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CN105551494A - Mobile phone interconnection-based vehicle-mounted speech recognition system and recognition method - Google Patents

Mobile phone interconnection-based vehicle-mounted speech recognition system and recognition method Download PDF

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Publication number
CN105551494A
CN105551494A CN201510911789.0A CN201510911789A CN105551494A CN 105551494 A CN105551494 A CN 105551494A CN 201510911789 A CN201510911789 A CN 201510911789A CN 105551494 A CN105551494 A CN 105551494A
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CN
China
Prior art keywords
mobile phone
speech recognition
voice
identification result
phone terminal
Prior art date
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Pending
Application number
CN201510911789.0A
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Chinese (zh)
Inventor
丁小燕
张圣峰
王川宿
陈福全
尚云飞
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Chery Automobile Co Ltd
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SAIC Chery Automobile Co Ltd
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Priority to CN201510911789.0A priority Critical patent/CN105551494A/en
Publication of CN105551494A publication Critical patent/CN105551494A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00Speech recognition
    • G10L15/28Constructional details of speech recognition systems
    • G10L15/30Distributed recognition, e.g. in client-server systems, for mobile phones or network applications
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R11/0247Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for microphones or earphones
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00Speech recognition
    • G10L15/22Procedures used during a speech recognition process, e.g. man-machine dialogue
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04BTRANSMISSION
    • H04B1/00Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/3822Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04MTELEPHONIC COMMUNICATION
    • H04M1/00Substation equipment, e.g. for use by subscribers
    • H04M1/72Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/7243User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality with interactive means for internal management of messages
    • H04M1/72433User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality with interactive means for internal management of messages for voice messaging, e.g. dictaphones
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00Speech recognition
    • G10L15/22Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/221Announcement of recognition results
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00Speech recognition
    • G10L15/22Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/225Feedback of the input speech

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Computational Linguistics (AREA)
  • Multimedia (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Telephonic Communication Services (AREA)
  • Telephone Function (AREA)

Abstract

The invention provides a mobile phone interconnection-based vehicle-mounted speech recognition system and recognition method. With the mobile phone interconnection-based vehicle-mounted speech recognition system and recognition method adopted, recognition rate and recognition speed can be ensured, and a problem of much occupation of the memory of a vehicle-mounted terminal by network resources of speech recognition can be solved. The system includes a microphone, a vehicle-mounted terminal which sends speech information to a mobile phone end and receives speech recognition result of the mobile phone end or a cloud speech recognition engine, the mobile phone end which analyzes and recognizes the speech information through mobile phone application software so as to obtain the speech recognition result of the mobile phone end, sends the speech information to the cloud speech recognition engine, receives the speech recognition result of the cloud speech recognition engine, performs arbitration on the speech recognition result of the mobile phone end and the speech recognition result of the cloud speech recognition engine through mobile phone application software, and sends the speech recognition result of the mobile phone end or the cloud speech recognition engine to the vehicle-mounted terminal according to an arbitration result, and the cloud speech recognition engine which analyzes and recognizes the speech information and sends the speech recognition result to the mobile phone end.

Description

A kind of vehicle-mounted voice recognition system interconnected based on mobile phone and recognition methods
Technical field
The present invention relates to technical field of automotive electronics, be specifically related to a kind of vehicle-mounted voice recognition system interconnected based on mobile phone and recognition methods.
Background technology
Along with abundantization of developing rapidly of vehicle electric field, particularly on-vehicle information and entertainment systems function and complicated, traditional mode of operation more and more increases the degree of driving and diverting attention, and traffic safety is constantly being subject to various threat.The introducing of speech recognition technology farthest can solve both hands and eyes in driving conditions and depart from driving behavior, makes simple operation and intellectuality, and therefore speech recognition technology obtained at vehicle electric field and developed rapidly and popularize recent years.
The vehicle-mounted voice identifying schemes of current routine is broadly divided into following three kinds:
One, pure local voice identification
Pure local voice identification is divided into local instruction and local natural-sounding
Pure local instruction type identification adopts the mode of user speech instruction and the comparison of preset instructions word, achieves speech recognition and control.Its advantage is that principle is simple, and realize easily, discrimination is higher; Its shortcoming is that user needs to remember a large amount of fixing order word, and cannot carry out fuzzy diagnosis, man-machine interaction is friendly not, does not therefore have very high practical value.
The natural-sounding identification of pure this locality is that semantic understanding technology is applied in car-mounted terminal, and system can be extracted user speech keyword and carry out fuzzy diagnosis and coupling.Its advantage is that system is more intelligent, and man-machine interaction is succinctly friendly, and user does not need the order word remembeing to fix; Its shortcoming is that this locality needs huge database support, and identifying needs to take larger Installed System Memory.
Two, pure high in the clouds speech recognition;
The speech recognition of pure high in the clouds is that semantic understanding part is placed on high in the clouds, and voice messaging is sent to high in the clouds by wireless network and carries out speech recognition by car-mounted terminal, and after end of identification, result is sent back car-mounted terminal by high in the clouds.Its advantage is the calculating and storage capacity that can fully use high in the clouds powerful, and system update more for convenience; Its shortcoming is, as car-mounted terminal network disconnect or network signal more weak time, the speed of speech recognition will be had a greatly reduced quality, and even can complete speech recognition.
Three, cloud+end speech recognition;
Here end refers to car-mounted terminal, the integrated local speech recognition engine of car-mounted terminal, adopts this locality and high in the clouds to carry out speech recognition simultaneously, and system combines recognition result that is local and high in the clouds and carries out discriminatory analysis, can solve discrimination and recognition speed.Its shortcoming: need the internal memory consuming car machine.
Summary of the invention
Primary and foremost purpose of the present invention proposes a kind of vehicle-mounted voice recognition system interconnected based on mobile phone, can ensure discrimination and recognition speed, can solve again the Internet resources problem of car-mounted terminal internal memory and speech recognition.
According to the vehicle-mounted voice identification system interconnected based on mobile phone provided by the invention, comprising:
Microphone: collect the voice messaging of user, and convert the voice signal of voice messaging to electric signal and send car-mounted terminal to;
Car-mounted terminal: this voice messaging is sent to mobile phone terminal, receives the voice identification result of mobile phone terminal or high in the clouds speech recognition engine;
Mobile phone terminal: by mobile phone application software voice messaging resolved and identify, obtaining the voice identification result of mobile phone terminal; Voice messaging is sent to high in the clouds speech recognition engine, then receives the voice identification result of high in the clouds speech recognition engine; Arbitrated by the voice identification result of mobile phone application software to the voice identification result of mobile phone terminal and high in the clouds speech recognition engine, send the voice identification result of mobile phone terminal or high in the clouds speech recognition engine according to arbitration result to car-mounted terminal;
High in the clouds speech recognition engine: resolve and identify voice messaging and voice identification result is sent it back mobile phone terminal.
The vehicle-mounted voice recognition system interconnected based on mobile phone of the present invention, can, in conjunction with the mutual supplement with each other's advantages of mobile phone and car machine, when mobile phone is without network, can adopt the automobile speech of mobile phone to identify; And carry out discriminatory analysis in conjunction with the recognition result in mobile phone and high in the clouds, the voice identification result in mobile phone this locality or high in the clouds is judged to adopt by arranging rational referee conditions, discrimination and recognition speed can be ensured, the Internet resources problem of car-mounted terminal internal memory and speech recognition can be solved again.
Further, the arbitration of described mobile phone terminal comprises the speech recognition time arbitration of mobile phone terminal and high in the clouds speech recognition engine, and mobile phone terminal and high in the clouds speech recognition engine the arbitration of speech recognition degree of confidence.By adding degree of confidence arbitration at referee conditions, degree of confidence can be set according to actual needs, select preferentially to ensure discrimination or recognition speed with this, meet the demand of dissimilar client and different application scenarios greatly.
Further, described vehicle-mounted voice recognition system also comprises for carrying out mutual guiding and the loudspeaker of result prompting and/or display screen, to improve the hommization degree of man-machine interaction guiding with user.
Further, described microphone is connected with noise reduction module, to improve the accuracy of speech recognition from hardware.
Another object of the present invention is to provide a kind of vehicle-mounted voice recognition methods interconnected based on mobile phone, comprises the following steps:
The voice messaging of user collected by A, microphone, and converts the voice signal of voice messaging to electric signal and send car-mounted terminal to;
Voice messaging is sent to mobile phone terminal by B, car-mounted terminal, and the application software of mobile phone terminal is resolved voice messaging and identifies, obtains the voice identification result of mobile phone terminal; Voice messaging is sent to high in the clouds speech recognition engine by mobile phone terminal simultaneously, and high in the clouds speech recognition engine is resolved voice messaging and identified, obtains the voice identification result of high in the clouds speech recognition engine and sends it back mobile phone terminal;
C, the mobile phone terminal application software voice identification result to mobile phone terminal voice identification result and high in the clouds speech recognition engine is arbitrated, and selects the voice identification result to sending mobile phone terminal or high in the clouds speech recognition engine to car-mounted terminal according to arbitration result.
The vehicle-mounted voice recognition methods interconnected based on mobile phone of the present invention, when mobile phone is without network, adopts the automobile speech of mobile phone to identify; And mobile phone is when having a network, recognition result in conjunction with mobile phone and high in the clouds carries out discriminatory analysis, the voice identification result in mobile phone this locality or high in the clouds is judged to adopt by arranging rational referee conditions, discrimination and recognition speed can be ensured, the Internet resources problem of car-mounted terminal internal memory and speech recognition can be solved again.
Further, described arbitration comprises the following steps:
C1: calculate mobile phone terminal from voice messaging being sent to high in the clouds speech recognition engine to the time T of voice identification result receiving the high in the clouds speech recognition engine returned;
C2: if T < is T1, then adopt the voice identification result of high in the clouds speech recognition engine; If T > is T2, then adopt the voice identification result of mobile phone terminal; If T1 < T < is T2, then carry out C3 step;
C3: degree of confidence judges: if the degree of confidence A < A1 of the voice identification result of mobile phone terminal, then adopt the voice identification result of high in the clouds speech recognition engine; If A1 < A < is A2, then adopt the voice identification result of high in the clouds speech recognition engine; If A > is A2, then adopt the voice identification result of mobile phone terminal;
Wherein, T1, T2, A1, A2 are preset value, and T1 < T2, A1 < A2.
Judge to adopt the local or referee conditions of the voice identification result in high in the clouds of mobile phone to have multiple, adopt the time and degree of confidence comprehensive descision more reasonable.
Specifically, also comprise D step: car-mounted terminal receives the voice identification result of mobile phone terminal, and carries out result prompting by loudspeaker and/or display screen to user.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present invention.
Fig. 2 is the process flow diagram of arbitration step of the present invention.
Embodiment
Contrast accompanying drawing below, by the description to embodiment, the effect and principle of work etc. of the specific embodiment of the present invention as the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part are described in further detail.
Embodiment 1:
As Fig. 1, the vehicle-mounted voice recognition system interconnected based on mobile phone of the present invention, comprising:
Microphone: collect the voice messaging of user, and convert the voice signal of voice messaging to electric signal and send car-mounted terminal to;
Car-mounted terminal: this voice messaging is sent to mobile phone terminal, receives the voice identification result of mobile phone terminal or high in the clouds speech recognition engine;
Mobile phone terminal: by mobile phone application software voice messaging resolved and identify, obtaining the voice identification result of mobile phone terminal; Voice messaging is sent to high in the clouds speech recognition engine, then receives the voice identification result of high in the clouds speech recognition engine; Arbitrated by the voice identification result of mobile phone application software to the voice identification result of mobile phone terminal and high in the clouds speech recognition engine, send the voice identification result of mobile phone terminal or high in the clouds speech recognition engine according to arbitration result to car-mounted terminal;
High in the clouds speech recognition engine: resolve and identify voice messaging and voice identification result is sent it back mobile phone terminal.
Wherein, car-mounted terminal and mobile phone terminal realize receives information and transmission by software link car machine aided hand, software link car machine aided hand belongs to prior art, the receives information of mobile phone terminal and high in the clouds speech recognition engine and transmission are sent by wireless network, also be ripe prior art, repeat no more herein.Microphone is connected with noise reduction module, to improve the accuracy of speech recognition from hardware.
As preferred embodiment, the arbitration of mobile phone terminal comprises the speech recognition time arbitration of mobile phone terminal and high in the clouds speech recognition engine, and mobile phone terminal and high in the clouds speech recognition engine the arbitration of speech recognition degree of confidence.By adding degree of confidence arbitration at referee conditions, degree of confidence can be set according to actual needs, select preferentially to ensure discrimination or recognition speed with this, meet the demand of dissimilar client and different application scenarios greatly.
The vehicle-mounted voice recognition methods interconnected based on mobile phone of the present invention, comprises the following steps:
The voice messaging of user collected by A, microphone, and converts the voice signal of voice messaging to electric signal and send car-mounted terminal to;
Voice messaging is sent to mobile phone terminal by B, car-mounted terminal, and the application software of mobile phone terminal is resolved voice messaging and identifies, obtains the voice identification result of mobile phone terminal; Voice messaging is sent to high in the clouds speech recognition engine by mobile phone terminal simultaneously, and high in the clouds speech recognition engine is resolved voice messaging and identified, obtains the voice identification result of high in the clouds speech recognition engine and sends it back mobile phone terminal;
C, the mobile phone terminal application software voice identification result to mobile phone terminal voice identification result and high in the clouds speech recognition engine is arbitrated, and selects the voice identification result to sending mobile phone terminal or high in the clouds speech recognition engine to car-mounted terminal according to arbitration result.
As preferred embodiment, the arbitration of step C comprises the following steps:
C1: calculate mobile phone terminal from voice messaging being sent to high in the clouds speech recognition engine to the time T of voice identification result receiving the high in the clouds speech recognition engine returned;
C2: if T < is T1, then adopt the voice identification result of high in the clouds speech recognition engine; If T > is T2, then adopt the voice identification result of mobile phone terminal; If T1 < T < is T2, then carry out C3 step;
C3: degree of confidence judges: if the degree of confidence A < A1 of the voice identification result of mobile phone terminal, then adopt the voice identification result of high in the clouds speech recognition engine; If A1 < A < is A2, then adopt the voice identification result of high in the clouds speech recognition engine; If A > is A2, then adopt the voice identification result of mobile phone terminal;
Wherein, T1, T2, A1, A2 are preset value, and T1 < T2, A1 < A2.The process flow diagram of its arbitration step C as shown in Figure 2.
Preferably, last treatment step D is the voice identification result that car-mounted terminal receives mobile phone terminal, and carries out result prompting by loudspeaker to user.
The vehicle-mounted voice recognition methods interconnected based on mobile phone of the present invention, when mobile phone is without network, adopts the automobile speech of mobile phone to identify; And mobile phone is when having a network, recognition result in conjunction with mobile phone and high in the clouds carries out discriminatory analysis, the voice identification result in mobile phone this locality or high in the clouds is judged to adopt by arranging rational referee conditions, discrimination and recognition speed can be ensured, the Internet resources problem of car-mounted terminal internal memory and speech recognition can be solved again.

Claims (7)

1., based on the vehicle-mounted voice recognition system that mobile phone is interconnected, it is characterized in that comprising:
Microphone: collect the voice messaging of user, and convert the voice signal of voice messaging to electric signal and send car-mounted terminal to;
Car-mounted terminal: this voice messaging is sent to mobile phone terminal, receives the voice identification result of mobile phone terminal or high in the clouds speech recognition engine;
Mobile phone terminal: by mobile phone application software voice messaging resolved and identify, obtaining the voice identification result of mobile phone terminal; Voice messaging is sent to high in the clouds speech recognition engine, then receives the voice identification result of high in the clouds speech recognition engine; Arbitrated by the voice identification result of mobile phone application software to the voice identification result of mobile phone terminal and high in the clouds speech recognition engine, send the voice identification result of mobile phone terminal or high in the clouds speech recognition engine according to arbitration result to car-mounted terminal;
High in the clouds speech recognition engine: resolve and identify voice messaging and voice identification result is sent it back mobile phone terminal.
2. the vehicle-mounted voice recognition system interconnected based on mobile phone according to claim 1, it is characterized in that the arbitration of described mobile phone terminal comprises the speech recognition time arbitration of mobile phone terminal and high in the clouds speech recognition engine, and mobile phone terminal and high in the clouds speech recognition engine the arbitration of speech recognition degree of confidence.
3. the vehicle-mounted voice recognition system interconnected based on mobile phone according to claim 1, is characterized in that described vehicle-mounted voice recognition system also comprises for carrying out mutual guiding and loudspeaker that result is pointed out and/or display screen with user.
4. the vehicle-mounted voice recognition system interconnected based on mobile phone according to claim 1, is characterized in that described microphone is connected with noise reduction module.
5., based on the vehicle-mounted voice recognition methods that mobile phone is interconnected, it is characterized in that comprising the following steps:
The voice messaging of user collected by microphone, and converts the voice signal of voice messaging to electric signal and send car-mounted terminal to;
Voice messaging is sent to mobile phone terminal by car-mounted terminal, and the application software of mobile phone terminal is resolved voice messaging and identifies, obtains the voice identification result of mobile phone terminal; Voice messaging is sent to high in the clouds speech recognition engine by mobile phone terminal simultaneously, and high in the clouds speech recognition engine is resolved voice messaging and identified, obtains the voice identification result of high in the clouds speech recognition engine and sends it back mobile phone terminal;
The voice identification result of mobile phone terminal application software to mobile phone terminal voice identification result and high in the clouds speech recognition engine is arbitrated, and selects the voice identification result to sending mobile phone terminal or high in the clouds speech recognition engine to car-mounted terminal according to arbitration result.
6. the vehicle-mounted voice recognition methods interconnected based on mobile phone according to claim 5, is characterized in that described arbitration comprises the following steps:
C1: calculate mobile phone terminal from voice messaging being sent to high in the clouds speech recognition engine to the time T of voice identification result receiving the high in the clouds speech recognition engine returned;
C2: if T < is T1, then adopt the voice identification result of high in the clouds speech recognition engine; If T > is T2, then adopt the voice identification result of mobile phone terminal; If T1 < T < is T2, then carry out C3 step;
C3: degree of confidence judges: if the degree of confidence A < A1 of the voice identification result of mobile phone terminal, then adopt the voice identification result of high in the clouds speech recognition engine; If A1 < A < is A2, then adopt the voice identification result of high in the clouds speech recognition engine; If A > is A2, then adopt the voice identification result of mobile phone terminal;
Wherein, T1, T2, A1, A2 are preset value, and T1 < T2, A1 < A2.
7. the vehicle-mounted voice recognition methods interconnected based on mobile phone according to claim 5, characterized by further comprising D step: car-mounted terminal receives the voice identification result of mobile phone terminal, and carries out result prompting by loudspeaker and/or display screen to user.
CN201510911789.0A 2015-12-11 2015-12-11 Mobile phone interconnection-based vehicle-mounted speech recognition system and recognition method Pending CN105551494A (en)

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CN108305620A (en) * 2018-05-09 2018-07-20 上海蓥石汽车技术有限公司 A kind of active interactive speech recognition system for the local high in the clouds mixing relying on big data
CN108806682A (en) * 2018-06-12 2018-11-13 奇瑞汽车股份有限公司 The method and apparatus for obtaining Weather information
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CN110232919A (en) * 2019-06-19 2019-09-13 北京智合大方科技有限公司 Real-time voice stream extracts and speech recognition system and method
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CN110737420A (en) * 2018-07-19 2020-01-31 上海博泰悦臻电子设备制造有限公司 Voice conflict management method, system, computer readable storage medium and device
CN110970032A (en) * 2018-09-28 2020-04-07 深圳市冠旭电子股份有限公司 Sound box voice interaction control method and device
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CN111627435A (en) * 2020-04-30 2020-09-04 长城汽车股份有限公司 Voice recognition method and system and control method and system based on voice instruction
CN112820295A (en) * 2020-12-29 2021-05-18 华人运通(上海)云计算科技有限公司 Voice processing device and system, cloud server and vehicle
CN112896048A (en) * 2021-03-15 2021-06-04 中电科创智联(武汉)有限责任公司 Vehicle-mounted all-around display system and method based on mobile phone interconnection and voice recognition
CN113223535A (en) * 2021-03-22 2021-08-06 惠州市德赛西威汽车电子股份有限公司 Vehicle-mounted voice skill real-time recommendation downloading system and method
CN113921003A (en) * 2021-07-27 2022-01-11 歌尔科技有限公司 Voice recognition method, local voice recognition device and intelligent electronic equipment
CN114420162A (en) * 2021-12-31 2022-04-29 中科海微(北京)科技有限公司 A voice processing method, device, device and storage medium for a mobile device
CN115146615A (en) * 2022-09-02 2022-10-04 深圳联友科技有限公司 Natural language processing method, system, equipment and readable storage medium
CN115294991A (en) * 2022-07-29 2022-11-04 阿波罗智联(北京)科技有限公司 Speech processing method, device and electronic device
CN115410579A (en) * 2022-10-28 2022-11-29 广州小鹏汽车科技有限公司 Voice interaction method, voice interaction device, vehicle and readable storage medium

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