · CH ⁡ ( N ) · T ref ( N ) ] , wherein ⁢ S @ L ⁢ _ ⁢ Ear ref denotes an acoustic signal matrix corresponding to the left ear of the target user in the reference acoustic environment, and S @ R ⁢ _ ⁢ Ear ref denotes an acoustic signal matrix corresponding to the right ear of the target user in the reference acoustic environment, N denotes a number of original sound source channels in the reference acoustic environment, CH @ L Ear ref ⁢ ( ) denotes an acoustic signal received by the left ear of the target user, CH @ R Ear ref ⁢ ( ) denotes an acoustic signal received by the right ear of the target user, CH( ) denotes an original source signal in the reference acoustic environment, and accordingly, H L ref ( ) denotes the second acoustic transfer function of a target speaker group to the left ear of the target user, H R ref ( ) denotes the second acoustic transfer function of the target speaker group to the right ear of the target user, and T ref ( ) denotes the second electroacoustic conversion transfer function of the target speaker group.
19. 19 . The audio control method for the in-vehicle sound system according to claim 17 , wherein acquiring, in the reference acoustic environment, the second acoustic transfer function of each respective speaker group of the plurality of speaker groups to the ideal listening position where the target user is located includes: acquiring sound data returned by a microphone fixed at an ear position of the target user after the respective speaker group outputs a corresponding first test signal, wherein the ear position of the target user is the ideal listening position of the target user in the reference acoustic environment; and generating the second acoustic transfer function of the respective speaker group to the ear position of the target user in the reference acoustic environment based on the sound data.
20. 20 . A non-transient computer-readable storage medium storing a computer program, wherein the computer program is configured to implement, when executed by a processor, the audio control method for the in-vehicle sound system according to claim 1 .

Description

CROSS REFERENCE TO RELATED APPLICATIONS The present disclosure is a continuation of PCT Patent Application No. PCT/CN2024/129867, filed Nov. 5, 2024, which is incorporated by reference herein in its entirety. TECHNICAL FIELD The present disclosure relates to the technical field of sound field control and, in particular, to an audio control method, an audio control device, and an in-vehicle sound system. BACKGROUND With the increasing intelligence of a vehicle cabin, users are seeking a more refined and comfortable cabin environment and immersive interactive experience. An in-vehicle sound system has also become an important part of enhancing the driving experience, and users have more and more demands for personalized and differentiated sound experience. However, the traditional design solution of the in-vehicle sound system is difficult to meet the user's personalized and customized needs. On the one hand, there is a difference between a user's preferred listening environment and an in-vehicle listening environment, and the traditional design solution does not establish a correlation between the user's preferred listening environment and the in-vehicle listening environment. On the other hand, different users have different physiological and acoustic characteristics and subjective listening preferences, so designing the in-vehicle sound system with standardized test and development equipment and objective indicators can only achieve an average effect of a large portion of the population in the end, and for a designated user, neither objective indicators nor subjective listening sensation can get into the best state. SUMMARY The present disclosure provides an audio control method, an audio control device, and an in-vehicle sound system, which at least can at least solve the problem that the in-vehicle audio system in the related art is difficult to perform audio output according to the user's personalized listening preference. A first aspect of embodiments of the present disclosure provides an audio control method for an in-vehicle sound system. The in-vehicle sound system is configured with a plurality of target speakers, and the audio control method includes: acquiring an initial auditory model of a target user in an in-vehicle acoustic environment and an ideal auditory model of the target user in a reference acoustic environment; fitting the ideal auditory model and the initial auditory model based on predetermined fitting constraints to obtain target acoustic characteristic parameters corresponding to an acoustic signal output by each respective target speaker of the plurality of target speakers; and generating a target acoustic transfer function of the respective target speaker to the target user based on the target acoustic characteristic parameters, and updating the target acoustic transfer function to a digital filter of the respective target speaker. A second aspect of the embodiments of the present disclosure provides an audio control device for an in-vehicle sound system. The in-vehicle sound system is configured with a plurality of target speakers, and the audio control device includes an acquisition module, a fitting module, and a generation module. The acquisition module is configured to acquire an initial auditory model of a target user in an in-vehicle acoustic environment and an ideal auditory model of the target user in a reference acoustic environment. The fitting module is configured to fit the ideal auditory model and the initial auditory model based on predetermined fitting constraints to obtain target acoustic characteristic parameters corresponding to an acoustic signal output by each respective target speaker of the plurality of target speakers. The generation module is configured to generate a target acoustic transfer function of the respective target speaker to the target user based on the target acoustic characteristic parameters, and update the target acoustic transfer function to a digital filter of the respective target speaker. A third aspect of the embodiments of the present disclosure provides an in-vehicle sound system including a memory, a processor, and a plurality of target speakers. Each of the plurality of target speakers is configured to sound based on a corresponding target acoustic transfer function. The processor is configured to execute a computer program stored on the memory. The processor is configured to perform, when executing the computer programs, the audio control method for the in-vehicle sound system according to the first aspect of the embodiments of the present disclosure. A fourth aspect of the embodiments of the present disclosure provides a non-transient computer-readable storage medium storing a computer program. The computer program is configured to implement, when executed by a processor, the audio control method for the in-vehicle sound system according to the first aspect of the embodiments of the present disclosure. As can be seen from the abo