WO2014174841A1 - 車両用音響制御装置、車両用音響制御方法 - Google Patents
車両用音響制御装置、車両用音響制御方法 Download PDFInfo
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- WO2014174841A1 WO2014174841A1 PCT/JP2014/002291 JP2014002291W WO2014174841A1 WO 2014174841 A1 WO2014174841 A1 WO 2014174841A1 JP 2014002291 W JP2014002291 W JP 2014002291W WO 2014174841 A1 WO2014174841 A1 WO 2014174841A1
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- Prior art keywords
- sound field
- vehicle
- change
- vehicle behavior
- behavior
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04S—STEREOPHONIC SYSTEMS
- H04S7/00—Indicating arrangements; Control arrangements, e.g. balance control
- H04S7/30—Control circuits for electronic adaptation of the sound field
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K15/00—Acoustics not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R5/00—Stereophonic arrangements
- H04R5/04—Circuit arrangements, e.g. for selective connection of amplifier inputs/outputs to loudspeakers, for loudspeaker detection, or for adaptation of settings to personal preferences or hearing impairments
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04S—STEREOPHONIC SYSTEMS
- H04S7/00—Indicating arrangements; Control arrangements, e.g. balance control
- H04S7/30—Control circuits for electronic adaptation of the sound field
- H04S7/302—Electronic adaptation of stereophonic sound system to listener position or orientation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2460/00—Details of hearing devices, i.e. of ear- or headphones covered by H04R1/10 or H04R5/033 but not provided for in any of their subgroups, or of hearing aids covered by H04R25/00 but not provided for in any of its subgroups
- H04R2460/07—Use of position data from wide-area or local-area positioning systems in hearing devices, e.g. program or information selection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2499/00—Aspects covered by H04R or H04S not otherwise provided for in their subgroups
- H04R2499/10—General applications
- H04R2499/13—Acoustic transducers and sound field adaptation in vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04S—STEREOPHONIC SYSTEMS
- H04S2400/00—Details of stereophonic systems covered by H04S but not provided for in its groups
- H04S2400/13—Aspects of volume control, not necessarily automatic, in stereophonic sound systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04S—STEREOPHONIC SYSTEMS
- H04S3/00—Systems employing more than two channels, e.g. quadraphonic
Definitions
- the present invention relates to a vehicle acoustic control device and a vehicle acoustic control method.
- Patent Document 1 attention is paid to the fact that the driver's head moves as the vehicle behavior changes, so that the movement of the driver's head is predicted from the map information and the running state of the vehicle, and the movement is followed. It has been proposed to maintain a desired acoustic effect by controlling the sound field in the passenger compartment.
- Patent Document 1 attempts to achieve consistency between the driver's movement and the sound field movement in the passenger compartment, but does not improve the riding comfort of the occupant.
- the subject of this invention is improving a passenger
- the vehicle acoustic control apparatus is configured to control a sound field in a vehicle interior by disposing a plurality of speakers around an occupant and individually driving the plurality of speakers. Then, the amount of change in the vehicle behavior in the vertical direction is detected, and the sound field in the passenger compartment is changed in the direction opposite to the direction of change in the vehicle behavior in accordance with the amount of change in the vertical direction of the vehicle behavior.
- the present invention it is possible to produce a suppression of vehicle behavior by changing the sound field in the passenger compartment in the opposite direction to the change in vehicle behavior. That is, even if the vehicle body behavior actually changes, a sense (impression) that the vehicle behavior is suppressed can be given to the occupant, and the riding comfort can be improved.
- change_quantity C (dead zone, a limit). It is an example of the map used for the setting of the sound field variation
- FIG. 1 is a configuration diagram of a vehicle acoustic control apparatus.
- the vehicle acoustic control device is mounted on an automobile, and includes an acoustic device 11, a steering angle sensor 12, a wheel speed sensor 13, a six-axis motion sensor 14, an accelerator sensor 15, a master back pressure sensor 16, A navigation system 17, a suspension stroke sensor 18, and a controller 21 are provided.
- the acoustic device 11 outputs an audio signal capable of so-called stereophonic reproduction for reproducing audio of two or more channels.
- the acoustic device 11 includes, for example, a CD drive, a DVD drive, a hard disk drive, a flash memory drive, an AM / FM / TV tuner, a portable audio player, and the like. That is, audio information is read from various storage media using a CD drive, DVD drive, hard disk drive, flash memory drive, etc., audio information is received by wireless communication via an AM / FM / TV tuner, etc. And voice information is input from a portable audio player connected via a wireless communication module. The acoustic device 11 outputs the acquired audio signal to the controller 21.
- the steering angle sensor 12 is composed of a rotary encoder and detects the steering angle ⁇ s of the steering shaft.
- the steering angle sensor 12 detects light transmitted through the slit of the scale with two phototransistors when the disk-shaped scale rotates together with the steering shaft, and outputs a pulse signal accompanying the rotation of the steering shaft to the controller 21. To do.
- the controller 21 determines the steering angle ⁇ s of the steering shaft from the input pulse signal. Note that the right turn is processed as a positive value and the left turn is processed as a negative value.
- the wheel speed sensor 13 detects the wheel speeds Vw FL to Vw RR of each wheel.
- the wheel speed sensor 13 detects the magnetic lines of force of the sensor rotor by a detection circuit, converts a change in the magnetic field accompanying the rotation of the sensor rotor into a current signal, and outputs the current signal to the controller 21.
- the controller 21 determines the wheel speeds Vw FL to Vw RR from the input current signal.
- the 6-axis motion sensor 14 has an acceleration (Gx, Gy, Gz) in each axial direction and an angular velocity ( ⁇ x, ⁇ y, ⁇ z) around each axis in three axes (X axis, Y axis, Z axis) orthogonal to each other. Is detected.
- the longitudinal direction of the vehicle body is the X axis
- the lateral direction of the vehicle body is the Y axis
- the vertical direction of the vehicle body is the Z axis.
- the six-axis motion sensor 14 detects, for example, the displacement of the movable electrode relative to the fixed electrode as a change in capacitance, and the acceleration in each axis direction and a voltage signal proportional to the acceleration and direction. And output to the controller 21.
- the controller 21 determines acceleration (Gx, Gy, Gz) from the input voltage signal.
- the 6-axis motion sensor 14 detects acceleration in the front-rear direction, right turn in the left-right direction, and bounce as a positive value in the up-down direction, decelerates in the front-rear direction, turns left in the left-right direction, and negatively rebounds in the up-down direction. Detect as the value of. Further, in the case of angular velocity, the 6-axis motion sensor 14 vibrates a vibrator made of, for example, a crystal tuning fork with an AC voltage, and converts the distortion amount of the vibrator caused by the Coriolis force at the time of angular velocity input into an electric signal. Output to the controller 21. The controller 21 determines angular velocities ( ⁇ x, ⁇ y, ⁇ z) from the input electrical signal.
- the 6-axis motion sensor 14 has a positive value for right turn around the longitudinal axis (roll axis), acceleration around the left and right axis (pitch axis), and right turn around the vertical axis (yaw axis). Detects left turn around the longitudinal axis (roll axis), deceleration around the left and right axis (pitch axis), and left turn around the vertical axis (yaw axis) as negative values.
- the accelerator sensor 15 detects a pedal opening PPO (operation position) corresponding to the amount of depression of the accelerator pedal.
- the accelerator sensor 15 is, for example, a potentiometer, and converts the pedal opening PPO of the accelerator pedal into a voltage signal and outputs the voltage signal to the controller 21.
- the controller 21 determines the pedal opening PPO of the accelerator pedal from the input voltage signal.
- the pedal opening PPO is 0% when the accelerator pedal is in the non-operating position, and the pedal opening PPO is 100% when the accelerator pedal is in the maximum operating position (stroke end).
- the master back pressure sensor 16 detects the pressure in the master back (brake booster), that is, the brake pedal depression force Pb.
- the master back pressure sensor 16 receives the pressure in the master back at the diaphragm portion, detects the distortion generated in the piezoresistive element through the diaphragm portion as a change in electric resistance, and converts it into a voltage signal proportional to the pressure. Output to the controller 21.
- the controller 21 determines the pressure in the master back, that is, the brake pedal depression force Pb, from the input voltage signal.
- the navigation system 17 recognizes the current position of the host vehicle and the road map information at the current position.
- This navigation system 17 has a GPS receiver, and recognizes the position (latitude, longitude, altitude) of the host vehicle and the traveling direction based on the time difference between radio waves arriving from four or more GPS satellites.
- the controller refers to the road map information including the road type, road alignment, lane width, vehicle traffic direction, etc. stored in the DVD-ROM drive or hard disk drive, and recognizes the road map information at the current position of the host vehicle.
- DSSS Driving Safety Support Systems
- two-way wireless communication may be used to receive various data from the infrastructure.
- the suspension stroke sensor 18 detects the suspension stroke in each wheel.
- the suspension stroke sensor 18 is composed of, for example, a potentiometer, converts the rotation angle of the suspension link into a voltage signal, and outputs the voltage signal to the controller 21. Specifically, a standard voltage is output during a non-stroke when the vehicle is stationary, a voltage smaller than the standard voltage is output during a bound stroke, and a voltage greater than the standard voltage is output during a rebound stroke.
- the controller 21 determines the suspension stroke at each wheel from the input voltage signal.
- the controller (ECU) 21 is composed of, for example, a microcomputer, executes acoustic control processing based on detection signals from each sensor, and drives the speakers 23LFL to 23LRR and 23UFL to 23URR via the amplifier (AMP) 22. In addition, when it is not necessary to distinguish each speaker, a code
- the amplifier 22 amplifies an audio signal input via the controller 21 and outputs the amplified audio signal to the speaker 23. Further, the amplifier 22 individually adjusts the volume of the high range, the mid range, and the low range, and adjusts the volume by stereophonic reproduction for each channel. To adjust.
- the speaker 23 converts an electrical signal input via the amplifier 22 into a physical signal and outputs sound.
- Each speaker 23 is provided in the passenger compartment, and is composed of, for example, a dynamic speaker. That is, an electric signal is input to the coil directly connected to the diaphragm, and the diaphragm is vibrated by the vibration of the coil due to electromagnetic induction, thereby emitting sound corresponding to the electric signal.
- Each speaker 23 is not limited to a full-range speaker for all bands, but may be a multi-range speaker including two-way or more speakers such as a low-frequency woofer, a mid-frequency schoker, and a high-frequency tweeter.
- the three alphabetic characters attached to the symbols of the speaker 23 represent the mounting position in the vehicle interior, the first character represents the vertical position in the vehicle interior, the second alphabetic character represents the front-rear position in the vehicle interior, and the third character
- the alphabetical characters indicate the left and right positions in the passenger compartment. That is, if the first letter “L” is “L”, it represents the lower side of the vehicle interior, and “U” represents the upper side of the vehicle interior. Further, if the second letter “F” is “F”, it represents the front side of the passenger compartment, and “R” represents the rear side of the passenger compartment. Further, if the third letter is “L”, it represents the left side of the passenger compartment, and “R” represents the right side of the passenger compartment.
- LFL is located on the lower side, front side, and left side in the vehicle interior
- LFR is located on the lower side, front side, and right side in the vehicle interior
- LLRL is located on the lower side in the vehicle interior.
- the “LRR” is located on the lower side, the rear side, and the right side in the passenger compartment.
- UTL is located on the upper, front, and left sides in the passenger compartment
- UFR is located on the upper, front, and right sides in the passenger compartment
- URL is located on the upper, rear, and left sides in the passenger compartment.
- URR is located on the upper side, rear side, and right side in the passenger compartment.
- the lower side / upper side, the front side / rear side, and the left side / right side in the passenger compartment are based on the driver's listening point, specifically, the driver's head (ear point).
- the driver's listening point specifically, the driver's head (ear point).
- FIG. 2 is a block diagram illustrating an example of an acoustic control process in the first embodiment.
- the acoustic control process includes a sound field change amount setting unit 71 and an audio signal adjustment command unit 72.
- the sound field change amount setting unit 71 inputs vehicle behavior and sets a sound field change amount C that changes the sound field in the passenger compartment in the direction opposite to the change in vehicle behavior.
- the vehicle behavior is an arbitrary vehicle behavior such as a longitudinal direction, a lateral direction, a vertical direction (bounce direction), a roll direction, a pitch direction, and a yaw direction of the vehicle body, and the same applies to the sound field change amount C.
- a component in the yaw direction of the sound field change amount C is described as the sound field rotation amount ⁇ , and a horizontal component is described as the sound field displacement amount ⁇ .
- the longitudinal component is the sound field displacement amount ⁇ x
- the lateral component is the sound field displacement amount ⁇ y.
- the change amount (vibration amplitude) A of the vehicle behavior is calculated, and the sound field change amount C is set according to the change amount A.
- the change amount A is calculated by integration calculation.
- the longitudinal acceleration Gx, the lateral acceleration Gy, the vertical acceleration Gz or the like is used, the change amount A is calculated by two integral calculations.
- the roll angle, pitch angle, bounce amount, etc. may be calculated from the suspension stroke.
- the frequency of each parameter of the vehicle behavior is subjected to high-pass filter processing.
- the cutoff frequency of the high pass filter is, for example, about 0.3 Hz.
- a band-pass filter process may be used instead of the high-pass filter process.
- the sound field change amount C is set according to the change amount A.
- FIG. 3 is an example of a map used for setting the sound field change amount C. According to this map, the sound field change amount increases as the change amount A increases in the positive direction from 0, the sound field change amount C increases in the positive direction from 0, and the change amount A decreases in the negative direction from 0. C decreases from 0 in the negative direction.
- FIG. 4 is an example of a map used for setting the sound field change amount C (dead zone, limit).
- are determined in advance, and for the sound field change amount C, the maximum change amount having a relationship of 0 ⁇
- A1 corresponds to a value in a range that can be regarded as near
- A2 corresponds to a value in a range that can be regarded as being relatively fast in normal vehicle behavior.
- the maximum change amount C MAX is determined according to the frequency of each parameter of the vehicle behavior.
- the sound field change amount C maintains 0.
- the absolute value of the change amount A is in the range of
- the absolute value of the change amount A is larger than
- FIG. 5 is an example of a map used for setting the sound field change amount C (hysteresis).
- This map is based on the map of FIG. 4 described above, and is provided with hysteresis when the absolute value of the change amount A changes from increasing to decreasing. That is, when the absolute value of the change amount A is decreased from the state in which it has been increased, the sound field change amount C at the time when the absolute value of the change amount A has started to decrease is maintained.
- the amount of decrease in the absolute value of the change amount A exceeds a predetermined hysteresis amount (for example, A1), the sound field change amount C decreases.
- a predetermined hysteresis amount for example, A1
- the sound field change amount C When the absolute value of the change amount A changes from increase to decrease and then increases again before decreasing to 0, the sound field change amount C at the time when the change amount A changes from decrease to increase is maintained.
- the increase amount of the absolute value of the change amount A exceeds a predetermined hysteresis amount (for example, A1), the sound field change amount C increases.
- the sound field change amount C is simply set according to the change amount A, the present invention is not limited to this.
- the sound field change amount C may be set to zero.
- the change amount A may be replaced with a change speed or a change acceleration, and the sound field change amount C may be set according to the change speed or the change acceleration. The above is the setting of the sound field change amount C.
- the audio signal adjustment command unit 72 outputs a drive command for adjusting the audio signal to the amplifier 22 in order to change the sound field outputting the sound from each speaker 23 in the direction opposite to the change in the vehicle behavior.
- a description will be given of the rotation of the sound field in which the sound field outputting the sound from each speaker 23 is rotated by ⁇ in the direction opposite to the change in vehicle behavior with the coordinate origin O as the center.
- FIG. 6 is a diagram schematically showing the passenger compartment space in plan view (sound field rotation).
- the front left speaker is FL
- the front right speaker is FR
- the sound field outputting sound from these speakers FL and FR is leftward (counterclockwise) around the coordinate origin O.
- a case where the angle ⁇ is rotated will be described.
- FL ′ and FR ′ are speaker positions assumed to be rotated by an angle ⁇ .
- the vector OFR ′ is decomposed into a vector OFR and a vector OFL.
- the sound output from the speaker FR is distributed and synthesized to the speakers FL and FR according to the ratio of the magnitudes of the vector OFR and the vector OFL.
- the other speakers are similarly disassembled and then distributed to the other speakers and synthesized.
- a drive command for adjusting the audio signal is generated and output.
- FIG. 7 is a diagram schematically showing the passenger compartment space in plan view (sound field displacement).
- the front left speaker is FL
- the front right speaker is FR
- the rear left speaker is RL
- the rear right speaker is RR
- the point P2 is a position moved by ⁇ y from the point P1 to the left side of the vehicle body along the vehicle width direction, and a position displaced by ⁇ x from the point P1 to the rear side of the vehicle body along the front-rear direction.
- a state where the center of the sound field is at the point P1 is defined as an initial state.
- the front and rear distributions of the volume output from the front speakers FL and FR and the volume output from the rear speakers RL and RR are equal, and the volume output from the left speakers FL and RL is equal to the right volume. It is assumed that the right and left distribution with the sound volume output from the speakers FR and RR is equal.
- the front-rear volume distribution and the left-right distribution are changed.
- the volume output from the front speakers FL and FR is relatively reduced, and the volume output from the rear speakers RL and RR is relatively decreased.
- the volume output from the front speakers FL and FR is indicated by a solid line
- the volume output from the rear speakers RL and RR is indicated by a broken line.
- the volume output from the left speakers FL and RL is relatively increased, and the volume output from the right speakers FR and RR is relatively increased. Decrease.
- the volume output from the left speakers FL and RL is indicated by an alternate long and short dash line, and the volume output from the right speakers FR and RR is indicated by a dotted line.
- the amount of increase on the left side and the amount of decrease on the right side may be the same or different.
- a drive command for adjusting the audio signal is generated and output.
- FIG. 8 is a flowchart illustrating an example of the acoustic control process in the first embodiment.
- step S501 the vehicle speed V is detected.
- step S502 for example, a high-pass filter process is performed on the frequency of the vehicle speed V.
- the cut-off frequency of the high pass filter process is, for example, about 0.3 Hz. In this process, it is only necessary to remove the steady component of the vehicle speed V and extract the changing vehicle behavior.
- the amount of change Ax in the front-rear direction in the vehicle behavior is calculated by the integral calculation of the vehicle speed V.
- the lateral acceleration Gy is detected.
- a high-pass filter process is performed on the frequency of the lateral acceleration Gy.
- the cut-off frequency of the high pass filter process is, for example, about 0.3 Hz. In this process, it is only necessary to remove the steady component of the lateral acceleration Gy and extract the changing vehicle behavior.
- the lateral change amount Ay in the vehicle behavior is calculated by two integral operations with respect to the lateral acceleration Gy.
- the suspension stroke in each wheel is detected.
- roll angle ⁇ x, pitch angle ⁇ y, and bounce Sz are calculated based on the suspension stroke of each wheel.
- high-pass filter processing is performed on the roll angle ⁇ x, pitch angle ⁇ y, and bounce Sz frequencies.
- the cut-off frequency of the high pass filter process is, for example, about 0.3 Hz. In this process, it is only necessary to remove the steady components of the roll angle ⁇ x, the pitch angle ⁇ y, and the bounce Sz and extract the changing vehicle behavior.
- the yaw rate ⁇ z (hereinafter referred to as ⁇ ) is detected.
- a high-pass filter process is performed on the frequency of the yaw rate ⁇ .
- the cut-off frequency of the high pass filter process is, for example, about 0.3 Hz. In this process, it is only necessary to remove the steady component of the yaw rate ⁇ and extract the changing vehicle behavior.
- the amount of change A ⁇ in the yaw direction in the vehicle behavior is calculated by the integral calculation of the yaw rate ⁇ .
- the sound field change amount C is set according to the vehicle behavior change amount A (Ax, Ay, ⁇ x, ⁇ y, Sz, A ⁇ ).
- a drive command for adjusting the sound signal is issued in order to change the sound field outputting the sound from each speaker 23 around the coordinate origin O by C in the direction opposite to the change in the vehicle behavior.
- a drive command for adjusting the audio signal is issued in order to change the sound field outputting the sound from each speaker 23 around the coordinate origin O by C in the direction opposite to the change in the vehicle behavior.
- a drive command for adjusting the sound signal is issued. Generate.
- a drive command for adjusting the audio signal is output to the amplifier 22, and then the process returns to the predetermined main program.
- a plurality of speakers 23 are arranged so as to surround the occupant in a plan view, and two or more channels of audio are stereophonically reproduced by the plurality of speakers 23.
- the sound field in the passenger compartment is changed in the opposite direction to the vehicle behavior. Specifically, by changing the volume distribution of each channel, the sound field is rotated or the volume output from one speaker arranged in the displacement direction and the volume output from the other speaker are The center of the sound field is displaced by changing the distribution.
- the volume distribution of each channel is determined by speakers surrounding the occupant when viewed from above, that is, speakers located on the left front, right front, left rear, and right rear. To change.
- the volume of each channel is distributed by speakers surrounding the occupant when the vehicle body is viewed from the rear, that is, the speakers located at the upper left, upper right, lower left, and lower right.
- each channel is controlled by speakers surrounding the occupant when the vehicle body is viewed from the side, that is, speakers located at the upper front, upper rear, lower front, and lower rear. Change the volume distribution.
- the center of the sound field is displaced by changing the front-rear distribution of the sound volume by speakers positioned in front of and behind the occupant when the vehicle body is viewed from above.
- the center of the sound field is adjusted by changing the left / right distribution of the volume with speakers positioned on the left and right sides of the occupant when the vehicle body is viewed from above. Displace.
- the center of the sound field is displaced by changing the vertical distribution of the sound volume with speakers positioned above and below the occupant when the vehicle body is viewed from the side.
- FIG. 9 is a time chart explaining the passenger's bodily sensation behavior with respect to the actual vehicle behavior.
- the acceleration / deceleration behavior of the vehicle changes according to the acceleration / deceleration operation of the driver, such as an accelerator operation or a brake operation.
- the high-pass filter process for the vehicle speed V is performed to remove the steady component and extract the vibration component.
- the behavioral change amount is obtained by integrating the vibration component at this time and converting it into a displacement amount.
- the sound field is changed according to the sound field change amount obtained by inverting the sign (positive / negative) of the behavior change amount.
- the sensible behavior shown by the solid line
- felt by the occupant can be suppressed relative to the actual vehicle behavior (shown by the dotted line). .
- FIG. 10 is a diagram illustrating a passenger's bodily sensation behavior with respect to actual vehicle behavior.
- the bounce behavior of the vehicle changes according to road surface irregularities and undulations.
- the actual bounce behavior changes in the vertical direction according to road surface irregularities and undulations, but the center of the sound field is maintained at a constant height as in the so-called skyhook control.
- the sensation feeling indicated by dotted lines
- the occupant can give the occupant a sense that the bounce is suppressed (impression). it can.
- the sound field change amount C is set according to the behavior change amount A, and the sound field change amount C is set larger as the behavior change amount A is larger.
- the suppression of the vehicle behavior can be effectively produced by setting the sound field change amount C to be larger as the behavior change amount A is larger.
- the vehicle behavior is suppressed when the frequency when the vehicle behavior changes is higher than the predetermined frequency by extracting the vibration component by removing the steady component by high-pass filter processing for the vehicle behavior. To produce. Therefore, if the vehicle behavior changes slowly, the sound field is not changed.
- the suppression of the vehicle behavior can be effectively produced only when the change in the vehicle behavior is relatively fast and input as vibration.
- the sound field change amount C may be set to zero. As a result, it is possible to suppress the situation where the sound field is unnecessarily controlled and the driver feels uncomfortable.
- the speakers 23LFL to 23LRR and 23UFL to 23URR correspond to “a plurality of speakers”, and the acoustic control process executed by the controller 21 corresponds to the “sound field control unit”.
- the 6-axis motion sensor 14 corresponds to the “vertical behavior detection unit”.
- effect Next, the effect of the main part in 1st Embodiment is described.
- the controller 21 changes the sound field in the passenger compartment in the direction opposite to the change in vehicle behavior.
- the suppression of the vehicle behavior can be produced. That is, even if the vehicle body behavior actually changes, a sense (impression) that the vehicle behavior is suppressed can be given to the occupant, and the riding comfort can be improved.
- the controller 21 changes the sound field by at least one of rotation and displacement of the sound field.
- the sound field in the passenger compartment can be arbitrarily controlled by rotating or displacing the sound field.
- the controller 21 increases the sound field change amount C as the behavior change amount A increases.
- the suppression of vehicle behavior can be effectively produced by increasing the sound field change amount C as the behavior change amount A increases.
- the sound field in the vehicle interior is set in the opposite direction to the change in the vehicle behavior. Change. As described above, the suppression of the vehicle behavior can be effectively produced only when the change in the vehicle behavior is relatively fast and input as vibration.
- the controller 21 changes the sound field in the passenger compartment in the direction opposite to the change in the vehicle behavior when the vehicle behavior changes in the vertical direction. In this way, when the vehicle bounces, the sound field in the passenger compartment is changed in the opposite direction to the bounce, so that even if a bounce occurs, the bodily sensation that the passenger feels is suppressed. A feeling can be given to the occupant.
- the controller 21 drives the plurality of speakers 23 with audio signals capable of stereophonic reproduction for reproducing audio of two or more channels, and changes the volume distribution of each channel. To rotate the sound field.
- the sound field can be easily controlled by rotating the sound field by changing the volume distribution of each channel.
- the controller 21 distributes the volume output from one speaker arranged in the direction of change in vehicle behavior and the volume output from the speaker output from the other speaker.
- the sound field is displaced by changing. As described above, the sound field can be easily controlled by changing the distribution of the sound volume and displacing the sound field.
- the sound field in the passenger compartment is controlled by individually driving a plurality of speakers 23 arranged around the passenger.
- the suppression of the vehicle behavior is produced by changing the sound field in the passenger compartment in the opposite direction to the change in the vehicle behavior.
- the suppression of the vehicle behavior can be produced. That is, even if the vehicle body behavior actually changes, a sense (impression) that the vehicle behavior is suppressed can be given to the occupant, and the riding comfort can be improved.
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- Acoustics & Sound (AREA)
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Abstract
Description
本発明の課題は、乗員の乗心地を向上させることである。
《第1実施形態》
《構成》
先ず、車両用音響制御装置の構成について説明する。
図1は、車両用音響制御装置の構成図である。
車両用音響制御装置は、自動車に搭載されており、音響機器11と、操舵角センサ12と、車輪速センサ13と、6軸モーションセンサ14と、アクセルセンサ15と、マスタバック圧力センサ16と、ナビゲーションシステム17と、サスペンションストロークセンサ18と、コントローラ21と、を備える。
車輪速センサ13は、各車輪の車輪速度VwFL~VwRRを検出する。この車輪速センサ13は、例えばセンサロータの磁力線を検出回路によって検出しており、センサロータの回転に伴う磁界の変化を電流信号に変換してコントローラ21に出力する。コントローラ21は、入力された電流信号から車輪速度VwFL~VwRRを判断する。
アンプ22は、コントローラ21を介して入力される音声信号を増幅してスピーカ23に出力し、また高音域、中音域、低音域の音量を個別に調整したり、ステレオフォニック再生による音量をチャンネルごとに調整したりする。
上記が車両用音響制御装置の構成である。
図2は、第1実施形態における音響制御処理の一例を示すブロック図である。
音響制御処理では、音場変化量設定部71と、音声信号調整指令部72と、を備える。
音場変化量設定部71では、車両挙動を入力し、車両挙動の変化とは反対方向に、車室内の音場を変化させる音場変化量Cを設定する。車両挙動とは、車体の前後方向、横方向、上下方向(バウンス方向)、ロール方向、ピッチ方向、ヨー方向等、任意の車両挙動であり、音場変化量Cについても同様である。本実施形態では、音場変化量Cのうち、例えばヨー方向の成分を音場回転量αとし、水平方向の成分を音場変位量βとして説明する。さらに、音場変位量βのうち、前後方向の成分を音場変位量βxとし、横方向の成分を音場変位量βyとする。
図3は、音場変化量Cの設定に用いるマップの一例である。
このマップによれば、変化量Aが0から正方向に増加するほど、音場変化量Cが0から正方向に増加し、変化量Aが0から負方向に減少するほど、音場変化量Cが0から負方向に減少する。
ここでは、変化量Aについては、0<|A1|<|A2|の関係となるA1及びA2を予め定め、音場変化量Cについては、0<|CMAX|の関係となる最大変化量CMAXを予め定めている。なお、A1は0近傍と見なせる範囲の値に相当し、A2は、通常の車両挙動で比較的早いと見なせる範囲の値に相当する。また、最大変化量CMAXは、車両挙動の各パラメータの周波数に応じて定める。そして、変化量Aの絶対値が0から|A1|の範囲にあるときには、音場変化量Cが0を維持する。また、変化量Aの絶対値が|A1|から|A2|の範囲にあるときには、変化量Aが速いほど、音場変化量Cが0から最大変化量CMAXの範囲で大きくなる。また、変化量Aの絶対値が|A2|よりも大きいときには、音場変化量Cが最大変化量CMAXを維持する。
このマップは、前述した図4のマップをベースにし、変化量Aの絶対値が増加から減少に転じるときに、ヒステリシスを設けたものである。すなわち、変化量Aの絶対値を増加させていた状態から減少させると、増加から減少に転じた時点の音場変化量Cを維持する。そして、変化量Aの絶対値の減少量が予め定めたヒステリシス量(例えばA1)を上回ると、音場変化量Cが減少する。また、変化量Aの絶対値が増加から減少に転じ、0まで減少する前に再び増加に転じたときには、減少から増加に転じた時点の音場変化量Cを維持する。そして、変化量Aの絶対値の増加量が予め定めたヒステリシス量(例えばA1)を上回ると、音場変化量Cが増加する。
また、上記の変化量Aを変化速度や変化加速度に置換し、これら変化速度や変化加速度に応じて音場変化量Cを設定するようにしてもよい。
上記が音場変化量Cの設定である。
先ず、各スピーカ23で音声を出力している音場を、座標原点Oを中心とし、車両挙動の変化とは反対方向にαだけ回転させる音場の回転について説明する。
図6は、平面視の車室空間を模式的に示した図である(音場回転)。
ここでは、前左のスピーカをFLとし、前右のスピーカをFRとし、これらのスピーカFL及びFRから音声を出力している音場を、座標原点Oを中心に、左方向(反時計回り)に角度αだけ回転させる場合について説明する。FL′及びFR′は、角度αだけ回転させたと仮定したスピーカ位置である。元々、前右のスピーカ位置FRから聴こえていた音声を、FR′から聴こえるようにするには、先ずベクトルOFR′を、ベクトルOFRとベクトルOFLとに分解する。そして、これらベクトルOFR及びベクトルOFLの大きさの割合に応じて、スピーカFRから出力していた音声を、スピーカFL及びFRに分配し合成する。他のスピーカも同様に分解してから、他のスピーカに分配して合成する。こうして音声信号を調整する駆動指令を生成して出力する。
図7は、平面視の車室空間を模式的に示した図である(音場変位)。
ここでは、前左のスピーカをFLとし、前右のスピーカをFRとし、後左のスピーカをRLとし、後右のスピーカをRRとし、これらのスピーカFL~RRから音声を出力している音場中心を点P1から点P2まで変位させる場合について説明する。ここで、点P2は車幅方向に沿って点P1から車体左側にβyだけ移動させた位置であり、且つ前後方向に沿って点P1から車体後側にβxだけ変位させた位置である。
すなわち、音場中心を、車体後側にβxだけ変位させる場合には、前側のスピーカFL及びFRから出力する音量を相対的に減少させ、且つ後側のスピーカRL及びRRから出力する音量を相対的に増加させる。ここでは、前側のスピーカFL及びFRから出力する音量を実線で示し、後側のスピーカRL及びRRから出力する音量を破線で示す。このとき、前側の減少量と後側の増加量とは、同じでもよいし異なっていてもよい。
上記がブロック図に基づく音響制御処理である。
図8は、第1実施形態における音響制御処理の一例を示すフローチャートである。
先ずステップS501では、車速Vを検出する。
続くステップS502では、例えば車速Vの周波数にハイパスフィルタ処理を施す。ハイパスフィルタ処理のカットオフ周波数は例えば0.3Hz程度である。この処理では、車速Vの定常成分を除去し、変化する車両挙動を抽出できればよい。
続くステップS504では、横方向加速度Gyを検出する。
続くステップS505では、横方向加速度Gyの周波数にハイパスフィルタ処理を施す。ハイパスフィルタ処理のカットオフ周波数は例えば0.3Hz程度である。この処理では、横方向加速度Gyの定常成分を除去し、変化する車両挙動を抽出できればよい。
続くステップS506では、横方向加速度Gyに対する二回の積分演算により、車両挙動における横方向の変化量Ayを算出する。
続くステップS508では、各車輪のサスペンションストロークに基づいて、ロール角φx、ピッチ角φy、バウンスSzを算出する。
続くステップS509では、ロール角φx、ピッチ角φy、バウンスSzの周波数にハイパスフィルタ処理を施す。ハイパスフィルタ処理のカットオフ周波数は例えば0.3Hz程度である。この処理では、ロール角φx、ピッチ角φy、バウンスSzの定常成分を除去し、変化する車両挙動を抽出できればよい。
続くステップS511では、ヨーレートγの周波数にハイパスフィルタ処理を施す。ハイパスフィルタ処理のカットオフ周波数は例えば0.3Hz程度である。この処理では、ヨーレートγの定常成分を除去し、変化する車両挙動を抽出できればよい。
続くステップS512では、ヨーレートγの積分演算により、車両挙動におけるヨー方向の変化量Aγを算出する。
続くステップS514では、各スピーカ23で音声を出力している音場を、座標原点Oを中心とし、車両挙動の変化とは反対方向にCだけ変化させるために、音声信号を調整する駆動指令を生成する。
続くステップS515では、音声信号を調整する駆動指令をアンプ22に出力してから所定のメインプログラムに復帰する。
上記がフローチャートに基づく音響制御処理である。
次に、第1実施形態の作用について説明する。
本実施形態では、平面視で乗員の周囲を囲むように、複数のスピーカ23を配置しており、これら複数のスピーカ23で、2チャンネル以上の音声をステレオフォニック再生している。そして、車両挙動が変化する際に、車両挙動とは反対方向に、車室内の音場を変化させる。具体的には、各チャンネルの音量配分を変化させることにより、音場を回転させたり、変位方向に並んだ一方のスピーカで出力している音量と、他方のスピーカで出力している音量との配分を変化させることにより、音場中心を変位させたりする。
ここでは、車両の加減速挙動が変化する場合について説明する。
車両の加減速挙動は、アクセル操作やブレーキ操作等、運転者の加減速操作に応じて変化する。ここでは、車速Vに対するハイパスフィルタ処理を行うことにより、定常成分を除去し、振動成分を抽出した状態を示す。このときの振動成分を積分し、変位量に換算したものが挙動変化量となる。そして、この挙動変化量の符号(正負)を反転させた音場変化量に応じて、音場を変化させる。このように、車両挙動とは反対方向に、車室内の音場を変化させることにより、実際の車両挙動(点線図示)に対して、乗員の感じる体感挙動(実線図示)を抑制することができる。
ここでは、車両のバウンス挙動が変化する場合について説明する。
車両のバウンス挙動は、路面の凹凸や起伏に応じて変化する。実際のバウンス挙動は、路面の凹凸や起伏に応じて上下方向に変化するが、所謂スカイフック制御のように、音場中心を一定の高さに維持する。これにより、実際の車両挙動(実線図示)には、バウンスが生じていても、乗員の感じる体感挙動(点線図示)では、バウンスが抑制されているような感覚(印象)を乗員に与えることができる。
また、車両挙動に対するハイパスフィルタ処理により、定常成分を除去することで、振動成分を抽出することにより、車両挙動が変化するときの周波数が、予め定めた周波数よりも高いときに、車両挙動の抑制を演出する。したがって、車両挙動の変化がゆっくりであれば、音場を変化させない。このように、車両挙動の変化が比較的早く、振動として入力されるときだけ、車両挙動の抑制を効果的に演出することができる。
また、車両挙動の変化が、予め定めた変化量よりも少なかったり、予め定めた継続時間よりも短かったりしたときには、音場変化量Cを0としてもよい。これにより、不必要に音場の制御がなされ、運転者に違和感を与えるといった事態を抑制することができる。
《効果》
次に、第1実施形態における主要部の効果を記す。
(1)本実施形態の車両用音響制御装置では、乗員の周囲に配置された複数のスピーカ23と、複数のスピーカ23を個別に駆動することで車室内の音場を制御するコントローラ21と、を備える。コントローラ21は、車両挙動の変化とは反対方向に、車室内の音場を変化させる。
このように、車両挙動の変化とは反対方向に、車室内の音場を変化させることにより、車両挙動の抑制を演出することができる。すなわち、実際には車体挙動に変化が生じていても、車両挙動が抑制されているような感覚(印象)を乗員に与えることができ、乗心地を向上させることができる。
このように、音場を回転させたり変位させたりすることで、車室内の音場を任意に制御することができる。
このように、挙動変化量Aが大きいほど、音場変化量Cを大きくすることにより、車両挙動の抑制を効果的に演出することができる。
このように、車両挙動の変化が比較的早く、振動として入力されるときだけ、車両挙動の抑制を効果的に演出することができる。
このように、車両がバウンスするときに、バウンスとは反対方向に車室内の音場を変化させることで、バウンスが生じていても、乗員の感じる体感挙動では、バウンスが抑制されているような感覚を乗員に与えることができる。
このように、各チャンネルの音量配分を変化させて音場を回転させることにより、音場の制御を容易に行うことができる。
このように、音量の配分を変化させて音場を変位させることにより、音場の制御を容易に行うことができる。
このように、車両挙動の変化とは反対方向に、車室内の音場を変化させることにより、車両挙動の抑制を演出することができる。すなわち、実際には車体挙動に変化が生じていても、車両挙動が抑制されているような感覚(印象)を乗員に与えることができ、乗心地を向上させることができる。
ここでは、限られた数の実施形態を参照しながら説明したが、権利範囲はそれらに限定されるものではなく、上記の開示に基づく実施形態の改変は、当業者にとって自明のことである。
12 操舵角センサ
13 車輪速センサ
14 6軸モーションセンサ
15 アクセルセンサ
16 マスタバック圧力センサ
17 ナビゲーションシステム
18 サスペンションストロークセンサ
21 コントローラ
22 アンプ
23 スピーカ
71 音場変化量設定部
72 音声信号調整指令部
Claims (7)
- 乗員の周囲に配置された複数のスピーカと、
前記複数のスピーカを個別に駆動することで車室内の音場を制御する音場制御部と、
車両挙動の上下方向の変化量を検出する上下挙動検出部と、を備え、
前記音場制御部は、
前記上下挙動検出部にて検出した車両挙動の上下方向の変化量に応じて、前記車両挙動の変化方向と反対方向に、車室内の音場を変化させることを特徴とする車両用音響制御装置。 - 前記音場制御部は、
音場の回転及び変位の少なくとも一方により、音場を変化させることを特徴とする請求項1に記載の車両用音響制御装置。 - 前記音場制御部は、
車両挙動の変化量が大きいほど、音場の変化量を大きくすることを特徴とする請求項1又は2に記載の車両用音響制御装置。 - 前記音場制御部は、
車両挙動が変化するときの周波数が、予め定めた周波数よりも高いときに、車両挙動の変化とは反対方向に、車室内の音場を変化させることを特徴とする請求項1~3の何れか一項に記載の車両用音響制御装置。 - 前記音場制御部は、
2チャンネル以上の音声を再生するステレオフォニック再生が可能な音声信号によって前記複数のスピーカを駆動し、各チャンネルの音量配分を変化させることにより、音場を変化させることを特徴とする請求項2~4の何れか一項に記載の車両用音響制御装置。 - 前記音場制御部は、
車両挙動の変化方向に並んだ一方の前記スピーカから出力する音量と、他方の前記スピーカから出力する音量との配分を変化させることにより、音場を変化させることを特徴とする請求項2~5の何れか一項に記載の車両用音響制御装置。 - 乗員の周囲に配置した複数のスピーカを個別に駆動することで車室内の音場を制御するものであり、
車両挙動の上下方向の変化量を検出し、車両挙動の上下方向の変化量に応じて、車両挙動の変化方向と反対方向に、車室内の音場を変化させることを特徴とする車両用音響制御方法。
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- 2014-04-23 JP JP2015513571A patent/JP5958648B2/ja not_active Expired - Fee Related
- 2014-04-23 WO PCT/JP2014/002291 patent/WO2014174841A1/ja active Application Filing
- 2014-04-23 EP EP14787629.6A patent/EP2991385A4/en not_active Withdrawn
- 2014-04-23 US US14/786,396 patent/US20160073214A1/en not_active Abandoned
- 2014-04-23 CN CN201480023348.0A patent/CN105144755A/zh active Pending
Patent Citations (4)
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JPS60106855U (ja) * | 1983-12-27 | 1985-07-20 | 本田技研工業株式会社 | 車内車外両用スピ−カを有する自動車用ステレオ装置 |
JP2004312355A (ja) * | 2003-04-07 | 2004-11-04 | Yamaha Corp | 音場制御装置 |
WO2006006553A1 (ja) * | 2004-07-14 | 2006-01-19 | Matsushita Electric Industrial Co., Ltd. | 報知装置 |
JP4305333B2 (ja) | 2004-08-30 | 2009-07-29 | トヨタ自動車株式会社 | 音場制御装置及びその方法 |
Non-Patent Citations (1)
Title |
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See also references of EP2991385A4 |
Also Published As
Publication number | Publication date |
---|---|
US20160073214A1 (en) | 2016-03-10 |
CN105144755A (zh) | 2015-12-09 |
JP5958648B2 (ja) | 2016-08-02 |
JPWO2014174841A1 (ja) | 2017-02-23 |
EP2991385A4 (en) | 2016-04-13 |
EP2991385A1 (en) | 2016-03-02 |
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