Patent Translate Powered by EPO and Google Notice This translation is machine-generated. It cannot be guaranteed that it is intelligible, accurate, complete, reliable or fit for specific purposes. Critical decisions, such as commercially relevant or financial decisions, should not be based on machine-translation output. 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). 04-05-2019 1 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, 04-05-2019 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 04-05-2019 3 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] 04-05-2019 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] 04-05-2019 5 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] 04-05-2019 6 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] 04-05-2019 7 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 04-05-2019 8 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] 04-05-2019 9 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 04-05-2019 10 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 04-05-2019 11 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 04-05-2019 12 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] 04-05-2019 13 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. 04-05-2019 14 [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). 04-05-2019 15
© Copyright 2021 DropDoc