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JP2011233090

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DESCRIPTION JP2011233090
PROBLEM TO BE SOLVED: To provide a vehicle outside sound detecting device capable of
detecting a vehicle outside sound outside the vehicle accurately even under various surrounding
environments. SOLUTION: A sound source detection ECU 1 detects external noises other than the
traveling sound of an approaching vehicle at positions before an intersection where the traveling
sound of the approaching vehicle is detected by the microphones 2A to 2G. Subsequently, a
sound obtained by combining the traveling noise of the approaching vehicle and the external
noise is detected at the intersection position. Thereafter, the external noise detected at the front
position of the intersection is removed from the sound obtained by combining the traveling noise
of the approaching vehicle detected at the intersection position and the external noise, and the
traveling noise of the approaching vehicle is detected. [Selected figure] Figure 1
Vehicle outside sound detection device
[0001]
The present invention relates to an outside-vehicle sound detection device provided in a vehicle
for detecting an outside-vehicle sound that is a sound outside the vehicle.
[0002]
Conventionally, as a device for detecting an external sound which is a sound outside the vehicle,
there is a voice recognition device that recognizes a voice including background noise other than
the original detection target (for example, see Patent Document 1).
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This speech recognition apparatus learns and stores a plurality of types of noise patterns, and
selects a most suitable one from among the plurality of types of noise patterns when performing
speech recognition. By subtracting this noise pattern from the speech input pattern, the speech
recognition rate can be increased.
[0003]
In addition, there is an approaching vehicle information output device which provides
approaching vehicle information only when the driver needs the approaching vehicle information
as another device for detecting an outside sound which is a sound outside the vehicle (for
example, patent document 2). The approaching vehicle information output device detects the
traveling sound of the approaching vehicle at the intersection where the own vehicle has entered,
and provides information to the driver.
[0004]
JP 2000-330587 A JP JP 2000-113395 A
[0005]
However, in the speech recognition device disclosed in Patent Document 1, a plurality of noise
patterns are learned and stored in advance.
At this time, for example, as in the approaching vehicle information output device disclosed in
Patent Document 2, it is conceivable to sample a voice outside the vehicle at an intersection
where the host vehicle has entered to learn a noise pattern.
[0006]
However, when learning the noise pattern, if the sampling position is at or near the intersection,
noise to be detected such as a traveling sound of an approaching vehicle is sampled together
with the noise. Therefore, the noise and the traveling sound of the approaching vehicle are
sampled together, which makes it difficult to sample the noise with high accuracy. As a result,
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2
when only noise is removed from the vehicle external sound collected by the sound collection
device, it is conceivable that the detection target sound is also removed together, and the
detection accuracy of the detection target sound is lowered. there were.
[0007]
Therefore, it is an object of the present invention to provide an external sound detection
apparatus capable of reliably removing sounds other than the detection target sound from the
collected external sound of the vehicle and thereby detecting the detection target sound with
high accuracy. is there.
[0008]
The vehicle external sound detection apparatus according to the present invention, which solves
the above problems, detects a detection target sound from a sound collecting unit provided in a
vehicle and collecting sound outside the vehicle and sound collected by the sound collecting unit.
From the sound outside the car collected by the target sound detection means and the sound
collection means Before the detection of the car outside sound which is the sound outside the car
before the detection of the detection sound by the target sound detection means The vehicle
external sound detection means is characterized by including: filtering means for removing the
object external sound before detection of the target sound from the external sound detected by
the sound collection means in detecting the detection target sound by the target sound detection
means.
[0009]
The vehicle external sound detection apparatus according to the present invention includes
filtering means for removing the external sound before detection of the target sound from the
sound external to the vehicle detected by the sound collection means.
Here, the vehicle external sound before the target sound detection is regarded as the sound
outside the vehicle before the target sound detection means detects the detection target sound.
Before the detection target sound is detected by the target sound detection means, there is a high
possibility that the detection target sound is not included yet. Therefore, sounds other than the
detection target sound can be detected with high accuracy. Therefore, sounds other than the
detection target sound can be reliably removed from the collected outside sound, and the
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detection target sound can be accurately detected.
[0010]
Here, the target sound detection position which is the position at which the target sound
detection means detects the target sound detection means may be set.
[0011]
As described above, since the target sound detection position, which is the position for detecting
the detection target sound, is determined by the target sound detection means, the sound other
than the detection target sound is further accurate before entering the detection target sound
detection range. It can be detected well.
As a result, the detection target sound can be detected more accurately.
[0012]
In addition, before detection of the detection target sound, the vehicle may reach a position
before the target sound detection position by a predetermined distance. Furthermore, the mode
before detection of the detection target sound may be a time that is a predetermined time before
the time when the vehicle reaches the target sound detection position.
[0013]
Thus, before detection of the sound to be detected, it can be defined temporally or in distance.
[0014]
According to the vehicle exterior sound detection device according to the present invention, it is
possible to reliably remove the sound other than the detection target sound from the collected
vehicle exterior sound, and it is possible to detect the detection target sound with high accuracy.
[0015]
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4
FIG. 1 is a block diagram of a vehicle outside sound detection device according to the present
invention.
(A)-(c) is a perspective view which shows the example of mounting of the microphone array in a
vehicle.
It is a flowchart which shows the process sequence in a vehicle external sound detection
apparatus. It is a figure for demonstrating the detection position of the external noise and the
traveling sound of an approaching vehicle. It is a block diagram explaining the flow of the signal
in a vehicle external sound detection apparatus.
[0016]
Hereinafter, embodiments of the present invention will be described with reference to the
accompanying drawings. In the description of the drawings, the same elements will be denoted
by the same reference symbols, without redundant description. Also, for convenience of
illustration, the dimensional ratios in the drawings do not necessarily match those in the
description.
[0017]
FIG. 1 is a block diagram of the external noise detection apparatus according to the present
invention. As shown in FIG. 1, the vehicle outside sound detection device M according to the
present embodiment includes a sound source detection ECU (Electronic Control Unit) 1. The
sound source detection ECU 1 is an electronic control unit including a CPU (Central Processing
Unit), a ROM (Read Only Memory), a RAM (Random Access Memory) (not shown), and the like. A
microphone array 2, a navigation device 3, a communication device 4, an imaging device 5, and a
radar sensor 6 are connected to the sound source detection ECU 1. Further, a display 7 is
connected to the sound source detection ECU 1.
[0018]
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Further, the sound source detection ECU 1 includes a multi-channel AD conversion unit 11, a
microphone array processing unit 12, a determination processing unit 13, and an information
selection unit 14. The sound source detection ECU 1 further includes a vehicle detection
processing unit 15 and an output control unit 16.
[0019]
The microphone array 2 includes a plurality of, in the present embodiment, seven microphones
2A to 2G. The microphones 2A to 2G in the microphone array 2 collect sounds outside the
vehicle around the vehicle. The microphones 2A to 2G transmit sound collection information on
the collected sound outside the vehicle to the sound source detection ECU 1. The microphones
2A to 2G constitute the sound collecting means of the present invention.
[0020]
The microphone array 2 is arranged in the width direction of the vehicle P, as shown in FIG. The
microphone array 2 may be installed in the bumper portion B of the vehicle P as shown in FIG.
2A, or installed in the vicinity of the windshield in the bonnet BN as shown in FIG. 2B. It may be
Alternatively, it may be installed in a roof carrier R provided on the ceiling of the vehicle P.
[0021]
The navigation device 3 detects the current traveling position of the vehicle using a global
positioning system (GPS, Global Positioning System) or the like, and performs various guidance to
the traveling destination. Further, the navigation device 3 holds map information on the vicinity
of the current position of the vehicle. The navigation device 3 acquires traveling path peripheral
information including the shape of the road at the current traveling position of the host vehicle
and information of the surrounding buildings based on the held map information. The navigation
device 3 transmits, to the sound source detection ECU 1, traveling path peripheral information
about the traveling path periphery at the current traveling position of the own vehicle.
[0022]
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The communication device 4 can communicate with a traffic information center that transmits
and receives traffic information, a roadside device provided on a road near an intersection, and
the like. The communication device 4 receives the traffic information center and the roadside
apparatus travel path peripheral information. The communication device 4 transmits the received
traveling path peripheral information to the sound source detection ECU 1.
[0023]
The imaging device 5 is attached to the front of the vehicle, and images the surroundings of the
vehicle. The imaging device 5 acquires traveling path peripheral information of a road on which
the vehicle travels based on an image obtained by imaging. The imaging device 5 transmits the
acquired traveling path peripheral information to the sound source detection ECU 1. The radar
sensor 6 is provided at a front position of the vehicle, and detects traveling path peripheral
information around the vehicle. The radar sensor 6 transmits, to the sound source detection ECU
1, the detected traveling route peripheral information of another vehicle or the like.
[0024]
The microphones 2A to 2G in the microphone array 2 are connected to the multi-channel AD
conversion unit 11, respectively. The multi-channel AD converter 11 AD-converts the collected
sound information transmitted from the microphones 2A to 2G into digital signals of the
respective channels. The multi-channel AD converter 11 outputs the AD-collected sound
collection information to the microphone array processor 12.
[0025]
The microphone array processing unit 12 generates sound source data based on the digital
signal of each channel output from the multi-channel AD conversion unit 11. Here, the traveling
sound of an approaching vehicle that generates a traveling sound and other sounds are the
sound sources. Further, the directional sound of the approaching vehicle is the detection target
sound of the present invention.
[0026]
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The determination processing unit 13 determines the positional relationship between the host
vehicle and the intersection based on traveling path information transmitted from the navigation
device 3, the communication device 4, the imaging device 5, and the radar sensor 6. The
positional relationship between the host vehicle and the intersection determined here includes
the distance from the current position of the host vehicle to the intersection, the time until the
host vehicle reaches the intersection, and the like. The relationship determination unit 13 outputs
positional relationship information according to the positional relationship between the host
vehicle and the intersection to the information selection unit 14.
[0027]
The information selection unit 14 is an external sound that is a sound other than the traveling
sound of the approaching vehicle or the traveling sound of the approaching vehicle with regard
to the sound outside the vehicle detected by the microphones 2A to 2G based on the positional
relationship information output from the relationship determination unit 13 Select which of the
noises to detect. The information selection unit 14 stores an external noise detection position
when the host vehicle detects external noise.
[0028]
The external noise detection position is set at a predetermined distance from the intersection, for
example, 50 m away from the intersection. The information selection unit 14 outputs an external
noise detection signal to the microphone array processing unit 12 when the host vehicle is at the
external noise detection position. In addition, the information selection unit 14 outputs a vehicle
running sound detection signal to the microphone array processing unit 12 when the own
vehicle is at the approaching vehicle detection position, for example, a position 5 m away from
the intersection. The microphone array processing unit 12 outputs the generated sound source
data to the vehicle detection processing unit 15. Further, when outputting the sound source data,
the microphone array processing unit 12 adds sound type information as external noise or
vehicle running sound to the sound source data and outputs the sound source data.
[0029]
When sound type information indicating external noise is added to the sound source data output
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from the microphone array processing unit 12, the vehicle detection processing unit 15
temporarily sets the output sound source data as the sound source data of the external noise.
Remember. The external noise is the vehicle external sound before the target sound detection of
the present invention. Further, the vehicle detection processing unit 15 constitutes a vehicle
outside sound detection means before target sound detection of the present invention.
[0030]
Furthermore, when sound type information meaning vehicle running sound is added to the sound
source data output from the microphone array processing unit 12, the sound source data
temporarily stored from the output sound source data The temporary stored sound source data is
subtracted and removed to generate corrected sound source data which is the corrected sound
source data. The vehicle detection processing unit 15 constitutes filtering means of the present
invention.
[0031]
The vehicle detection processing unit 15 stores a sound source data template corresponding to
an approaching vehicle in a database. The vehicle detection processing unit 15 refers to the
generated sound source data template in the sound source data template stored in the database
to detect the presence of the approaching vehicle. The vehicle detection processing unit 15
constitutes object sound detection means of the present invention. The vehicle detection
processing unit 15 outputs approaching vehicle information related to the presence or absence
of the approaching vehicle to the output control unit 16.
[0032]
The output control unit 16 performs output processing for outputting an alarm based on the
approaching vehicle information output from the vehicle detection processing unit 15. The
output control unit 16 transmits an alarm signal accompanying the output processing to the
display 7.
[0033]
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The display 7 includes a speaker for outputting a sound, a monitor for displaying an alarm, and
the like. When there is an approaching vehicle, the display 7 outputs information about the
approaching vehicle according to the alarm signal transmitted from the output control unit 16.
Here, for example, the presence or the direction of the approaching vehicle is output from the
speaker or displayed on the monitor.
[0034]
Next, the processing procedure in the vehicle outside sound detection device according to the
present embodiment will be described. FIG. 3 is a flow chart showing a processing procedure in
the vehicle outside sound detection device according to the present embodiment. As shown in
FIG. 3, in the vehicle outside sound detection device according to the present embodiment, first,
the position of the host vehicle is acquired (S1).
[0035]
When the position of the host vehicle is acquired, the position of the intersection in the direction
in which the host vehicle travels is acquired (S2). The determination processing unit 13 acquires
the position of the vehicle in step S1 and the position of the intersection in step S2 on the basis
of the travel road periphery information transmitted from the navigation device 3.
[0036]
After acquiring the position of the host vehicle and the position of the intersection, the
information selection unit 14 determines whether the position of the host vehicle is in front of
the intersection (S3). Whether or not the position of the host vehicle is at a position before the
intersection is determined depending on whether the host vehicle is at a predetermined distance
from the intersection, here, 50 m.
[0037]
As a result, when it is determined that the position of the host vehicle is at a position before the
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intersection, it is determined whether data of external noise is stored in the vehicle detection
processing unit 15 (S4). As a result, when data of external noise is not stored, the sound source
data output from the microphone array processing unit 12 is stored as external noise
(temporarily stored sound source data) in the vehicle detection processing unit 15 (S5).
[0038]
Here, if it is determined in step S3 that the position of the host vehicle is not in the position
before the intersection, the process directly proceeds to step S6. In step S4, when data of external
noise is stored in the vehicle detection processing unit 15, the process directly proceeds to step
S6. For this reason, the external noise is stored only once before the own vehicle reaches the
approaching vehicle detection position.
[0039]
Subsequently, the information selection unit 14 determines whether the position of the host
vehicle is the approaching vehicle detection position (S6). Whether or not the position of the host
vehicle is the approaching vehicle detection position is determined depending on whether the
host vehicle is at a predetermined distance from the intersection, here, 5 m. As a result, when it is
determined that the position of the own vehicle is not at the approaching vehicle detection
position, the processing in the vehicle outside sound detection device is ended.
[0040]
On the other hand, when it is determined that the position of the own vehicle is at the
approaching vehicle detection position, in the vehicle detection processing unit 15, sound source
data based on the stored external noise from the sound source data output from the microphone
array processing unit 12. Are subtracted (S7) to generate corrected sound source data. Then, the
approaching vehicle is detected based on the generated corrected sound source data (S8).
[0041]
For example, when the traveling sound of the approaching vehicle P2 is detected when the own
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vehicle P1 is at the approaching vehicle detection position X1 near the intersection X shown in
FIG. 4, the external noise is also detected together with the traveling sound of the approaching
vehicle P2. It will If it is attempted to detect the traveling noise of the approaching vehicle P2
from the sound outside the vehicle where the external noise and the traveling noise of the
approaching vehicle P2 are combined, the detection accuracy becomes low. In addition, external
noise can be stored in advance assuming various road environments, but the stored external
noise matches the external noise when detecting the traveling noise of the approaching vehicle
this time. Also, detection with high accuracy is difficult.
[0042]
In this respect, in the external noise detection apparatus according to the present embodiment,
when the position of the host vehicle P1 is the front position X2 of the intersection X, the
external noise is detected in the host vehicle P1. At a position before the intersection, the
traveling noise of the approaching vehicle can not be detected, and the noise outside the vehicle
at the intersection can be detected. Therefore, noise outside the vehicle is acquired as external
noise at a position before the intersection, and the sound source data based on the stored
external noise is subtracted from the sound source data output from the microphone array
processing unit 12 to obtain corrected sound source data Can generate the traveling sound of the
approaching vehicle P2 with high accuracy.
[0043]
In addition, the flow of signals in the vehicle outside sound detection device according to the
present embodiment will be described. FIG. 5 is a block diagram for explaining the flow of signals
in the vehicle outside sound detection device according to this embodiment. As shown in FIG. 5,
in the vehicle outside sound detection apparatus according to this embodiment, the frequency
spectrum of the sound signal acquired by the microphones 2A to 2G is output to the microphone
array processing unit 12 shown in FIG. After passing), spectral analysis is performed.
[0044]
The result of the spectrum analysis is output to the vehicle detection processing unit 15. Here,
when sound type information that means external noise is added to the result of the spectrum
analysis, the vehicle detection processing unit 15 holds the frequency spectrum of the previous
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time as temporary stored sound source data. Subsequently, when sound type information
indicating vehicle running sound is added to the result of spectrum analysis performed by the
microphone array processing unit 12 and the vehicle detection processing unit 15 outputs the
result, the vehicle detection processing unit 15 The time difference between the frequency
spectrum of time and the output frequency spectrum is calculated.
[0045]
The frequency spectrum calculated here and the template of the frequency spectrum stored as a
template in advance are matched by the subspace method. As a result of matching, when the
similarity between both exceeds a predetermined threshold value, it is considered that the
calculated frequency spectrum and the frequency spectrum stored as a template are similar, so
that it is the traveling sound of an approaching vehicle. It can be determined.
[0046]
When the approaching vehicle is detected in this way, the external noise temporarily stored in
the vehicle detection processing unit 15 is deleted (S9). Thereafter, as a result of the approaching
vehicle detection in step S8, it is determined whether there is an approaching vehicle (S10). As a
result, when it is determined that there is an approaching vehicle, the output control unit 16
performs information presentation processing (S11).
[0047]
In the information presentation process, an output process for outputting an alarm is performed.
In the output processing here, processing is performed to output, to the display 7, the presence
of the approaching vehicle and the approaching direction of the approaching vehicle. In this way,
the processing in the vehicle outside sound detection device is ended. On the other hand, when it
is determined in step S10 that there is no approaching vehicle, the processing in the vehicle
outside sound detection device is ended as it is.
[0048]
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As described above, in the vehicle external sound detection device according to the present
embodiment, when detecting the traveling sound of the approaching vehicle, before detecting the
traveling sound of the approaching vehicle, the external noise which is a sound other than the
traveling sound of the approaching vehicle is detected. doing. Therefore, by removing the
external noise from the sound source collected to detect the traveling noise of the approaching
vehicle, the traveling noise of the approaching vehicle can be extracted, so that the approaching
vehicle can be detected with high accuracy.
[0049]
Here, when detecting the external noise, the external noise of the vehicle P1 is detected when the
vehicle is at a position X2 before the intersection X. For this reason, since the sound outside the
vehicle before the detection of the approaching vehicle can be detected accurately, compared to,
for example, the case of using the template of the noise outside the vehicle not including the
traveling sound of the approaching vehicle, Sounds other than the running sound can be detected
accurately. Therefore, sounds other than the traveling noise of the approaching vehicle can be
reliably removed from the collected external noises of the vehicle, and the traveling noise of the
approaching vehicle can be accurately detected.
[0050]
As mentioned above, although the suitable embodiment of the present invention was described,
the present invention is not limited to the above-mentioned embodiment. For example, although
the microphone array 2 has seven microphones 2A to 2G, it may be a microphone array having a
plurality of other microphones. Furthermore, in place of the microphone array, a single
microphone may be used.
[0051]
Moreover, in the said embodiment, although it is set as the position 50 m away from the
traveling sound detection position, another distance, for example 10 m, 30 m, etc., can also be
used. Alternatively, the sound detected a predetermined time, for example, 5 seconds before and
10 seconds before the time when the traveling sound detection position is reached can be used
as the external noise. Alternatively, the distance may be set as the distance from the start of the
deceleration to the intersection and the stop.
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[0052]
Furthermore, although the external noise detection position is determined in advance in the
above embodiment, the external noise detection position can also be set as appropriate. For
example, when entering an intersection, it is possible to set a position at which the host vehicle
starts to decelerate, or it may be calculated from the distance to the intersection and the vehicle
speed and deceleration of the host vehicle.
[0053]
Moreover, in the said embodiment, although the running sound of an approaching vehicle is
mentioned as a car exterior sound, it can also be set as another car exterior sound. For example, a
siren sound of an emergency vehicle, which is a sound generated by a moving object, or a
pedestrian-generated sound generated by a pedestrian can be used. In this case, depending on
the type of mobile object, etc., the sound source detection ECU 1 may be installed outside the
vehicle. Furthermore, in the above embodiment, the position of the host vehicle or the
intersection is acquired based on the travel path peripheral information transmitted from the
navigation device 3, the communication device 4, the imaging device 5, and the radar sensor 6. It
can also be an aspect of
[0054]
DESCRIPTION OF SYMBOLS 1 ... Sound source detection ECU, 2 ... Microphone array, 2A-2G ...
Microphone, 3 ... Navigation apparatus, 4 ... Communication apparatus, 5 ... Imaging apparatus, 6
... Radar sensor, 7 ... Display, 11 ... Multichannel AD conversion part, 12: microphone array
processing unit, 13: determination processing unit, 14: information selection unit, 15: vehicle
detection processing unit, 16: output control unit, M: vehicle external sound detection device, P:
vehicle, P1: own vehicle, P2: Approaching vehicle, X ... intersection, X1 ... approaching vehicle
detection position, X2 ... front position (of an intersection).
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