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WO2018079584A1 - Dispositif de commande, système de commande, procédé de commande, et programme - Google Patents

Dispositif de commande, système de commande, procédé de commande, et programme Download PDF

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Publication number
WO2018079584A1
WO2018079584A1 PCT/JP2017/038476 JP2017038476W WO2018079584A1 WO 2018079584 A1 WO2018079584 A1 WO 2018079584A1 JP 2017038476 W JP2017038476 W JP 2017038476W WO 2018079584 A1 WO2018079584 A1 WO 2018079584A1
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WIPO (PCT)
Prior art keywords
vehicle
sound
control
output
outside
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/038476
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English (en)
Japanese (ja)
Inventor
洋人 河内
昭光 藤吉
洋一 奥山
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Pioneer Corp
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Pioneer Corp
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Filing date
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Publication of WO2018079584A1 publication Critical patent/WO2018079584A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones

Definitions

  • the present invention relates to a control device, a control system, a control method, and a program.
  • a technology for calming the vehicle has been developed so that the volume of outside sound (sound generated outside the vehicle) that can be heard in the passenger compartment is reduced.
  • outside sound is captured by an input device such as a microphone, and the outside sound is output from the output device such as a speaker to the inside of the vehicle so that the passengers in the vehicle can hear the outside sound.
  • Patent Document 1 discloses a technique for suppressing the presentation of unnecessary audio information in the vehicle by presenting the sound generated by the sound outside the vehicle in the vehicle by a method according to the running state of the vehicle.
  • the device according to Patent Document 1 detects the driver's line-of-sight direction, suppresses ambient sounds in the line-of-sight direction, and presents the vehicle exterior sound to the driver.
  • Patent Document 2 discloses a technique for outputting a type of vehicle exterior sound designated by a user operation into the passenger compartment.
  • information representing an identifier is included in sound output from a sound source (for example, a siren of an emergency vehicle). Then, in the in-vehicle device that controls the output of the vehicle exterior sound to the vehicle interior, whether or not the identifier included in the vehicle exterior sound captured by the microphone is extracted and the vehicle exterior sound is output to the vehicle interior using this identifier. Is controlling.
  • JP 2009-258802 A Japanese Patent Laying-Open No. 2015-032155
  • Patent Document 1 cannot suppress unnecessary sounds that can be heard from other than the driver's line-of-sight direction.
  • Patent Document 2 only sound including an identifier, that is, sound output from a specific sound source can be controlled.
  • the present invention has been made in view of the above-described problems, and an object thereof is to provide a technique for flexibly controlling the output of vehicle exterior sound into the vehicle interior.
  • detection means for acquiring a vehicle exterior sound that is a sound generated outside the vehicle via an input device, and detecting a predetermined feature from the vehicle exterior sound; (2) And a control unit that controls output of the vehicle exterior sound by an output device that outputs the vehicle exterior sound into the vehicle interior based on a detection result of the detection unit.
  • the invention according to claim 11 is: (1) an input device that captures external sound generated outside the vehicle; (2) an output device that outputs the external sound to the interior of the vehicle; and (3) a control device.
  • the control device includes (1) a detection unit that acquires a vehicle exterior sound, which is a sound generated outside the vehicle, and detects a predetermined feature from the vehicle exterior sound, and (2) the detection unit.
  • Control means for controlling the output of the vehicle exterior sound by an output device for outputting the vehicle exterior sound to the vehicle interior based on a detection result.
  • the invention according to claim 12 is a control method executed by a computer.
  • the invention according to claim 13 is a program for causing a computer to execute each step of the control method according to claim 12.
  • FIG. 1 It is a figure which illustrates the control apparatus of Embodiment 1, and its use environment. It is a block diagram which illustrates a control device. It is a figure which illustrates the hardware constitutions of a control apparatus. 3 is a flowchart illustrating a flow of processing executed by the control device according to the first embodiment. It is a figure which illustrates matching with the characteristic of the sound outside a vehicle, and the control information corresponding to the characteristic in a table format. It is a figure which illustrates the relationship between the detection value of a volume sensor, and the amplification factor of the amplifier of an output device in a graph format.
  • each block in the block diagram represents a functional unit configuration, not a hardware unit configuration.
  • FIG. 1 is a diagram illustrating a control device 200 according to the first embodiment and a use environment thereof.
  • FIG. 1 is a diagram for facilitating understanding of the control apparatus 200, and does not limit the operation of the control apparatus 200.
  • the vehicle 240 is an arbitrary vehicle such as an automobile or a train.
  • the vehicle 240 may or may not have an automatic driving function.
  • the input device 10 captures outside sound generated outside the vehicle 240.
  • the input device 10 is configured using a microphone.
  • the output device 20 acquires the vehicle exterior sound captured by the input device 10 and outputs the vehicle exterior sound to the interior of the vehicle 240.
  • the output device 20 is configured using a speaker.
  • the control device 200 controls the output device 20 to control the output of the vehicle exterior sound to the interior of the vehicle 240. At that time, the control device 200 performs control based on the characteristics of the outside sound.
  • FIG. 2 is a block diagram illustrating the control device 200.
  • the control device 200 includes a detection unit 202 and a control unit 204.
  • the detection unit 202 acquires a vehicle exterior sound captured by the input device 10. Furthermore, the detection unit 202 detects a predetermined feature from the vehicle exterior sound.
  • the control unit 204 controls the output of the outside sound by the output device 20 based on the detection result by the detection unit 202.
  • the vehicle exterior sound to be heard by the passenger of the vehicle 240 is controlled based on the characteristics of the vehicle exterior sound.
  • the vehicle exterior sound having a predetermined characteristic is not output to the vehicle interior, or only the vehicle exterior sound having the predetermined characteristic is output to the vehicle interior. It is possible to flexibly control the output of the vehicle exterior sound to the 240 rooms. As a result, for example, only the sound outside the vehicle that suits the passenger of the vehicle 240 is output to the vehicle interior, or only the vehicle external sound that should be heard by the passenger of the vehicle 240 is output to the vehicle interior. The sound outside the car can be output for various purposes.
  • control device 200 of the present embodiment will be described in more detail.
  • Each functional component of the control device 200 may be realized by hardware (eg, a hard-wired electronic circuit) that implements each functional component, or a combination of hardware and software (eg, electronic A combination of a circuit and a program for controlling the circuit may be realized.
  • hardware eg, a hard-wired electronic circuit
  • software eg, electronic A combination of a circuit and a program for controlling the circuit may be realized.
  • FIG. 3 is a diagram illustrating a hardware configuration of the control device 200.
  • the computer 100 is a computer that implements the control device 200.
  • the computer 100 is a ECU (Electronic Control Unit) that controls various hardware provided in the vehicle 240.
  • the computer 100 may be a computer designed exclusively for realizing the control device 200, or may be a general-purpose computer.
  • the computer 100 includes a bus 102, a processor 104, a memory 106, a storage device 108, an input / output interface 110, and a network interface 112.
  • the bus 102 is a data transmission path through which the processor 104, the memory 106, the storage device 108, the input / output interface 110, and the network interface 112 transmit / receive data to / from each other.
  • the method of connecting the processors 104 and the like is not limited to bus connection.
  • the processor 104 is an arithmetic processing device realized using a microprocessor or the like.
  • the memory 106 is a main storage device realized using a RAM (Random Access Memory) or the like.
  • the storage device 108 is an auxiliary storage device realized using a ROM (Read Only Memory), a flash memory, or the like.
  • the storage device 108 may be configured by hardware similar to the hardware configuring the main storage device such as a RAM.
  • the input / output interface 110 is an interface for connecting the computer 100 to peripheral devices.
  • a microphone 12 that realizes the input device 10 and a speaker 22 that realizes the output device 20 are connected to the input / output interface 110.
  • Various analog signals and digital signals used for controlling the vehicle 240 are input or output to the computer 100 via the input / output interface 110.
  • an audio signal representing outside-vehicle sound captured by the input device 10 is input from the input device 10 to the computer 100 via the input / output interface 110.
  • an audio signal to be output from the output device 20 is output from the computer 100 to the output device 20 via the input / output interface 110.
  • the input / output interface 110 appropriately includes an A / D converter that converts an analog input signal into a digital signal, a D / A converter that converts a digital output signal into an analog signal, and the like.
  • the network interface 112 is an interface for connecting the computer 100 to a communication network.
  • This communication network is, for example, a CAN (Controller Area Network) communication network.
  • the method of connecting the network interface 112 to the communication network may be a wireless connection or a wired connection.
  • the storage device 108 stores a program module for realizing each functional component of the control device 200.
  • the processor 104 reads out the program module to the memory 106 and executes it, thereby realizing the function of the control device 200.
  • the input device 10 is an arbitrary device that can capture the outside sound of the vehicle 240.
  • the input device 10 is configured using the microphone 12 described above.
  • the output device 20 is an arbitrary device that can output the sound captured by the vehicle 240 to the interior of the vehicle 240.
  • the output device 20 is configured using the speaker 22 described above.
  • FIG. 4 is a flowchart illustrating the flow of processing executed by the control device 200 according to the first embodiment.
  • the detection unit 202 detects a predetermined feature from the vehicle exterior sound captured by the input device 10 (S102).
  • the control unit 204 controls the output of the vehicle exterior sound by the output device 20 based on the detection result by the detection unit 202 (S104).
  • the detection unit 202 detects a predetermined feature from the vehicle exterior sound captured by the input device 10 (S102). As the predetermined feature, various features relating to sound can be handled.
  • the predetermined feature is a feature related to a temporal change in sound volume, a feature related to a sound frequency distribution, a feature related to a sound frequency band, or a feature related to a periodic change in sound.
  • a feature related to a temporal change in sound volume a feature related to a sound frequency distribution
  • a feature related to a sound frequency band a feature related to a periodic change in sound.
  • the predetermined characteristic regarding the time change of the sound volume is, for example, a characteristic that “the time change of the sound volume is a predetermined value or less”.
  • the vehicle exterior sound that satisfies the feature that “the time change of the sound volume is a predetermined value or less” is, for example, the idling sound of the engine of the vehicle around the vehicle 240 or the ambient sound around the vehicle 240 (the surrounding sound Human voice, machine sound heard from the factory, or wave sound heard from the sea).
  • the predetermined characteristic regarding the frequency distribution of the sound is, for example, a characteristic that “the similarity with the predetermined frequency distribution is equal to or greater than a predetermined value”.
  • the predetermined frequency distribution is determined in advance according to the type of sound to be detected. For example, the frequency distribution is predetermined for each type of sound such as a human voice, engine sound, machine sound, wave sound, siren sound, or the like.
  • the predetermined characteristic regarding the sound frequency band is, for example, a characteristic that “the frequency band of the sound is included in a predetermined range”.
  • the predetermined range of the frequency band is determined in advance according to the type of sound to be detected, similarly to the predetermined frequency distribution.
  • Predetermined features related to periodic sound changes include, for example, the feature that “change in sound volume has periodicity (including arbitrary changes periodically)” and “change in sound volume, It is a feature of “including a predetermined change periodically”.
  • the vehicle exterior sound having periodicity in the change in the sound volume includes, for example, an idling sound of a vehicle engine around the vehicle 240, a sound of a machine of the vehicle 240, or a sound of a wave.
  • the “predetermined change” described above is determined in advance according to the type of sound to be detected.
  • FIG. 5 is a diagram exemplifying the correspondence between the feature of the outside sound and the control information corresponding to the feature in a table format.
  • the control information is information indicating the content of control performed by the control unit 204 based on the detection result regarding the feature.
  • the table of FIG. The table 500 includes a feature 502, a detection result 504, and control information 506.
  • a feature 502 represents a feature to be detected. The detection result 504 and the control information 506 will be described later.
  • the storage device 30 is an arbitrary storage device accessible from the control device 200.
  • the storage device 30 may be provided inside the control device 200 or may be provided outside the control device 200. In the latter case, the storage device 30 may be provided inside the vehicle 240 or may be provided outside the vehicle 240.
  • the storage device 30 provided outside the vehicle 240 is provided, for example, in a server machine that can be accessed from the control device 200 via a WAN fence.
  • the control unit 204 controls the output device 20 based on the state information (S104). For example, the control unit 204 performs control so that the vehicle exterior sound is output to the room of the vehicle 240 when a predetermined feature is detected from the vehicle exterior sound. On the other hand, the control unit 204 performs control so that the sound outside the vehicle is not output to the room of the vehicle 240 when a predetermined feature is not detected from the sound outside the vehicle. Conversely, when the predetermined feature is not detected from the vehicle exterior sound, the control unit 204 performs control so that the vehicle exterior sound is output to the room of the vehicle 240, and when the predetermined feature is detected from the vehicle exterior sound. In addition, control may be performed so that external sound is not output to the interior of the vehicle 240.
  • the characteristics of the external sound detected by the detection unit 202 and the content of the control performed by the control unit 204 are associated in advance. Specifically, it is assumed that the association is stored in the storage device 30 in advance. A specific example of this association is the table 500 described above (see FIG. 5).
  • the detection result 504 indicates whether or not the feature indicated by the feature 502 has been detected from the sound outside the vehicle.
  • the control information 506 indicates the content of control performed by the control unit 204 for the combination of the feature 502 and the detection result 504.
  • the control unit 204 determines that the time change in loudness is a predetermined value.
  • the contents shown in the control information 506 are controlled.
  • the control unit 204 determines that the time change in the sound volume is from the outside sound.
  • the control unit 204 acquires control information corresponding to the feature of the external sound detected by the detection unit 202 from the storage device 30. Then, the control indicated by the acquired control information is performed.
  • control based on the characteristics of external noise ⁇ Specific examples of control based on the characteristics of external noise
  • the content of the control performed by the control unit 204 varies depending on the characteristics detected from the sound outside the vehicle.
  • the control method of the output device 20 will be specifically described for each feature of the detected outside vehicle sound.
  • the control unit 204 controls the output device 20 not to output the vehicle exterior sound when the feature that “the time change of the sound volume is equal to or less than a predetermined value” is detected from the vehicle exterior sound.
  • the outside sound whose magnitude changes with time is a sound that is constantly generated, such as an idling sound of an engine of a vehicle around the vehicle 240 and an environmental sound around the vehicle 240. There is a high probability that this is an unnecessary and troublesome sound for passengers. Therefore, the control unit 204 controls the output device 20 so that such outside sound is not output to the interior of the vehicle 240.
  • the control unit 204 performs control so that the sound outside the vehicle is output from the output device 20 when the feature that “the time change in the volume of the sound is below a predetermined value” is not detected from the sound outside the vehicle. It can be said that the sound outside the vehicle whose magnitude changes with time is suddenly generated.
  • the situation where such a vehicle outside noise is generated may be a situation in which a surrounding vehicle suddenly brakes, a person screams, or an emergency vehicle starts to sound a siren. Such a situation is a situation that should be perceived by the passenger of the vehicle 240 (particularly the driver of the vehicle 240). Therefore, in such a situation, the control unit 204 controls the output device 20 so that the vehicle exterior sound is not output to the interior of the vehicle 240.
  • a frequency distribution representing a sound unnecessary for the passenger of the vehicle 240 is determined as a predetermined frequency distribution.
  • the control unit 204 controls the output device 20 so that the vehicle exterior sound is not output to the room of the vehicle 240 when the feature “similarity with the predetermined frequency distribution is greater than or equal to a predetermined value” is detected from the vehicle exterior sound. . By doing so, the outside sound unnecessary for the passenger is prevented from being output to the interior of the vehicle 240.
  • control unit 204 outputs an output device so that the sound outside the vehicle 240 is output to the room of the vehicle 240 when the feature that “similarity with the predetermined frequency distribution is a predetermined value or more” is not detected from the sound outside the vehicle. 20 is controlled. In this way, external sound necessary for the passenger is output to the interior of the vehicle 240.
  • the predetermined frequency distribution may represent a frequency distribution that represents a sound necessary for the passenger (a sound that should be output to the room of the vehicle 240).
  • the control unit 204 outputs an output device so that the sound outside the vehicle is output to the room of the vehicle 240 when the feature that “similarity with the predetermined frequency distribution is a predetermined value or more” is detected from the sound outside the vehicle. 20 is controlled. By doing so, a sound necessary for the passenger of the vehicle 240 is output to the interior of the vehicle 240.
  • a frequency distribution representing a sound unnecessary for a passenger of the vehicle 240 a frequency distribution representing an idling sound of a vehicle engine is determined.
  • a frequency distribution representing a sound necessary for a passenger of the vehicle 240 a frequency distribution representing a sound that a driving person wants to hear, such as a wave sound heard from the sea, is determined.
  • a frequency band of sound unnecessary for the passenger of the vehicle 240 is determined as a predetermined frequency band. Then, when the feature “included in a predetermined frequency band” is detected from the outside sound, the control unit 204 controls the output device 20 so that the outside sound is not output to the room of the vehicle 240. By doing so, the control unit 204 controls the output device 20 so that sounds unnecessary for the passenger are not output to the interior of the vehicle 240.
  • control unit 204 controls the output device 20 so that the sound outside the vehicle is output to the room of the vehicle 240. By doing so, the sound outside the vehicle necessary for the passenger is output to the interior of the vehicle 240.
  • the predetermined frequency band may represent a frequency band of a sound necessary for the passenger (a sound to be output to the room of the vehicle 240).
  • the control unit 204 controls the output device 20 so that the vehicle exterior sound is output to the room of the vehicle 240 when the feature “included in the predetermined frequency band” is detected from the vehicle exterior sound. By doing so, the sound outside the vehicle necessary for the passenger is output to the interior of the vehicle 240.
  • control unit 204 controls the output device 20 so that the vehicle exterior sound is not output to the interior of the vehicle 240 when the feature that “a change in sound volume has periodicity” is detected from the vehicle exterior sound. By doing so, unnecessary sounds that are regularly emitted (such as idling sound of the engine of the vehicle around the vehicle 240 and mechanical sound emitted from the factory) are not output to the interior of the vehicle 240.
  • control unit 204 controls the output device 20 so that the sound outside the vehicle is output to the room of the vehicle 240 when the feature that “a change in sound volume has periodicity” is not detected from the sound outside the vehicle. To do. In this way, unnecessary sounds outside the vehicle 240 that are to be heard by the passenger of the vehicle 240, such as suddenly generated sounds, are output to the vehicle 240.
  • the characteristic regarding the periodic sound change may be a characteristic that “a change in sound volume periodically includes a predetermined change”. By doing so, it is possible to divide the external sound having periodicity into an unnecessary one and a necessary one. Therefore, it is possible to more precisely control the output of the vehicle exterior sound to the interior of the vehicle 240.
  • ⁇ About the control of outside sound with multiple features Multiple features may be detected from the outside sound.
  • a priority is assigned in advance to each predetermined feature detected from the sound outside the vehicle.
  • a column indicating priority is provided in the table 500.
  • the control part 204 performs control corresponding to the feature with the highest priority among the features detected from the outside sound.
  • Control of hardware configuring output device 20 There are various specific methods for controlling the hardware constituting the output device 20.
  • the control unit 204 performs control for turning on the switch of the output device 20 and control for not applying the sound filter to the output device 20 (control for bypassing the sound filter so that the sound outside the vehicle is output). By doing so, the sound outside the vehicle is output from the output device 20.
  • control unit 204 performs control to turn off the switch of the output device 20 and control to apply a sound filter to the output device 20 (control to output sound outside the vehicle through the sound filter).
  • the audio filter is a low-frequency cut filter, a band-pass filter, or the like.
  • control unit 204 performs control to adjust the magnitude of the vehicle exterior sound output from the output device 20 instead of performing control to output vehicle exterior sound from the output device 20 or control not to output vehicle exterior sound from the output device 20. You may go. For example, the control unit 204 performs control to relatively reduce the volume of the vehicle exterior sound output from the output device 20 instead of the control not to output the vehicle exterior sound to the output device 20. Similarly, the control unit 204 performs control for relatively increasing the volume of the vehicle exterior sound output from the output device 20 instead of the control for causing the output device 20 to output the vehicle exterior sound.
  • the control of the loudness outside the vehicle output by the output device 20 can be realized by controlling the amplification factor of the amplifier included in the output device 20, for example.
  • the timing at which the control device 200 executes a series of processes is arbitrary.
  • the control device 200 executes a series of processes at a predetermined cycle.
  • the predetermined period may be set in advance in the control device 200 or may be stored in a storage device accessible from the control device 200.
  • the control device 200 when the control device 200 repeatedly executes a series of processes, for example, when a predetermined feature is detected from the vehicle exterior sound captured by the input device 10 at a certain first time point, Sound outside the vehicle will not be output. Thereafter, at another second time point, when a predetermined feature is not detected from the vehicle exterior sound captured by the input device 10, the vehicle exterior sound is output into the vehicle 240.
  • the output of the vehicle exterior sound by the output device 20 is appropriately controlled according to the sound around the vehicle 240 that changes with time.
  • Control for letting a passenger of the vehicle 240 hear outside sound (control for outputting outside sound from the output device 20, control for increasing the volume of outside sound output from the output device 20, etc.)
  • the control device 200 does not have to execute the series of processes described above until a predetermined condition is satisfied.
  • the predetermined condition is, for example, a condition that “a predetermined time has elapsed since the output device 20 was controlled” or “the vehicle 240 has traveled a predetermined distance since the output device 20 was controlled”. By doing so, the computer resources consumed by the control device 200 are reduced by maintaining the state of the output device 20 for a while under the assumption that the outside sound to be heard by the passenger of the vehicle 240 will continue to be generated for a while. be able to.
  • the outside sound that should be heard by the passenger of the vehicle 240 may be generated thereafter. It is preferable to continue executing a series of processes at a predetermined cycle.
  • control device 200 is configured to output the vehicle outside sound from the output device 20 in a normal state, and the above-described series of control is performed only in a situation where there is a high probability that the vehicle outside sound unnecessary for the passenger is generated. May be executed.
  • the “situation in which there is a high probability that an external noise unnecessary for a passenger is generated” is, for example, a situation where the vehicle 240 is traveling on a road or a highway in a traffic jam.
  • a predetermined situation is defined in advance and stored in the storage device 30 or the like.
  • the situation “traveling on a congested road” is (1) slowing down and stopping for a predetermined time or more, or (2) the current position of the vehicle 240 is congested in the car navigation system. It can be defined as a situation where the current section is.
  • the control apparatus 200 performs a series of control shown in FIG. 4, when the vehicle 240 exists in the predetermined condition mentioned above.
  • Embodiment 2 The control apparatus 200 of Embodiment 2 is represented by FIG. 1 like the control apparatus 200 of Embodiment 1, for example. Except for the items described below, the control device 200 of the second embodiment is the same as the control device 200 of the first embodiment.
  • the controller 204 determines the magnitude of the vehicle exterior sound to be output based on the volume of the sound generated in the vehicle 240 when the vehicle exterior sound is output into the vehicle 240.
  • the loudness of the room in the vehicle 240 is detected using a volume sensor provided in the room of the vehicle 240, for example.
  • control unit 204 controls the set value of the output device 20 so that the loudness of the vehicle 240 is increased, and the loudness of the vehicle exterior sound that is output into the vehicle 240 is increased. To do.
  • control unit 204 increases the reproduction volume of the output device 20 by setting the amplification factor of the amplifier included in the output device 20 to a higher value as the loudness of the room in the vehicle 240 increases.
  • control unit 204 sets the sensitivity of the sound filter provided in the output device 20 to a lower value as the loudness of the room in the vehicle 240 increases, so that the output is output by the output device 20. Increase the loudness of the outside sound.
  • FIG. 6 is a graph illustrating the relationship between the detection value of the volume sensor and the amplification factor of the amplifier of the output device 20 in a graph format.
  • the control unit 204 acquires a detection value from the volume sensor. Then, the control unit 204 sets the amplification factor of the amplifier of the output device 20 to a value corresponding to the acquired detection value.
  • the hardware configuration of the control device 200 according to the second embodiment is represented in FIG. 3, for example, similarly to the hardware configuration of the control device 200 according to the first embodiment.
  • the program module stored in the storage device 108 further includes a program that implements the functions described in the present embodiment.
  • the loudness of the vehicle exterior sound that is output to the interior of the vehicle 240 is determined based on the loudness of the sound that is generated in the interior of the vehicle 240. By doing so, the passenger can more reliably hear the sound that the passenger of the vehicle 240 wants to hear.
  • control device 200 can include the functions of the following modified examples in addition to or instead of the functions of the above-described embodiments.
  • the vehicle 240 has an automatic driving function.
  • a driving authority may be transferred from the system to a person, that is, switching from automatic driving to manual driving may occur.
  • the control unit 204 causes the output device 20 to output sound when the vehicle 240 is switched from automatic driving to manual driving. At this time, the control unit 204 acquires information indicating a time point at which switching from automatic operation to manual operation is performed (hereinafter referred to as “switching time point”). Then, the control unit 204 causes the output device 20 to output sound at a time before the switching time. In this way, the driver is notified that the automatic operation is switched to the manual operation.
  • the control unit 204 may control the sound output from the output device 20 in accordance with the emergency degree of the switching. For example, in the case of switching with a high degree of urgency (when it is necessary to immediately switch to manual operation), the control unit 204 causes the output device 20 to output an alarm sound instead of a vehicle exterior sound. On the other hand, in the case of switching with a low degree of urgency (when it is not necessary to immediately switch to manual operation), the control unit 204 causes the output device 20 to output sound outside the vehicle.
  • an index value representing the emergency degree is set in advance for each cause (event) that requires switching from automatic driving to manual driving.
  • the control unit 204 acquires an index value representing the urgent degree of switching together with the switching time described above. When the acquired index value is greater than or equal to the predetermined value, the control unit 204 causes the output device 20 to output an alarm sound. On the other hand, when the index value is less than the predetermined value, the control unit 204 causes the output device 20 to output a sound outside the vehicle.
  • the control unit 204 outputs the signal before the switch to manual operation occurs (for example, after 30 seconds have passed after the hand is released from the handle) because the passenger has released the hand from the handle.
  • a sound outside the vehicle may be output from the device 20.
  • an alarm sound is output from the output device 20 to warn that a switch from automatic operation to manual operation occurs after a predetermined time, and then an external sound is output from the output device 20 at the timing when the actual switch occurs.
  • the control unit 204 may control the traveling of the vehicle 240 according to the feature of the outside sound. For example, when a siren of an emergency vehicle is heard, it is preferable to stop the vehicle 240 on the shoulder. Therefore, when the feature of the external sound is similar to the feature of the siren of the emergency vehicle, it is preferable that the control unit 204 controls the traveling of the vehicle 240 to stop on the road shoulder.
  • the control information for controlling the traveling of the vehicle 240 indicates a traveling control method of the vehicle 240 in association with a predetermined feature of the outside sound.
  • the method for controlling the traveling of the vehicle 240 is represented by any one of acceleration, deceleration, and steering, or a combination thereof. Steering corresponds to control for changing the travel position of the vehicle 240. For example, by bringing the traveling position of the vehicle 240 to the roadside zone by steering, a space for the subsequent emergency vehicle to travel can be secured. By combining steering with acceleration or deceleration, the vehicle 240 can be accelerated or decelerated while changing the travel position. For example, in order to stop the vehicle 240 in the roadside band, control is performed such that the vehicle 240 is decelerated until the speed becomes zero while the traveling position of the vehicle 240 is changed toward the roadside band by steering.
  • a distance measuring device such as a lidar (Light Detection and Ranging) or a camera is used to recognize and control the surrounding terrain and obstacles.
  • a distance measuring device such as a lidar (Light Detection and Ranging) or a camera is used to recognize and control the surrounding terrain and obstacles.
  • These methods use electromagnetic waves such as light waves. Since sound waves are diffracted more than electromagnetic waves, according to the method of detecting obstacles and the like with sound outside the vehicle, it is also possible to detect obstacles and the like that are not detected by distance measuring devices or cameras (for example, emergency vehicles in the shadows). Can do. Therefore, by controlling the running of the vehicle 240 using the sound outside the vehicle, the vehicle 240 can be safely controlled in consideration of obstacles that are not detected by the distance measuring device or the camera.
  • control of the traveling of the vehicle 240 by the control device 200 is preferably used in combination with control using a distance measuring device or a camera, instead of using only outside sound.
  • a distance measuring device or a camera instead of using only outside sound.
  • the running of the vehicle 240 is continued as it is. can do.
  • the control unit 204 estimates the source of the external sound based on the characteristics of the external sound, and specifies the estimated source from the objects recognized by the distance measuring device or the camera. And the control part 204 controls driving
  • the position of the ambulance is on the travel lane of the vehicle 240 and behind the vehicle 240, or the vehicle 240 and the ambulance enter the intersection at the same timing if the vehicle 240 travels as it is.
  • the control unit 204 stops the vehicle 240 in the roadside zone.
  • the control information includes the characteristics of the sound outside the vehicle, information for detecting the generation source having the characteristics with a camera or the like (for example, the feature amount of the appearance of the object), and the status of the generation source.
  • the control methods of the vehicle 240 are associated with each other.
  • control unit 204 applies a bandpass filter that extracts only this frequency band to the vehicle exterior sound, thereby enhancing the sound having a predetermined characteristic, that is, the vehicle exterior sound that is used to control the vehicle 240. Can be obtained.
  • the control unit 204 causes the control of the traveling.
  • the sound outside the vehicle may be processed so that the sound related to the resulting object is emphasized, and the sound outside the vehicle after processing may be output into the vehicle interior.
  • traveling of the vehicle 240 is controlled in accordance with detection of an ambulance by the camera.
  • the object causing the control of the traveling of the vehicle 240 is an ambulance.
  • the control unit 204 performs a filter process for extracting sound having the characteristics of an ambulance siren on the vehicle exterior sound, and causes the output device 20 to output the vehicle exterior sound after the filter process.
  • the control unit 204 performs a filter process for extracting a sound having the characteristics of the railroad crossing sound on the vehicle outside sound,
  • the output device 20 is made to output the vehicle exterior sound after processing.
  • information such as filter coefficients in the filter processing
  • for extracting sound emitted from the object is determined for each object (such as an ambulance or a railroad crossing) that may cause the vehicle 240 to travel. .

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Circuit For Audible Band Transducer (AREA)

Abstract

Selon l'invention, un dispositif d'entrée (10) capture des sons extérieurs à un véhicule, produits à l'extérieur d'un véhicule (240). Un dispositif de sortie (20) acquiert les sons extérieurs au véhicule, capturés par le dispositif d'entrée (10), et les délivre dans une cabine du véhicule (240). Un dispositif de commande (200) comprend une unité de détection (202) et une unité de commande (204). L'unité de détection (202) acquiert les sons extérieurs au véhicule, capturés par le dispositif d'entrée (10). En outre, l'unité de détection (202) détecte des caractéristiques prescrites, à partir des sons extérieurs au véhicule. L'unité de commande (204) commande la sortie des sons extérieurs au véhicule, par le dispositif de sortie (20), sur la base des résultats de détection provenant de l'unité de détection (202).
PCT/JP2017/038476 2016-10-27 2017-10-25 Dispositif de commande, système de commande, procédé de commande, et programme Ceased WO2018079584A1 (fr)

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JP2016210435 2016-10-27
JP2016-210435 2016-10-27

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025225312A1 (fr) * 2024-04-23 2025-10-30 株式会社デンソー Dispositif de commande de véhicule et procédé de commande de véhicule

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06245289A (ja) * 1993-02-17 1994-09-02 Fujitsu Ten Ltd 車載用電子装置
JPH082339A (ja) * 1994-06-16 1996-01-09 Mitsubishi Automob Eng Co Ltd 車外音導入装置
JP2006050063A (ja) * 2004-08-02 2006-02-16 Suzuki Motor Corp 車両用オーディオの制御装置
JP2015118438A (ja) * 2013-12-17 2015-06-25 みこらった株式会社 自動運転車

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06245289A (ja) * 1993-02-17 1994-09-02 Fujitsu Ten Ltd 車載用電子装置
JPH082339A (ja) * 1994-06-16 1996-01-09 Mitsubishi Automob Eng Co Ltd 車外音導入装置
JP2006050063A (ja) * 2004-08-02 2006-02-16 Suzuki Motor Corp 車両用オーディオの制御装置
JP2015118438A (ja) * 2013-12-17 2015-06-25 みこらった株式会社 自動運転車

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025225312A1 (fr) * 2024-04-23 2025-10-30 株式会社デンソー Dispositif de commande de véhicule et procédé de commande de véhicule

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