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WO2018198150A1 - System for recognizing an emergency vehicle from the sound emitted from a siren of said emergency vehicle and method thereof - Google Patents

System for recognizing an emergency vehicle from the sound emitted from a siren of said emergency vehicle and method thereof Download PDF

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Publication number
WO2018198150A1
WO2018198150A1 PCT/IT2018/050072 IT2018050072W WO2018198150A1 WO 2018198150 A1 WO2018198150 A1 WO 2018198150A1 IT 2018050072 W IT2018050072 W IT 2018050072W WO 2018198150 A1 WO2018198150 A1 WO 2018198150A1
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WIPO (PCT)
Prior art keywords
predetermined
spectrum
energy
frequency
tone
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PCT/IT2018/050072
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French (fr)
Inventor
Fabrizio Venturini
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GUIDOSIMPLEX Srl
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GUIDOSIMPLEX Srl
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Publication date
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Priority to EP18725929.6A priority Critical patent/EP3615381A1/en
Publication of WO2018198150A1 publication Critical patent/WO2018198150A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
    • G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination

Definitions

  • the present invention relates to a system for recognizing an emergency vehicle from the sound emitted from a siren of said emergency vehicle.
  • the present invention relates to the structure of a system to be installed on board of a vehicle, such as a car or a motorbike, that allows to recognize an emergency vehicle which is approaching and to display the name of the type of the emergency vehicle on a display present on said vehicle.
  • a vehicle such as a car or a motorbike
  • the driver of the vehicle (on which said system is installed) is made aware of the fact that an emergency vehicle is nearby.
  • This system has been designed to support people who are deaf when they are driving a motor vehicle.
  • said system can be used by hearing people, with the same advantages.
  • siren By siren a siren having predetermined acoustic characteristics, defined by respective ministerial decrees depending on the emergency vehicle, is intended.
  • the acoustic characteristics of a siren mounted on a police car and a siren mounted on a carabinieri car are defined by a ministerial decree of March 20, 1979 and the acoustic characteristics of a siren mounted on an ambulance and a siren mounted on a fire brigade truck are defined by a ministerial decree of 17 October
  • each siren emits two tones in sequence: a first tone at a predetermined first fundamental frequency and a second tone at a second predetermined fundamental frequency.
  • Said systems of known type include a microphone for receiving a sound emitted by a siren, a logic control unit, connected to said microphone and configured to compare the sound spectrum of the sound, received from said microphone with predetermined sound spectra of sound emitted by respective sirens, and an optical and/or acoustic warning device connected to said control logic unit.
  • a second disadvantage is given by the fact that said optical and/or acoustic warning device of said systems of known type can generate an alarm signal, also due to noises and/or sounds that are not generated by a siren.
  • a further disadvantage is given by the fact that said microphone is subjected to interferences and environmental electrical noises which reduce the signal/noise ratio and hence the sensitivity of the system.
  • the object of the present invention is to overcome said disadvantages by providing a system, to be installed on a vehicle, configured to recognize an emergency vehicle from the sound emitted by the siren mounted on the emergency vehicle itself and to display the name of said emergency vehicle on displaying means, so as to allow the driver of said vehicle to know what type of emergency vehicle is nearby.
  • a first microphone for converting a sound signal emitted by said siren of said emergency vehicle to a first analog electrical signal, where said first microphone is connectable at a first point on a first side of a vehicle,
  • a second microphone for converting said sound signal emitted by said siren of said emergency vehicle to a second analog electrical signal, where said second microphone is connectable to a second point of a second side of said vehicle, opposite to said first side, where said second point is in a symmetrical position with respect to a longitudinal axis of said vehicle,
  • - displaying means configured for displaying at least one information concerning the name of said predetermined emergency vehicle associated with a predetermined siren
  • a logic control unit connected to said first digital analog converter and said second digital analog converter, as well as to said database and said displaying means, configured to:
  • ⁇ a further second comparison between the height of the highest peak of a further first spectrum in the time domain, referred to the further portion of said first digital signal, with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain, referred to the further portion of said second digital signal, with the height of each peak of said further second spectrum in the time domain, different from the highest peak, if said second energy is greater than said first energy
  • said logic control unit can configured to:
  • said logic control unit can be configured to:
  • o calculate the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy, o identify the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy.
  • said logic control unit can be configured to:
  • said logic control unit can be configured to:
  • o verify if the calculated frequency corresponds to a predetermined first frequency of a predetermined first tone or to a predetermined second frequency of a predetermined second tone, except for a predetermined error.
  • said logic control unit can be configured to:
  • said logic control unit can be configured to:
  • said logic control unit can be configured to: o calculate the frequency at said highest peak of said further first spectrum in the time domain, if the height of said highest peak of said further first spectrum in the time domain exceeds a predetermined factor the height of each peak of said further first spectrum in the time domain, different from said highest peak, or the frequency at said highest peak of said further second spectrum in the time domain, if the height of said highest peak of said further second spectrum in the time domain exceeds a predetermined factor the height of each peak of said further second spectrum in the time domain, different from said highest peak.
  • said logic control unit can be configured to:
  • o verify if the calculated frequency, except for a predetermined further error, corresponds to a predetermined first frequency of a predetermined first tone of said at least one predetermined siren, when the predetermined second tone has been identified in said first time window, or to a predetermined second frequency of a predetermined second tone, when the predetermined first tone has been identified in said first time window.
  • said system can comprise a first programmable digital amplifier for equalizing said first digital signal, connected to said first digital analog converter and said control logic unit, and a second programmable digital amplifier for equalizing said second digital signal, connected to said second digital analog converter and said control logic unit.
  • said first digital analog converter can be arranged within a first Bluetooth transmission module and said second digital analog converter can be arranged within a second Bluetooth transmission module and said system can comprise a Bluetooth receiving module, connected to said first Bluetooth transmission module and to said second Bluetooth transmission module and to said logic control unit.
  • said Bluetooth receiving module can be connected to said control logic unit via said first programmable digital amplifier and said second programmable digital amplifier.
  • said logic control unit is configured to:
  • o send to said displaying means a first signal containing the information concerning a first arrival direction of said emergency vehicle with respect to said vehicle, when said first energy is greater than said second energy of a predetermined first factor, or a second signal containing information concerning a second arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise send a third signal containing the information concerning a third arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction and said second arrival direction.
  • said displaying means can be configured to display a further information concerning to said first arrival direction or said second arrival direction or said third arrival direction
  • step 6 of said method can comprise the following substeps:
  • step 7) of said method can comprise the following substeps:
  • step 8) of said method can comprise the following substep:
  • step 9) of said method can comprise the following substep:
  • step 1 1 of said method can comprise the following substeps:
  • step 12) of said method can comprise the following substeps:
  • step 13) can comprise the following substep:
  • the step 14) of said method can comprise the following substep:
  • step 9A if the calculated frequency does correspond to neither a predetermined first frequency of a predetermined first tone nor a predetermined second frequency of a predetermined second tone, except for a predetermined error, said method can perform the steps from 5) to 9) referred to said second time window.
  • step 14 if the calculated frequency corresponds, except for a predetermined further error, to said predetermined first frequency of said predetermined first tone, when said predetermined first tone of said at least one predetermined siren has been identified in said first time window, or to said predetermined second frequency of said predetermined second tone, when said predetermined second tone of said at least one predetermined siren has been identified in said first time window, said method can perform the steps from 10) to 14) in a third time window, following said second time window.
  • said method can comprise the following step: - displaying a further information concerning a first arrival direction of said emergency vehicle with respect to said vehicle, when said first energy is greater than said second energy of a predetermined first factor, or a further information containing information concerning a second arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise displaying a further information concerning a third arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction and said second arrival direction.
  • said first microphone can be connected to a first rear-view mirror of said vehicle, and said second microphone can be connected to a second rear-view mirror of said vehicle.
  • Figure 1 is a schematic view of the system, object of the invention
  • Figure 2 shows a table which shows the unique identification codes of a plurality of predetermined dual-tone sirens associated with a respective predetermined emergency vehicle, as well as the predetermined first frequency associated with a predetermined first tone and the predetermined second frequency associated with a predetermined second tone,
  • Figure 3 shows a moving car on which the system of Figure 1 is installed when a sound signal is picked up by the two microphones of the system, each of which is connected to a respective rear-view mirror of said car,
  • Figure 4 shows a portion of a first analog sound signal emitted by a siren of a police car, referred to a first tone of said siren, picked up by a first microphone of said system;
  • Figure 5 shows a first spectrum in the frequency domain of a portion of the first sound signal of Figure 4 obtained by means of a Fourier transform
  • Figure 6 shows a portion of a second analog sound signal emitted by a siren of a police car, referred to a first tone of said siren, picked up by a second microphone of said system;
  • Figure 7 shows a second spectrum in the frequency domain of a portion of the second sound signal of Figure 6 obtained by means of a Fourier transform
  • Figure 8 shows a first spectrum in the time domain referred to the portion of the first sound signal of Figure 5 obtained by means of a cepstral analysis
  • Figure 9 shows a portion of a first analog sound signal emitted by a siren of a police car, referring to a second tone of said siren, picked up by a first microphone of said system;
  • Figure 10 shows a further first spectrum in the frequency domain of a portion of the first sound signal of Figure 9 obtained by means of a Fourier transform
  • Figure 1 1 shows a portion of a second analog sound signal emitted by a siren of a police car, referred to a second tone of said siren, picked up by a second microphone of said system;
  • Figure 12 shows a further second spectrum in the frequency domain of a portion of the second sound signal of Figure 1 1 obtained by means of a Fourier transform
  • Figure 13 shows a further first spectrum in the time domain of the sound signal portion of Figure 10 obtained by means of a cepstral analysis.
  • a system installable on board of a vehicle V, configured to recognize an emergency vehicle EV from the sound signal emitted from a siren S of said emergency vehicle EV.
  • Said system comprises:
  • a first preamplifier 2A for amplifying said first analog electrical signal, connected to said first microphone 1 A,
  • - displaying means 6 configured for displaying at least one information concerning the name of said predetermined emergency vehicle EV , EV 2 . . . EV N associated with a predetermined siren S-i , S 2 . . .SN,
  • said system comprises:
  • a logic control unit 5 connected to said first digital analog converter 3A and said second digital analog converter 3B, as well as to said database 10 and said displaying means 6, configured to:
  • ⁇ a further second comparison between the height of the highest peak of a further first spectrum in the time domain, referred to the further portion of said first digital signal, with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain, referred to the further portion of said second digital signal, with the height of each peak of said further second spectrum in the time domain, different from the highest peak, if said second energy is greater than said first energy
  • said logic control unit 5 is configured to:
  • said logic control unit 5 is configured to:
  • o calculate the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy, o identify the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy,
  • said logic control unit 5 is configured to:
  • said logic control unit is configured to: o verify if the calculated frequency fp-i , fp corresponds to a predetermined first frequency fn ,fi2 - - -fi N of a predetermined first tone T1 , except for a predetermined error (preferable plus or minus 5% with respect to each predetermined first frequency) or to a predetermined second frequency f2i ,f22 - f2N of a predetermined second tone T2, except for a predetermined error (preferable plus or minus 5% with respect to each predetermined first frequency).
  • said logic control unit is configured to:
  • said logic control unit 5 is configured to:
  • o calculate the inverse Fourier transform of the logarithm of said further first spectrum in the frequency domain referred to said further portion of said first digital signal to obtain said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the inverse Fourier transform of the logarithm of said further second spectrum in the frequency domain referred to said further portion of said second digital signal to obtain said further second spectrum in the time domain, if said further second energy is greater than said further first energy, o identify the highest peak of said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the highest peak of said further second spectrum in the time domain, if said further second energy is greater than said further first energy.
  • said logic control unit is configured to:
  • said logic control unit 5 is configured to:
  • o verify if the calculated frequency fp 2 , fp2', except for a predetermined further error (preferable plus or minus 5% with respect to each predetermined first frequency), corresponds to a predetermined first frequency fn ,fi2 - - -fi N of a predetermined first tone T1 of said at least one predetermined siren S I ,S 2 ...SN, when the predetermined second tone T2 has been identified in said first time window, or to a predetermined second frequency f2i ,f22 - - -f2N of a predetermined second tone T2, when the predetermined first tone T1 has been identified in said first time window.
  • a predetermined further error preferable plus or minus 5% with respect to each predetermined first frequency
  • the siren S of said emergency vehicle EV is identified with a predetermined siren S I ,S2. . .SN (having a predetermined first tone T1 and a predetermined second tone T2) by means of a first succession of comparisons based on a signal portion of a first digital signal and a signal portion of a second digital signal, where said signal portions are registered in a first time window, and a second succession of further comparisons based on a further signal portion of the first digital signal and a further signal portion of the second digital signal, where said further signal portions are registered in a second time window, following said first time window.
  • said vehicle V is a motor vehicle, in particular a car.
  • each microphone is a unidirectional microphone and has a polar diagram having the shape of a cardioid.
  • said first microphone 1 A is connectable at a first point on a first side of said car
  • second microphone 1 B is connectable to a second point of a second side of said car, opposite said first side, where said second point is in a symmetrical position with respect to a longitudinal axis L of said car.
  • said first microphone 1 A is connectable to a first rear-view mirror of said car
  • said second microphone 1 B is connectable to a second rear-view mirror of said car.
  • each preamplifier is an electronic circuit configured to receive analog signals having a low power and to generate as output amplified signals having a sufficient power to be accepted by the respective digital analog converter 3A, 3B.
  • each digital analog converter converts in digital form a respective analog signal preamplified by the respective preamplifier 2A, 2B.
  • the system comprises a first programmable digital amplifier 4A and a second programmable digital amplifier 4B, each of which is connected respectively to the output of the first digital analog converter 3A and to the output of the second converter analog digital 3B, and is configured to amplify the digital signal output from the respective digital analog converter 3A, 3B by a respective predetermined amplification factor in order to equalize the signals coming from a respective microphone 1 A, 1 B.
  • each digital analog converter can be respectively arranged within a first Bluetooth transmission module and a second Bluetooth transmission module and the system can comprise a Bluetooth receiving module, connected to said first Bluetooth transmission module and to said second Bluetooth transmission module, as well as to said logic control unit 5.
  • Said Bluetooth receiving module can be connected directly to said control logic unit 5 or via said first programmable digital amplifier 4A and said second programmable digital amplifier 4B.
  • said displaying means comprise a display.
  • Said display can be a display of known type, of which a car can be provided.
  • Figure 2 is a table which shows the data stored in a database 10 to which said logic control unit 5 is connected: the unique identification code of a predetermined siren SI ,S 2 .. .SN associated to a respective predetermined emergency vehicle EV ,EV 2 ...EV N , as well as the predetermined first frequency fn ,fi2 - - -fi N of a respective first tone T1 and the predetermined second frequency f2i ,f22- - -f2N of a respective second tone T2 of each predetermined siren SI ,S 2 .. .SN.
  • the system, object of the invention is installable on board of a vehicle V.
  • said vehicle V is a motor vehicle, in particular a car (as above said), and said emergency vehicle EV is a police car.
  • said car is of the type having a first rear-view mirror or right rear-view mirror RDX and a second rear-view mirror or left rear-view mirror Rsx.
  • said system can be installed on board of a motorbike or an electric vehicle, without departing from the scope of the invention.
  • the siren of the car police is a dual-tone siren.
  • the frequency of a first tone is 622 Hz and the frequency of a second tone is 466 Hz.
  • Figure 3 shows a car in the direction of travel and a police car nearby.
  • the first microphone 1 A is connected to the right rear-view mirror RDX and the second microphone 1 B is connected to the left rear-view mirror R S x.
  • each microphone 1 A,1 B is a directional microphone having a respective polar diagram with the shape of a cardioid.
  • a microphone with a cardiod-shaped polar diagram picks up the sound coming from the frontal zone, with a sensitivity that gradually decreases towards the sides until drastically decreasing in the back zone.
  • the direction of maximum sensitivity is perpendicular to a respective side of the car and is indicated by a respective arrow.
  • each microphone allows a clear differentiation of the intensity of the signals picked up by the microphones themselves depending on the position of the sound source with respect to the longitudinal axis L of the car.
  • Figure 4 shows a portion of a first analog signal referred to a first tone of 622 Hz of the siren S of the police car, picked up by the first microphone 1 A.
  • Figure 5 shows the first spectrum in the frequency domain of a portion of a first digital signal which is received by said logic control unit 5.
  • Said first spectrum in the frequency domain is obtained by a Fourier transform, preferably a fast Fourier transform.
  • Figure 6 shows a portion of a second analog signal referred to a first tone of 622Hz of the siren of the police car, picked up by the second microphone 1 B.
  • Figure 7 shows the second spectrum in the frequency domain of a portion of a second digital signal which is received by said logic control unit 5.
  • Figure 8 shows the first spectrum in the time domain of a portion of said first digital signal, obtained by a Fourier inverse transform of the logarithm of said spectrum in the frequency domain.
  • the energy of the first signal is compared with the energy of the second signal.
  • the inverse Fourier transform of the logarithm of said spectrum in the frequency domain is performed on the signal having the highest energy.
  • the cepstral analysis is performed on the signal having the highest energy. From the cepstral analysis it is possible to obtain the value of the fundamental frequency of said first tone, with a predetermined error.
  • the signal with greater energy is the first signal and consequently the cepstral analysis is performed on said first signal.
  • said first spectrum in the time domain has a plurality of peaks.
  • the highest peak is substantially at a value of about 0,0016s.
  • the frequency fpi (equal to the inverse of the time) is about 625 Hz.
  • this frequency fpi is within a predetermined range of values centered at 622Hz (i.e. the value of the first frequency of the first tone of the siren).
  • said frequency fpi corresponds to the first frequency of the first tone of the siren of the police car.
  • Figure 9 shows a portion of a first analog signal referred to a second tone of 466 Hz of the siren of the police car, picked up by the first microphone 1 A.
  • Figure 10 shows a further first spectrum in the frequency domain of a portion of a first digital signal which is received by said logic control unit 5.
  • Said further first spectrum in the frequency domain is obtained by a Fourier transform, preferably a fast Fourier transform.
  • Figure 1 1 shows a portion of a second analog signal referred to a second tone of 466 Hz of the siren of the police car, picked up by the second microphone 1 B.
  • Figure 12 shows a further second spectrum in the frequency domain of a portion of a second digital signal which is received by said logic control unit 5.
  • Figure 13 shows a further first spectrum in the time domain of a portion of said first digital signal, obtained by a Fourier inverse transform of the logarithm of said spectrum in the frequency domain.
  • the energy of the first signal is compared with the energy of the second signal.
  • the inverse Fourier transform of the logarithm of said spectrum in the frequency domain is performed on the signal having the highest energy.
  • the signal having the highest energy is the first signal.
  • said first spectrum in the time domain has a plurality of peaks.
  • the highest peak is substantially at a value of about 0,0021 s.
  • the frequency fp (equal to the inverse of time) is about 476 Hz.
  • this frequency fp is within a predetermined range of values centered at 466Hz (i.e. the value of the frequency of the second tone of the siren).
  • said logic control unit 5 is configured to:
  • o send to said displaying means 6 a first signal containing the information concerning a first arrival direction of said emergency vehicle EV with respect to said vehicle V, when said first energy is greater than said second energy of a predetermined first factor, or a second signal containing information concerning a second arrival direction of said emergency vehicle EV with respect to said vehicle V, different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise send a third signal containing the information concerning a third arrival direction of said emergency vehicle EV with respect to said vehicle V, different from said first arrival direction and said second arrival direction.
  • said first arrival direction refers to the right direction (i.e. the emergency vehicle is to the right of the vehicle)
  • said second arrival direction refers to the left direction (i.e. the emergency vehicle is to the left of the vehicle)
  • said third arrival direction refers to the central direction (i.e. the emergency vehicle is behind the vehicle.
  • said predetermined first factor and said predetermined second factor can be expressed as a multiplication factor.
  • said multiplication factor may be a number greater than or equal to 2.
  • said displaying means 6 are configured to display a further information concerning said first arrival direction or said second arrival direction or said third arrival direction.
  • the present invention also relates to a method for recognizing an emergency vehicle EV provided with a siren S.
  • Said method comprises the following steps:
  • step 6 comprises the following substeps:
  • step 7 comprises the following substeps:
  • step 8 comprises the following substep:
  • the step 9) comprises the following substep:
  • step 1 1 comprises the following substeps:
  • step 12 comprises the following substeps:
  • step 13 comprises the following substep:
  • the step 14 comprises the following substep:
  • step 9A if the calculated frequency fpi ,fp does correspond to neither a predetermined first frequency fn ,fi2 - - -fi N of a predetermined first tone T1 nor a predetermined second frequency f2i ,f22 - ⁇ -f2N of a predetermined second tone T2, except for a predetermined error, said method performs the steps from 5) to 9) referred to said second time window.
  • step 14 if the calculated frequency fp2,fp2' corresponds, except for a predetermined further error, to said predetermined first frequency fn ,fi2 - - -fi N of said predetermined first tone T1 , when said predetermined first tone T1 of said at least one predetermined siren SI ,S 2 ...SN has been identified in said first time window, or to said predetermined second frequency f2i ,f22 - ⁇ -f2N of said predetermined second tone T2, when said predetermined second tone T2 of said at least one predetermined siren SI ,S 2 .. .SN has been identified in said first time window, said method performs the steps from 10) to 14) in a third time window, following said second time window.
  • said first microphone 1 A can be connected to a first rear-view mirror or right rear-view mirror RDX of said vehicle V
  • said second microphone 1 B can be connected to a second rear-view mirror or left rear-view mirror R S x of said vehicle V.
  • object of the invention it is possible to recognize an emergency vehicle from the sound of its siren.
  • a second advantage is given by the fact that, by means of said system, it is possible to identify also the arrival direction of said emergency vehicle with respect to the vehicle on which said is installed.

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  • Mechanical Engineering (AREA)
  • Computational Linguistics (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
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  • Physics & Mathematics (AREA)
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Abstract

The present invention relates to a system for recognizing an emergency vehicle (EV) from the sound emitted from the siren (S) of the emergency vehicle itself. Said system comprises a database in which the following data are stored: one or more predetermined sirens (S1,S2...SN), associated with a respective predetermined emergency vehicle (EV1,EV2...EVN), one or more predetermined first frequencies (f11,f12 - - -f1N) of a respective predetermined first tone (T1 ) associated with a respective predetermined siren (S-I,S2...SN), one or more predetermined second frequencies (f21,f22 - - -f2N) of a respective predetermined second tone (T2) associated with a respective predetermined siren (S1,S2...SN). The siren (S) of said emergency vehicle (EV) is identified with a predetermined siren (S1,S2...SN) by means of a first succession of comparisons based on a portion of a first digital signal and a portion of a second digital signal, registered in a first time window, and a second succession of further comparisons based on a further portion of the first digital signal and a further portion of the second digital signal, registered in a second time window, following said first time window: a comparison between energies, a comparison between peaks belonging to a same spectrum in the time domain, a comparison between the frequency at the highest peak of said spectrum in the time domain and the frequency of a predetermined tone (T1,T2) of the siren (S) of said emergency vehicle (EV). The present invention also relates to a method for recognizing an emergency vehicle (EV) from the sound emitted from the siren (S) of the emergency vehicle itself.

Description

SYSTEM FOR RECOGNIZING AN EMERGENCY VEHICLE FROM THE SOUND EMITTED FROM A SIREN OF SAID EMERGENCY VEHICLE
AND METHOD THEREOF The present invention relates to a system for recognizing an emergency vehicle from the sound emitted from a siren of said emergency vehicle.
In particular, the present invention relates to the structure of a system to be installed on board of a vehicle, such as a car or a motorbike, that allows to recognize an emergency vehicle which is approaching and to display the name of the type of the emergency vehicle on a display present on said vehicle.
Advantageously, the driver of the vehicle (on which said system is installed) is made aware of the fact that an emergency vehicle is nearby.
This system has been designed to support people who are deaf when they are driving a motor vehicle.
However, this system can be used by hearing people, with the same advantages.
However, said system can be used by hearing people, with the same advantages.
By emergency vehicle a police car, a carabinieri car, an ambulance, a fire brigade truck is intended.
By siren a siren having predetermined acoustic characteristics, defined by respective ministerial decrees depending on the emergency vehicle, is intended.
For example, at national level, the acoustic characteristics of a siren mounted on a police car and a siren mounted on a carabinieri car are defined by a ministerial decree of March 20, 1979 and the acoustic characteristics of a siren mounted on an ambulance and a siren mounted on a fire brigade truck are defined by a ministerial decree of 17 October
1980.
In general, each siren emits two tones in sequence: a first tone at a predetermined first fundamental frequency and a second tone at a second predetermined fundamental frequency.
Currently, systems to recognize if a sound is emitted by a siren are known.
Said systems of known type include a microphone for receiving a sound emitted by a siren, a logic control unit, connected to said microphone and configured to compare the sound spectrum of the sound, received from said microphone with predetermined sound spectra of sound emitted by respective sirens, and an optical and/or acoustic warning device connected to said control logic unit.
However, a first disadvantage of said systems of known type is given by the fact that they are not able to recognize whether the sound emitted by said siren is the sound emitted by a siren mounted on a specific type of emergency vehicle.
A second disadvantage is given by the fact that said optical and/or acoustic warning device of said systems of known type can generate an alarm signal, also due to noises and/or sounds that are not generated by a siren.
A further disadvantage is given by the fact that said microphone is subjected to interferences and environmental electrical noises which reduce the signal/noise ratio and hence the sensitivity of the system.
The object of the present invention is to overcome said disadvantages by providing a system, to be installed on a vehicle, configured to recognize an emergency vehicle from the sound emitted by the siren mounted on the emergency vehicle itself and to display the name of said emergency vehicle on displaying means, so as to allow the driver of said vehicle to know what type of emergency vehicle is nearby.
It is therefore object of the invention a system for recognizing an emergency vehicle provided a siren, said system comprising:
- a first microphone for converting a sound signal emitted by said siren of said emergency vehicle to a first analog electrical signal, where said first microphone is connectable at a first point on a first side of a vehicle,
- a second microphone for converting said sound signal emitted by said siren of said emergency vehicle to a second analog electrical signal, where said second microphone is connectable to a second point of a second side of said vehicle, opposite to said first side, where said second point is in a symmetrical position with respect to a longitudinal axis of said vehicle,
- a first preamplifier for amplifying said first analog electrical signal, connected to said first microphone,
- a second preamplifier for amplifying said second analog electrical signal, connected to said second microphone,
- a first digital analog converter for converting said first analog electrical signal into a first digital signal, connected to said first preamplifier,
- a second digital analog converter for converting said second analog electrical signal into a second digital signal, connected to said second preamplifier,
- a database in which the following data are stored:
o a respective unique identification code of one or more predetermined sirens, associated with a respective predetermined emergency vehicle,
o one or more predetermined first frequencies of a respective predetermined first tone associated with a respective predetermined siren,
o one or more predetermined second frequencies of a respective predetermined second tone associated with a respective predetermined siren,
- displaying means configured for displaying at least one information concerning the name of said predetermined emergency vehicle associated with a predetermined siren,
- a logic control unit, connected to said first digital analog converter and said second digital analog converter, as well as to said database and said displaying means, configured to:
o receive continuously said first digital signal and said second digital signal,
o record temporarily a portion of said first digital signal in a first time window having a predetermined duration and a portion of said second digital signal in said first time window,
perform the following comparisons for identifying said predetermined first tone or said predetermined second tone:
a first comparison between a first energy of a portion of said first digital signal and a second energy of a portion of said second digital signal,
a second comparison between the height of the highest peak of a first spectrum in the time domain referred to the portion of said first digital signal with the height of each peak of said first spectrum in the time domain, different from said highest peak, if the first energy is greater than or equal to the second energy, or between the height of the highest peak of a second spectrum in the time domain referred to the portion of said second digital signal with the height of each peak of said second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
a third comparison between the frequency at the highest peak of the first spectrum in the time domain or the frequency at the highest peak of the second spectrum in the time domain with each predetermined first frequency of said predetermined first tone and each predetermined second frequency of said predetermined second tone,
record temporarily a further portion of said first digital signal in a second time window, following said first time window, and a further portion of said second digital signal in said second time window, where said second time window is of the same duration as said first time window,
perform the following further comparisons for identifying said predetermined first tone, when said predetermined second tone has been identified in said first time window, or said predetermined second tone, when said predetermined first tone has been identified in said first time window:
a further first comparison between a further first energy of a further portion of said first digital signal and a further second energy of a further portion of said second digital signal,
■ a further second comparison between the height of the highest peak of a further first spectrum in the time domain, referred to the further portion of said first digital signal, with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain, referred to the further portion of said second digital signal, with the height of each peak of said further second spectrum in the time domain, different from the highest peak, if said second energy is greater than said first energy,
■ a further third comparison between the frequency at the highest peak of the further first spectrum in the time domain or the frequency at the highest peak of said further second spectrum in the time domain with each predetermined first frequency of said predetermined first tone and each predetermined second frequency of said predetermined second tone,
o identify the siren of said emergency vehicle with the predetermined siren associated to the predetermined first frequency of said first tone and to predetermined second frequency of said predetermined second tone,
o send to said displaying means a signal containing information concerning the name of said predetermined emergency vehicle associated with said predetermined siren.
In order to perform said first comparison, said logic control unit can configured to:
o perform the Fourier transform of said portion of said first digital signal to obtain said first spectrum in the frequency domain and the Fourier transform of said portion of said second digital signal to obtain a second spectrum in the frequency domain,
o calculate said first energy of said portion of said first digital signal from said first spectrum in the frequency domain, and said second energy of said portion of said second digital signal from said second spectrum in the frequency domain.
In order to perform said second comparison, said logic control unit can be configured to:
o calculate the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy, o identify the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy.
In order to perform said third comparison, said logic control unit can be configured to:
o calculate the frequency at said highest peak of said first spectrum in the time domain, if the height of said highest peak of said first spectrum in the time domain exceeds a predetermined factor the height of each peak of said first spectrum in the time domain, different from said highest peak, or the frequency at said highest peak of said second spectrum in the time domain, if the height of said highest peak of said second spectrum in the time domain exceeds a predetermined factor the height of each peak of said second spectrum in the time domain, different from said highest peak.
In order to identify said predetermined first tone or said predetermined second tone, said logic control unit can be configured to:
o verify if the calculated frequency corresponds to a predetermined first frequency of a predetermined first tone or to a predetermined second frequency of a predetermined second tone, except for a predetermined error.
In order to perform said further first comparison, said logic control unit can be configured to:
o perform the Fourier transform of said further portion of said first digital signal to obtain a further first spectrum in the frequency domain, and the Fourier transform of said further portion of said second digital signal to obtain a further second spectrum in the frequency domain,
o calculate said further first energy of said further portion of said first digital signal from said further first spectrum in the frequency domain, and said further second energy of said further portion of said second digital signal from said further second spectrum in the frequency domain.
In order to perform said further second comparison, said logic control unit can be configured to:
o calculate the inverse Fourier transform of the logarithm of said further first spectrum in the frequency domain referred to said further portion of said first digital signal to obtain said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the inverse Fourier transform of the logarithm of said further second spectrum in the frequency domain referred to said further portion of said second digital signal to obtain said further second spectrum in the time domain, if said further second energy is greater than said further first energy,
o identify the highest peak of said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the highest peak of said further second spectrum in the time domain, if said further second energy is greater than said further first energy.
In order to perform said further third comparison, said logic control unit can be configured to: o calculate the frequency at said highest peak of said further first spectrum in the time domain, if the height of said highest peak of said further first spectrum in the time domain exceeds a predetermined factor the height of each peak of said further first spectrum in the time domain, different from said highest peak, or the frequency at said highest peak of said further second spectrum in the time domain, if the height of said highest peak of said further second spectrum in the time domain exceeds a predetermined factor the height of each peak of said further second spectrum in the time domain, different from said highest peak.
In order to identify said predetermined first tone, when the predetermined second tone has been identified, or said predetermined second tone, when said predetermined first tone has been identified, said logic control unit can be configured to:
o verify if the calculated frequency, except for a predetermined further error, corresponds to a predetermined first frequency of a predetermined first tone of said at least one predetermined siren, when the predetermined second tone has been identified in said first time window, or to a predetermined second frequency of a predetermined second tone, when the predetermined first tone has been identified in said first time window.
Furthermore, said system can comprise a first programmable digital amplifier for equalizing said first digital signal, connected to said first digital analog converter and said control logic unit, and a second programmable digital amplifier for equalizing said second digital signal, connected to said second digital analog converter and said control logic unit.
In particular, said first digital analog converter can be arranged within a first Bluetooth transmission module and said second digital analog converter can be arranged within a second Bluetooth transmission module and said system can comprise a Bluetooth receiving module, connected to said first Bluetooth transmission module and to said second Bluetooth transmission module and to said logic control unit.
More particularly, said Bluetooth receiving module can be connected to said control logic unit via said first programmable digital amplifier and said second programmable digital amplifier.
According to the invention, it is preferable that said logic control unit is configured to:
o send to said displaying means a first signal containing the information concerning a first arrival direction of said emergency vehicle with respect to said vehicle, when said first energy is greater than said second energy of a predetermined first factor, or a second signal containing information concerning a second arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise send a third signal containing the information concerning a third arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction and said second arrival direction.
Consequently, said displaying means can be configured to display a further information concerning to said first arrival direction or said second arrival direction or said third arrival direction
It is also object of the invention a method for recognizing an emergency vehicle provided with a siren, wherein said method comprises the following steps:
1 ) providing a first microphone on a first side of a vehicle and a second microphone on a second side of said vehicle, opposite said first side, in a symmetrical position with respect to a longitudinal axis of said vehicle,
2) converting by said first microphone and said second microphone a sound signal emitted by said siren of said emergency vehicle respectively in a first analog electrical signal and a second analog electrical signal,
3) amplifying said first analog electrical signal and said second analog electrical signal,
4) converting said first analog electrical signal into a first digital signal and said second analog electrical signal into a second digital signal, 5) recording temporarily a portion of said first digital signal in a first time window having a predetermined duration and a portion of said second digital signal in said first time window,
6) performing a first comparison between a first energy of a portion of said first digital signal and a second energy of a portion of said second digital signal ,
7) performing a second comparison between the height of the highest peak of a first spectrum in the time domain referred to the portion of said first digital signal, with the height of each peak of said first spectrum in the time domain, different from said highest peak, if the first energy is greater than or equal to said second energy, or between the height of the highest peak of a second spectrum in the time domain referred to the portion of said second digital signal with the height of each peak of said second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
8) performing a third comparison between the frequency at the highest peak of the first spectrum in the time domain or the frequency at the highest peak of the second spectrum in the time domain with each predetermined first frequency of said predetermined first tone and each predetermined second frequency of said predetermined second tone,
9) identifying said predetermined first tone or said predetermined second tone by said third comparison,
10) recording temporarily a further portion of said first digital signal in a second time window, subsequent to said first time window, and a further portion of said second digital signal in said second time window, where said second time window is of the same duration as said first time window,
1 1 ) performing a further first comparison between a further first energy of a further portion of said first digital signal and a further second energy of a further portion of said second digital signal,
12) performing a further second comparison between the height of the highest peak of a further first spectrum in the time domain referred to the further portion of said first digital signal with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain referred to the further portion of said second digital signal with the height of each peak of said further second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
13) performing a further third comparison between the frequency at the highest peak of the further first spectrum in the time domain or the frequency at the highest peak of the further second spectrum in the time domain with each predetermined first frequency of said predetermined first tone and each predetermined second frequency of said predetermined second tone,
14) identifying said predetermined first tone, when said predetermined second tone has been identified in said first time window, or said predetermined second tone, when said predetermined first tone has been identified in said first time window, from said further third comparison,
15) identifying the siren of said emergency vehicle with the predetermined siren associated to the predetermined first frequency of said predetermined first tone and to the predetermined second frequency of said predetermined second tone,
16) displaying an information concerning the name of said predetermined emergency vehicle associated with said predetermined siren.
In particular, in order to perform said first comparison, the step 6) of said method can comprise the following substeps:
6A) performing the Fourier transform of said portion of said first digital signal to obtain a first spectrum in the frequency domain and the
Fourier transform of said portion of said second digital signal to obtain a second spectrum in the frequency domain,
6B) calculating said first energy of said portion of said first digital signal from said first spectrum in the frequency domain, and said second energy of said portion of said second digital signal from said second spectrum in the frequency domain.
Furthermore, in order to perform said second comparison, the step 7) of said method can comprise the following substeps:
7A) calculating the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy,
7B) identifying the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy.
In order to perform said third comparison, the step 8) of said method can comprise the following substep:
8A) calculating the frequency at said highest peak of said first spectrum in the time domain, if the height of said highest peak of said first spectrum in the time domain exceeds a predetermined factor the height of each peak of said first spectrum in the time domain, different from said highest peak, or the frequency at said highest peak of said second spectrum in the time domain, if the height of said highest peak of said second spectrum in the time domain exceeds a predetermined factor the height of each peak of said second spectrum in the time domain, different from said highest peak.
In order to identify said predetermined first tone or said predetermined second tone, the step 9) of said method can comprise the following substep:
9A) verifying if the calculated frequency corresponds to a predetermined first frequency of a predetermined first tone or to a predetermined second frequency of a predetermined second tone, except for a predetermined error.
In order to perform said further first comparison, the step 1 1 ) of said method can comprise the following substeps:
1 1 A) performing the Fourier transform of said further portion of said first digital signal to obtain a further first spectrum in the frequency domain, and the Fourier transform of said further portion of said second digital signal to obtain a further second spectrum in the frequency domain,
1 1 B) calculating said further first energy of said further portion of said first digital signal from said further first spectrum in the frequency domain, and said further second energy of said further portion of said second digital signal from said further second spectrum in the frequency domain.
In order to perform said further second comparison, the step 12) of said method can comprise the following substeps:
12A) calculating the inverse Fourier transform of the logarithm of said further first spectrum in the frequency domain referred to said further portion of said first digital signal to obtain said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the inverse Fourier transform of the logarithm of said further second spectrum in the frequency domain referred to said further portion of said second digital signal to obtain said further second spectrum in the time domain, if said further second energy is greater than said further first energy,
12B) identifying the highest peak of said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the highest peak of said further second spectrum in the time domain, if said further second energy is greater than said further first energy, identifiy.
In order to perform said further third comparison, the step 13) can comprise the following substep:
13A) calculating the frequency at said highest peak of said further first spectrum in the time domain, if the height of said highest peak of said further first spectrum in the time domain exceeds a predetermined factor the height of each peak of said further first spectrum in the time domain, different from said highest peak, or the frequency at said highest peak of said further second spectrum in the time domain, if the height of said highest peak of said further second spectrum in the time domain exceeds a predetermined factor the height of each peak of said further second spectrum in the time domain, different from said highest peak.
In order to identify said predetermined first tone, when the predetermined second tone has been identified, or said predetermined second tone, when said predetermined first tone has been identified, the step 14) of said method can comprise the following substep:
14A) verifying if the calculated frequency, except for a predetermined further error, corresponds to a predetermined first frequency of a predetermined first tone of said at least one predetermined siren, when the predetermined second tone has been identified in said first time window, or to a predetermined second frequency of a predetermined second tone, when the predetermined first tone has been identified in said first time window.
More particularly, with reference to step 9A), if the calculated frequency does correspond to neither a predetermined first frequency of a predetermined first tone nor a predetermined second frequency of a predetermined second tone, except for a predetermined error, said method can perform the steps from 5) to 9) referred to said second time window.
With reference to step 14), if the calculated frequency corresponds, except for a predetermined further error, to said predetermined first frequency of said predetermined first tone, when said predetermined first tone of said at least one predetermined siren has been identified in said first time window, or to said predetermined second frequency of said predetermined second tone, when said predetermined second tone of said at least one predetermined siren has been identified in said first time window, said method can perform the steps from 10) to 14) in a third time window, following said second time window.
According the invention, said method can comprise the following step: - displaying a further information concerning a first arrival direction of said emergency vehicle with respect to said vehicle, when said first energy is greater than said second energy of a predetermined first factor, or a further information containing information concerning a second arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise displaying a further information concerning a third arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction and said second arrival direction.
Finally, with reference to step 1 ) of said method, said first microphone can be connected to a first rear-view mirror of said vehicle, and said second microphone can be connected to a second rear-view mirror of said vehicle.
The present invention will be now described, for illustrative, but not limitative purposes, according to its embodiment, making particular reference to the enclosed figures, wherein:
Figure 1 is a schematic view of the system, object of the invention; Figure 2 shows a table which shows the unique identification codes of a plurality of predetermined dual-tone sirens associated with a respective predetermined emergency vehicle, as well as the predetermined first frequency associated with a predetermined first tone and the predetermined second frequency associated with a predetermined second tone,
Figure 3 shows a moving car on which the system of Figure 1 is installed when a sound signal is picked up by the two microphones of the system, each of which is connected to a respective rear-view mirror of said car,
Figure 4 shows a portion of a first analog sound signal emitted by a siren of a police car, referred to a first tone of said siren, picked up by a first microphone of said system;
Figure 5 shows a first spectrum in the frequency domain of a portion of the first sound signal of Figure 4 obtained by means of a Fourier transform;
Figure 6 shows a portion of a second analog sound signal emitted by a siren of a police car, referred to a first tone of said siren, picked up by a second microphone of said system;
Figure 7 shows a second spectrum in the frequency domain of a portion of the second sound signal of Figure 6 obtained by means of a Fourier transform;
Figure 8 shows a first spectrum in the time domain referred to the portion of the first sound signal of Figure 5 obtained by means of a cepstral analysis;
Figure 9 shows a portion of a first analog sound signal emitted by a siren of a police car, referring to a second tone of said siren, picked up by a first microphone of said system;
Figure 10 shows a further first spectrum in the frequency domain of a portion of the first sound signal of Figure 9 obtained by means of a Fourier transform;
Figure 1 1 shows a portion of a second analog sound signal emitted by a siren of a police car, referred to a second tone of said siren, picked up by a second microphone of said system;
Figure 12 shows a further second spectrum in the frequency domain of a portion of the second sound signal of Figure 1 1 obtained by means of a Fourier transform;
Figure 13 shows a further first spectrum in the time domain of the sound signal portion of Figure 10 obtained by means of a cepstral analysis.
With particular reference to Figures 1 and 2, a system installable on board of a vehicle V, configured to recognize an emergency vehicle EV from the sound signal emitted from a siren S of said emergency vehicle EV.
Said system comprises:
- a first microphone 1 A for converting a sound signal emitted by said siren S of a emergency vehicle EV to a first analog electrical signal,
- a second microphone 1 B for converting said sound signal emitted by said siren S of said emergency vehicle EV to a second analog electrical signal,
- a first preamplifier 2A for amplifying said first analog electrical signal, connected to said first microphone 1 A,
- a second preamplifier 2B for amplifying said second analog electrical signal, connected to said second microphone 1 B,
- a first digital analog converter 3A for converting said first analog electrical signal into a first digital signal, connected to said first preamplifier 2A,
- a second digital analog converter 3B for converting said second analog electrical signal into a second digital signal, connected to said second preamplifier 2B,
- a database 1 0 in which the following data are stored:
o a respective unique identification code of one or more predetermined sirens SI ,S2. . .SN associated with a respective predetermined emergency vehicle EV ,EV2. . . EVN,
o one or more predetermined first frequencies fn ,fi2 - - -fi N of a respective predetermined first tone T1 associated with a respective predetermined siren SI ,S2. . .SN,
o one or more predetermined second frequencies f2i ,f22 - f2N of a respective predetermined second tone T2 associated with a respective predetermined siren Si ,S2.. .SN,
- displaying means 6 configured for displaying at least one information concerning the name of said predetermined emergency vehicle EV , EV2. . . EVN associated with a predetermined siren S-i , S2. . .SN,
Furthermore, said system comprises:
- a logic control unit 5, connected to said first digital analog converter 3A and said second digital analog converter 3B, as well as to said database 10 and said displaying means 6, configured to:
o receive continuously said first digital signal and said second digital signal,
o record temporarily a portion of said first digital signal in a first time window having a predetermined duration and a portion of said second digital signal in said first time window,
o perform the following comparisons for identifying said predetermined first tone T1 or said predetermined second tone T2: a first comparison between a first energy of a portion of said first digital signal and a second energy of a portion of said second digital signal,
a second comparison between the height of the highest peak of a first spectrum in the time domain referred to the portion of said first digital signal with the height of each peak of said first spectrum in the time domain, different from said highest peak, if the first energy is greater than or equal to said second energy, or between the height of the highest peak of a second spectrum in the time domain referred to the portion of said second digital signal with the height of each peak of said second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
a third comparison between the frequency fpi at the highest peak of the first spectrum in the time domain with each predetermined first frequency fn ,fi2...fi N of said predetermined first tone T1 and each predetermined second frequency f2i ,ί22 - - -f2N of said predetermined second tone T2, or between the frequency fp at the highest peak of the second spectrum in the time domain with each predetermined first frequency fn ,fi2...fi N of said predetermined first tone T1 and each predetermined second frequency f2i ,f22 - f2N of said predetermined second tone T2,
record temporarily a further portion of said first digital signal in a second time window, following said first time window, and a further portion of said second digital signal in said second time window, where said second time window is of the same duration as said first time window,
perform the following further comparisons for identifying said predetermined first tone T1 , when said predetermined second tone has been identified in said first time window, or said predetermined second tone T2, when said predetermined first tone has been identified in said first time window, ■ a further first comparison between a further first energy of a further portion of said first digital signal and a further second energy of a further portion of said second digital signal,
■ a further second comparison between the height of the highest peak of a further first spectrum in the time domain, referred to the further portion of said first digital signal, with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain, referred to the further portion of said second digital signal, with the height of each peak of said further second spectrum in the time domain, different from the highest peak, if said second energy is greater than said first energy,
■ a further third comparison between the frequency fp2 at the highest peak of the further first spectrum in the time domain with each predetermined first frequency fn ,fi2...fi N of said predetermined first tone T1 and each predetermined second frequency f2i ,f22 - f2N of said predetermined second tone T2, or between the frequency fp2' at the highest peak of said further second spectrum in the time domain with each predetermined first frequency fn ,fi2...fi N of said predetermined first tone T1 and each predetermined second frequency f2i ,ί22 - - -f2N of said predetermined second tone T2,
o identify the siren S of said emergency vehicle EV with the predetermined siren SI ,S2. . .SN associated to the predetermined first frequency of fn ,fi2 - - -fi N said first tone T1 and to predetermined second frequency f2i ^22 - - -f2N of said predetermined second tone T2, o send to said displaying means 6 a signal containing information concerning the name of said predetermined emergency vehicle EV ,EV2.. . EVN associated with said predetermined siren SI ,S2.. .SN. In particular, in order to perform said first comparison, said logic control unit 5 is configured to:
o perform the Fourier transform of said portion of said first digital signal to obtain a first spectrum in the frequency domain and the Fourier transform of said portion of said second digital signal to obtain a second spectrum in the frequency domain,
o calculate said first energy of said portion of said first digital signal from said first spectrum in the frequency domain, and said second energy of said portion of said second digital signal from said second spectrum in the frequency domain.
In order to perform said second comparison, said logic control unit 5 is configured to:
o calculate the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy, o identify the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy,
In order to perform said third comparison, said logic control unit 5 is configured to:
o calculate the frequency fpi at said highest peak of said first spectrum in the time domain, if the height of said highest peak of said first spectrum in the time domain exceeds a predetermined factor the height of each peak of said first spectrum in the time domain, different from said highest peak, or the frequency fp at said highest peak of said second spectrum in the time domain, if the height of said highest peak of said second spectrum in the time domain exceeds a predetermined factor the height of each peak of said second spectrum in the time domain, different from said highest peak. In order to identify said predetermined first tone T1 or said predetermined second tone T2, said logic control unit is configured to: o verify if the calculated frequency fp-i , fp corresponds to a predetermined first frequency fn ,fi2 - - -fi N of a predetermined first tone T1 , except for a predetermined error (preferable plus or minus 5% with respect to each predetermined first frequency) or to a predetermined second frequency f2i ,f22 - f2N of a predetermined second tone T2, except for a predetermined error (preferable plus or minus 5% with respect to each predetermined first frequency). In order to perform said further first comparison, said logic control unit is configured to:
o perform the Fourier transform of said further portion of said first digital signal to obtain a further first spectrum in the frequency domain, and the Fourier transform of said further portion of said second digital signal to obtain a further second spectrum in the frequency domain,
o calculate said further first energy of said further portion of said first digital signal from said further first spectrum in the frequency domain, and said further second energy of said further portion of said second digital signal from said further second spectrum in the frequency domain.
In order to perform said further second comparison, said logic control unit 5 is configured to:
o calculate the inverse Fourier transform of the logarithm of said further first spectrum in the frequency domain referred to said further portion of said first digital signal to obtain said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the inverse Fourier transform of the logarithm of said further second spectrum in the frequency domain referred to said further portion of said second digital signal to obtain said further second spectrum in the time domain, if said further second energy is greater than said further first energy, o identify the highest peak of said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the highest peak of said further second spectrum in the time domain, if said further second energy is greater than said further first energy.
In order to perform said further third comparison, said logic control unit is configured to:
o calculate the frequency fp2 at said highest peak of said further first spectrum in the time domain, if the height of said highest peak of said further first spectrum in the time domain exceeds a predetermined factor the height of each peak of said further first spectrum in the time domain, different from said highest peak, or the frequency fp2' at said highest peak of said further second spectrum in the time domain, if the height of said highest peak of said further second spectrum in the time domain exceeds a predetermined factor the height of each peak of said further second spectrum in the time domain, different from said highest peak.
In order to identify said predetermined first tone T1 , when the predetermined second tone T2 has been identified, or said predetermined second tone T2, when said predetermined first tone T1 has been identified, said logic control unit 5 is configured to:
o verify if the calculated frequency fp2, fp2', except for a predetermined further error (preferable plus or minus 5% with respect to each predetermined first frequency), corresponds to a predetermined first frequency fn ,fi2 - - -fi N of a predetermined first tone T1 of said at least one predetermined siren SI ,S2...SN, when the predetermined second tone T2 has been identified in said first time window, or to a predetermined second frequency f2i ,f22 - - -f2N of a predetermined second tone T2, when the predetermined first tone T1 has been identified in said first time window.
In other words, the siren S of said emergency vehicle EV is identified with a predetermined siren SI ,S2. . .SN (having a predetermined first tone T1 and a predetermined second tone T2) by means of a first succession of comparisons based on a signal portion of a first digital signal and a signal portion of a second digital signal, where said signal portions are registered in a first time window, and a second succession of further comparisons based on a further signal portion of the first digital signal and a further signal portion of the second digital signal, where said further signal portions are registered in a second time window, following said first time window.
In the embodiment being disclosed, said vehicle V is a motor vehicle, in particular a car.
With reference to said first microphone 1 A and to said second microphone 1 B, each microphone is a unidirectional microphone and has a polar diagram having the shape of a cardioid.
In particular, said first microphone 1 A is connectable at a first point on a first side of said car, and second microphone 1 B is connectable to a second point of a second side of said car, opposite said first side, where said second point is in a symmetrical position with respect to a longitudinal axis L of said car.
More particularly, said first microphone 1 A is connectable to a first rear-view mirror of said car, and said second microphone 1 B is connectable to a second rear-view mirror of said car.
With reference to said first preamplifier 2A and to said second preamplifier 2B, each preamplifier is an electronic circuit configured to receive analog signals having a low power and to generate as output amplified signals having a sufficient power to be accepted by the respective digital analog converter 3A, 3B.
With reference to said first digital analog converter 3A and to said second digital analog converter 3B, each digital analog converter converts in digital form a respective analog signal preamplified by the respective preamplifier 2A, 2B.
As can be seen in Figure 1 , it is preferable that the system comprises a first programmable digital amplifier 4A and a second programmable digital amplifier 4B, each of which is connected respectively to the output of the first digital analog converter 3A and to the output of the second converter analog digital 3B, and is configured to amplify the digital signal output from the respective digital analog converter 3A, 3B by a respective predetermined amplification factor in order to equalize the signals coming from a respective microphone 1 A, 1 B.
In fact, the presence of said first programmable digital amplifier 4A and of said second programmable digital amplifier 4B is not necessary.
In a variant, not shown in Figures, each digital analog converter can be respectively arranged within a first Bluetooth transmission module and a second Bluetooth transmission module and the system can comprise a Bluetooth receiving module, connected to said first Bluetooth transmission module and to said second Bluetooth transmission module, as well as to said logic control unit 5.
Said Bluetooth receiving module can be connected directly to said control logic unit 5 or via said first programmable digital amplifier 4A and said second programmable digital amplifier 4B.
With reference to said displaying means 6, said displaying means comprise a display.
Said display can be a display of known type, of which a car can be provided.
Figure 2 is a table which shows the data stored in a database 10 to which said logic control unit 5 is connected: the unique identification code of a predetermined siren SI ,S2.. .SN associated to a respective predetermined emergency vehicle EV ,EV2...EVN, as well as the predetermined first frequency fn ,fi2 - - -fi N of a respective first tone T1 and the predetermined second frequency f2i ,f22- - -f2N of a respective second tone T2 of each predetermined siren SI ,S2.. .SN.
As said above, the system, object of the invention, is installable on board of a vehicle V.
In the embodiment being disclosed, said vehicle V is a motor vehicle, in particular a car (as above said), and said emergency vehicle EV is a police car.
In particular, said car is of the type having a first rear-view mirror or right rear-view mirror RDX and a second rear-view mirror or left rear-view mirror Rsx.
However, said system can be installed on board of a motorbike or an electric vehicle, without departing from the scope of the invention.
The siren of the car police is a dual-tone siren. The frequency of a first tone is 622 Hz and the frequency of a second tone is 466 Hz.
Figure 3 shows a car in the direction of travel and a police car nearby.
As can be seen from Figure 3, the first microphone 1 A is connected to the right rear-view mirror RDX and the second microphone 1 B is connected to the left rear-view mirror RSx.
As said above, each microphone 1 A,1 B is a directional microphone having a respective polar diagram with the shape of a cardioid.
A microphone with a cardiod-shaped polar diagram picks up the sound coming from the frontal zone, with a sensitivity that gradually decreases towards the sides until drastically decreasing in the back zone.
For each microphone 1 A,1 B, the direction of maximum sensitivity is perpendicular to a respective side of the car and is indicated by a respective arrow.
The position and the particular directional characteristic of each microphone allow a clear differentiation of the intensity of the signals picked up by the microphones themselves depending on the position of the sound source with respect to the longitudinal axis L of the car.
Figure 4 shows a portion of a first analog signal referred to a first tone of 622 Hz of the siren S of the police car, picked up by the first microphone 1 A.
Figure 5 shows the first spectrum in the frequency domain of a portion of a first digital signal which is received by said logic control unit 5.
Said first spectrum in the frequency domain is obtained by a Fourier transform, preferably a fast Fourier transform.
Figure 6 shows a portion of a second analog signal referred to a first tone of 622Hz of the siren of the police car, picked up by the second microphone 1 B.
Figure 7 shows the second spectrum in the frequency domain of a portion of a second digital signal which is received by said logic control unit 5.
Figure 8 shows the first spectrum in the time domain of a portion of said first digital signal, obtained by a Fourier inverse transform of the logarithm of said spectrum in the frequency domain.
After calculating the energy of the first signal and the second signal, by adding the contributions of the respective spectral components, the energy of the first signal is compared with the energy of the second signal.
The inverse Fourier transform of the logarithm of said spectrum in the frequency domain is performed on the signal having the highest energy.
In other words, the cepstral analysis is performed on the signal having the highest energy. From the cepstral analysis it is possible to obtain the value of the fundamental frequency of said first tone, with a predetermined error.
In the example being described, with reference to the first tone, the signal with greater energy is the first signal and consequently the cepstral analysis is performed on said first signal.
As can be seen in Figure 8, said first spectrum in the time domain has a plurality of peaks.
The highest peak is substantially at a value of about 0,0016s.
Therefore, the frequency fpi (equal to the inverse of the time) is about 625 Hz.
As can be seen, this frequency fpi is within a predetermined range of values centered at 622Hz (i.e. the value of the first frequency of the first tone of the siren).
Thus, except for a predetermined error, said frequency fpi corresponds to the first frequency of the first tone of the siren of the police car.
Figure 9 shows a portion of a first analog signal referred to a second tone of 466 Hz of the siren of the police car, picked up by the first microphone 1 A.
Figure 10 shows a further first spectrum in the frequency domain of a portion of a first digital signal which is received by said logic control unit 5. Said further first spectrum in the frequency domain is obtained by a Fourier transform, preferably a fast Fourier transform.
Figure 1 1 shows a portion of a second analog signal referred to a second tone of 466 Hz of the siren of the police car, picked up by the second microphone 1 B.
Figure 12 shows a further second spectrum in the frequency domain of a portion of a second digital signal which is received by said logic control unit 5.
Figure 13 shows a further first spectrum in the time domain of a portion of said first digital signal, obtained by a Fourier inverse transform of the logarithm of said spectrum in the frequency domain.
With reference to the second tone, after calculating the energy of the first signal and the second signal, by adding the contributions of the respective spectral components, the energy of the first signal is compared with the energy of the second signal.
The inverse Fourier transform of the logarithm of said spectrum in the frequency domain is performed on the signal having the highest energy.
In other words, the cepstral analysis is performed on this signal.
In the example being described, with reference to the second tone, the signal having the highest energy is the first signal.
As can be seen in Figure 13, said first spectrum in the time domain has a plurality of peaks.
The highest peak is substantially at a value of about 0,0021 s.
Therefore, the frequency fp (equal to the inverse of time) is about 476 Hz.
As can be seen, this frequency fp is within a predetermined range of values centered at 466Hz (i.e. the value of the frequency of the second tone of the siren).
Moreover, advantageously, by means of the system, it is possible to recognize the arrival direction of the emergency vehicle EV with respect to the vehicle V, and to display the arrival direction of said emergency vehicle EV to inform the driver of the vehicle V that the emergency vehicle EV is approaching from the right, left or centrally. In this case, said logic control unit 5 is configured to:
o send to said displaying means 6 a first signal containing the information concerning a first arrival direction of said emergency vehicle EV with respect to said vehicle V, when said first energy is greater than said second energy of a predetermined first factor, or a second signal containing information concerning a second arrival direction of said emergency vehicle EV with respect to said vehicle V, different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise send a third signal containing the information concerning a third arrival direction of said emergency vehicle EV with respect to said vehicle V, different from said first arrival direction and said second arrival direction.
In particular, said first arrival direction refers to the right direction (i.e. the emergency vehicle is to the right of the vehicle), said second arrival direction refers to the left direction (i.e. the emergency vehicle is to the left of the vehicle) and said third arrival direction refers to the central direction (i.e. the emergency vehicle is behind the vehicle.
For example, said predetermined first factor and said predetermined second factor can be expressed as a multiplication factor.
For example, said multiplication factor may be a number greater than or equal to 2.
Furthermore, said displaying means 6 are configured to display a further information concerning said first arrival direction or said second arrival direction or said third arrival direction.
The present invention also relates to a method for recognizing an emergency vehicle EV provided with a siren S.
Said method comprises the following steps:
1 ) providing a first microphone 1 A on a first side of a vehicle V and a second microphone 1 B on a second side of said vehicle V, opposite said first side, in a symmetrical position with respect to a longitudinal axis L of said vehicle V, 2) converting by said first microphone 1 A and said second microphone 1 B a sound signal emitted by said siren S of said emergency vehicle EV respectively in a first analog electrical signal and a second analog electrical signal,
3) amplifying said first analog electrical signal and said second analog electrical signal,
4) converting said first analog electrical signal into a first digital signal and said second analog electrical signal into a second digital signal,
5) recording temporarily a portion of said first digital signal in a first time window having a predetermined duration and a portion of said second digital signal in said first time window,
6) performing a first comparison between a first energy of a portion of said first digital signal and a second energy of a portion of said second digital signal,
7) performing a second comparison between the height of the highest peak of a first spectrum in the time domain referred to the portion of said first digital signal with the height of each peak of said first spectrum in the time domain, different from said highest peak, if the first energy is greater than or equal to said second energy, or between the height of the highest peak of a second spectrum in the time domain referred to the portion of said second digital signal with the height of each peak of said second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
8) performing a third comparison between the frequency fpi at the highest peak of the first spectrum in the time domain with each predetermined first frequency fn ,fi2 - - -fi N of said predetermined first tone T1 and each predetermined second frequency f2i ,f22 - f2N of said predetermined second tone T2, or between the frequency fp at the highest peak of the second spectrum in the time domain with each predetermined first frequency fn ,fi2 - - -fi N of said predetermined first tone
T1 and each predetermined second frequency f2i ,f22 - f2N of said predetermined second tone T2,
9) identifying said predetermined first tone T1 or said predetermined second tone T2 by said third comparison,
10) recording temporarily a further portion of said first digital signal in a second time window, subsequent to said first time window, and a further portion of said second digital signal in said second time window, where said second time window is of the same duration as said first time window,
1 1 ) performing a further first comparison between a further first energy of a further portion of said first digital signal and a further second energy of a further portion of said second digital signal,
12) performing a further second comparison between the height of the highest peak of a further first spectrum in the time domain referred to the further portion of said first digital signal with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain referred to the further portion of said second digital signal with the height of each peak of said further second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
13) performing a further third comparison between the frequency fp2 at the highest peak of the further first spectrum in the time domain with each predetermined first frequency fn ,fi2...fi N of said predetermined first tone T1 and each predetermined second frequency f2i ,f22 - f2N of said predetermined second tone T2, or between the frequency fp2' at the highest peak of the further second spectrum in the time domain with each predetermined first frequency fn ,fi2...fi N of said predetermined first tone T1 and each predetermined second frequency f2i ,f22 - f2N of said predetermined second tone T2,
14) identifying said predetermined first tone T1 , when said predetermined second tone has been identified in said first time window, or said predetermined second tone T2, when said predetermined first tone has been identified in said first time window, from said further third comparison, 15) identifying the siren S of said emergency vehicle EV with the predetermined siren SI ,S2...SN associated to the predetermined first frequency fn ,fi2 - - -f-i N of said predetermined first tone T1 and to the predetermined second frequency f2i ,f22 -■ -f2N of said predetermined second tone T2,
16) displaying an information concerning the name of said predetermined emergency vehicle EV ,EV2...EVN associated with said predetermined siren SI ,S2. . .SN.
In particular, in order to perform said first comparison, the step 6) comprises the following substeps:
6A) performing the Fourier transform of said portion of said first digital signal to obtain a first spectrum in the frequency domain and the Fourier transform of said portion of said second digital signal to obtain a second spectrum in the frequency domain,
6B) calculating said first energy of said portion of said first digital signal from said first spectrum in the frequency domain, and said second energy of said portion of said second digital signal from said second spectrum in the frequency domain.
In order to perform said second comparison, the step 7) comprises the following substeps:
7A) calculating the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy,
7B) identifying the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy,
In order to perform said third comparison, the step 8) comprises the following substep:
8A) calculating the frequency fpi at said highest peak of said first spectrum in the time domain, if the height of said highest peak of said first spectrum in the time domain exceeds a predetermined factor the height of each peak of said first spectrum in the time domain, different from said highest peak, or the frequency fp at said highest peak of said second spectrum in the time domain, if the height of said highest peak of said second spectrum in the time domain exceeds a predetermined factor the height of each peak of said second spectrum in the time domain, different from said highest peak.
In order to identify said predetermined first tone T1 or said predetermined second tone T2, the step 9) comprises the following substep:
9A) verifying if the calculated frequency fpi ,fp corresponds to a predetermined first frequency fn ,fi2- - -fiN of a predetermined first tone T1 or to a predetermined second frequency f2i ,f22- - -f2N of a predetermined second tone T2, except for a predetermined error.
In order to perform said further first comparison, the step 1 1 ) comprises the following substeps:
1 1 A) performing the Fourier transform of said further portion of said first digital signal to obtain a further first spectrum in the frequency domain, and the Fourier transform of said further portion of said second digital signal to obtain a further second spectrum in the frequency domain,
1 1 B) calculating said further first energy of said further portion of said first digital signal from said further first spectrum in the frequency domain, and said further second energy of said further portion of said second digital signal from said further second spectrum in the frequency domain.
In order to perform said further second comparison, the step 12) comprises the following substeps:
12A) calculating the inverse Fourier transform of the logarithm of said further first spectrum in the frequency domain referred to said further portion of said first digital signal to obtain said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the inverse Fourier transform of the logarithm of said further second spectrum in the frequency domain referred to said further portion of said second digital signal to obtain said further second spectrum in the time domain, if said further second energy is greater than said further first energy,
12B) identifying the highest peak of said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the highest peak of said further second spectrum in the time domain, if said further second energy is greater than said further first energy.
In order to perform said further third comparison, the step 13) comprises the following substep:
13A) calculating the frequency fp2 at said highest peak of said further first spectrum in the time domain, if the height of said highest peak of said further first spectrum in the time domain exceeds a predetermined factor the height of each peak of said further first spectrum in the time domain, different from said highest peak, or the frequency fp2' at said highest peak of said further second spectrum in the time domain, if the height of said highest peak of said further second spectrum in the time domain exceeds a predetermined factor the height of each peak of said further second spectrum in the time domain, different from said highest peak.
In order to identify said predetermined first tone T1 , when the predetermined second tone T2 has been identified in the first time window, or said predetermined second tone T2, when said predetermined first tone T1 has been identified in the first time window, the step 14) comprises the following substep:
14A) verifying if the calculated frequency fp2,fp2', except for a predetermined further error, corresponds to a predetermined first frequency fn ,fi2 - - -fi N of a predetermined first tone T1 of said at least one predetermined siren SI ,S2.. .SN, when said predetermined second tone T2 has been identified in said first time window, or to a predetermined second frequency f2i ,f22 -■ -f2N of a predetermined second tone T2, when the predetermined first tone T1 has been identified in said first time window. More particularly, according to the invention, with reference to step 9A), if the calculated frequency fpi ,fp does correspond to neither a predetermined first frequency fn ,fi2 - - -fi N of a predetermined first tone T1 nor a predetermined second frequency f2i ,f22 -■ -f2N of a predetermined second tone T2, except for a predetermined error, said method performs the steps from 5) to 9) referred to said second time window.
With reference to step 14), if the calculated frequency fp2,fp2' corresponds, except for a predetermined further error, to said predetermined first frequency fn ,fi2 - - -fi N of said predetermined first tone T1 , when said predetermined first tone T1 of said at least one predetermined siren SI ,S2...SN has been identified in said first time window, or to said predetermined second frequency f2i ,f22 -■ -f2N of said predetermined second tone T2, when said predetermined second tone T2 of said at least one predetermined siren SI ,S2.. .SN has been identified in said first time window, said method performs the steps from 10) to 14) in a third time window, following said second time window.
Advantageously said method can comprise the following step:
- displaying a further information concerning a first arrival direction of said emergency vehicle with respect to said vehicle, when said first energy is greater than said second energy of a predetermined first factor, or a further information concerning a second arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise displaying a further information concerning a third arrival direction of said emergency vehicle with respect to said vehicle, different from said first arrival direction and said second arrival direction.
As said for the system, said first microphone 1 A can be connected to a first rear-view mirror or right rear-view mirror RDX of said vehicle V, and said second microphone 1 B can be connected to a second rear-view mirror or left rear-view mirror RSx of said vehicle V.
Advantageously, by means of the system, object of the invention, it is possible to recognize an emergency vehicle from the sound of its siren. A second advantage is given by the fact that, by means of said system, it is possible to identify also the arrival direction of said emergency vehicle with respect to the vehicle on which said is installed.
The present invention has been described for illustrative, but not limitative purposes, according to its preferred embodiment, but it is to be understood that variations and/or modifications can be carried out by a skilled in the art, without departing from the scope thereof, as defined according to enclosed claims.

Claims

1 . System for recognizing an emergency vehicle (EV) provided with a siren (S), said system comprising:
- a first microphone (1 A) for converting a sound signal emitted by said siren (S) of said emergency vehicle (EV) to a first analog electrical signal, where said first microphone (1 A) is connectable at a first point on a first side of a vehicle (V),
- a second microphone (1 B) for converting said sound signal emitted by said siren (S) of said emergency vehicle (EV) to a second analog electrical signal, where said second microphone (1 B) is connectable to a second point of a second side of said vehicle (V), opposite said first side, where said second point is in a symmetrical position with respect to a longitudinal axis (L) of said vehicle (V),
- a first preamplifier (2A) for amplifying said first analog electrical signal, connected to said first microphone (1 A),
- a second preamplifier (2B) for amplifying said second analog electrical signal, connected to said second microphone (1 B),
- a first digital analog converter (3A) for converting said first analog electrical signal into a first digital signal, connected to said first preamplifier (2A),
- a second digital analog converter (3B) for converting said second analog electrical signal into a second digital signal, connected to said second preamplifier (2B),
- a database (10) in which the following data are stored:
o a respective unique identification code of one or more predetermined sirens (SI ,S2.. .SN) associated with a respective predetermined emergency vehicle (EV ,EV2...EVN),
o one or more predetermined first frequencies (fn ,fi2- - -fiN) of a respective predetermined first tone (T1 ) associated with a respective predetermined siren (SI ,S2.. .SN),
o one or more predetermined second frequencies (f2i ,f22- - -Ϊ2Ν) of a respective predetermined second tone (T2) associated with a respective predetermined siren (SI ,S2...SN), - displaying means (6) configured for displaying at least one information concerning the name of said predetermined emergency vehicle (EV , EV2. . . EVN) associated with a predetermined siren (SI ,S2. . .SN) ,
- a logic control unit (5), connected to said first digital analog converter (3A) and said second digital analog converter (3B), as well as to said database (1 0) and said displaying means (6), configured to:
o receive continuously said first digital signal and said second digital signal,
o record temporarily a portion of said first digital signal in a first time window having a predetermined duration and a portion of said second digital signal in said first time window,
o perform the following comparisons for identifying said predetermined first tone (T1 ) or said predetermined second tone
(T2):
- a first comparison between a first energy of a portion of said first digital signal and a second energy of a portion of said second digital signal,
■ a second comparison between the height of the highest peak of a first spectrum in the time domain referred to the portion of said first digital signal with the height of each peak of said first spectrum in the time domain, different from said highest peak, if the first energy is greater than or equal to said second energy, or between the height of the highest peak of a second spectrum in the time domain referred to the portion of said second digital signal with the height of each peak of said second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
■ a third comparison between the frequency fpi at the highest peak of the first spectrum in the time domain or the frequency fp at the highest peak of the second spectrum in the time domain with each predetermined first frequency (fn ,f-i2...fi N) of said predetermined first tone (T1 ) and each predetermined second frequency (f2i ,f22-■ -Ϊ2Ν) of said predetermined second tone (T2), record temporarily a further portion of said first digital signal in a second time window, following said first time window, and a further portion of said second digital signal in said second time window, where said second time window is of the same duration as said first time window,
perform the following further comparisons for identifying said predetermined first tone (T1 ), when said predetermined second tone (T2) has been identified in said first time window, or said predetermined second tone (T2), when said predetermined first tone (T1 ) has been identified in said first time window:
a further first comparison between a further first energy of a further portion of said first digital signal and a further second energy of a further portion of said second digital signal,
a further second comparison between the height of the highest peak of a further first spectrum in the time domain, referred to the further portion of said first digital signal with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain, referred to the further portion of said second digital signal, with the height of each peak of said further second spectrum in the time domain, different from the highest peak, if said second energy is greater than said first energy,
a further third comparison between the frequency fp2 at the highest peak of the further first spectrum in the time domain or the frequency fp2' at the highest peak of said further second spectrum in the time domain with each predetermined first frequency (fn ,fi2...fi N) of said predetermined first tone (T1 ) and each predetermined second frequency (f2i ,f22 -■ -Ϊ2Ν) of said predetermined second tone (T2),
identify the siren (S) of said emergency vehicle (EV) with the predetermined siren (SI ,S2. . .SN) associated to the predetermined first frequency (f-n , of said first tone (T1 ) and to predetermined second frequency (f2i ,f22-■ -Ϊ2Ν) of said predetermined second tone (T2),
o send to said displaying means (6) a signal containing information concerning the name of said predetermined emergency vehicle (EV ,EV2...EVN) associated with said predetermined siren
Figure imgf000041_0001
2. System according to the previous claim, characterized in that said logic control unit (5) is configured to:
in order to perform said first comparison
o perform the Fourier transform of said portion of said first digital signal to obtain a first spectrum in the frequency domain and the Fourier transform of said portion of said second digital signal to obtain a second spectrum in the frequency domain,
o calculate said first energy of said portion of said first digital signal from said first spectrum in the frequency domain, and said second energy of said portion of said second digital signal from said second spectrum in the frequency domain,
in order to perform said second comparison
o calculate the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy, o identify the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy,
in order to perform said third comparison
o calculate the frequency fpi at said highest peak of said first spectrum in the time domain, if the height of said highest peak of said first spectrum in the time domain exceeds a predetermined factor the height of each peak of said first spectrum in the time domain, different from said highest peak, or the frequency fp at said highest peak of said second spectrum in the time domain, if the height of said highest peak of said second spectrum in the time domain exceeds a predetermined factor the height of each peak of said second spectrum in the time domain, different from said highest peak.
in order to identify said predetermined first tone (T1 ) or said predetermined second tone (T2)
o verify if the calculated frequency fpi , fp corresponds to a predetermined first frequency (fn ,fi2 - - -fi N) of a predetermined first tone (T1 ) or to a predetermined second frequency (f2i ,f22 -■ -Ϊ2Ν) of a predetermined second tone (T2), except for a predetermined error, in order to perform said further first comparison
o perform the Fourier transform of said further portion of said first digital signal to obtain a further first spectrum in the frequency domain, and the Fourier transform of said further portion of said second digital signal to obtain a further second spectrum in the frequency domain,
o calculate said further first energy of said further portion of said first digital signal from said further first spectrum in the frequency domain, and said further second energy of said further portion of said second digital signal from said further second spectrum in the frequency domain,
in order to perform said further second comparison
o calculate the inverse Fourier transform of the logarithm of said further first spectrum in the frequency domain referred to said further portion of said first digital signal to obtain said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the inverse Fourier transform of the logarithm of said further second spectrum in the frequency domain referred to said further portion of said second digital signal to obtain said further second spectrum in the time domain, if said further second energy is greater than said further first energy,
o identify the highest peak of said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the highest peak of said further second spectrum in the time domain, if said further second energy is greater than said further first energy,
in order to perform said further third comparison
o calculate the frequency fp2 at said highest peak of said further first spectrum in the time domain, if the height of said highest peak of said further first spectrum in the time domain exceeds a predetermined factor the height of each peak of said further first spectrum in the time domain, different from said highest peak, or the frequency fp2' at said highest peak of said further second spectrum in the time domain, if the height of said highest peak of said further second spectrum in the time domain exceeds a predetermined factor the height of each peak of said further second spectrum in the time domain, different from said highest peak, in order to identify said predetermined first tone (T1 ), when the predetermined second tone (T2) has been identified, or said predetermined second tone (T2), when said predetermined first tone (T1 ) has been identified
o verify if the calculated frequency fp2, fp2', except for a predetermined further error, corresponds to a predetermined first frequency (fi i ,fi2. . .fi N) of a predetermined first tone (T1 ) of said at least one predetermined siren (SI ,S2. . .SN), when the predetermined second tone (T2) has been identified in said first time window, or to a predetermined second frequency (f2i ,f22 -■ -Ϊ2Ν) of a predetermined second tone (T2), when the predetermined first tone has been identified in said first time window.
3. System according to any one of the previous claims, characterized in that said system comprises a first programmable digital amplifier (4A) for equalizing said first digital signal, connected to said first digital analog converter (3A) and said control logic unit (5), and a second programmable digital amplifier (4B) for equalizing said second digital signal, connected to said second digital analog converter (3B) and said control logic unit (5).
4. System according to any one of the previous claims, characterized in that said first digital analog converter (3A) is arranged within a first Bluetooth transmission module and said second digital analog converter (3B) is arranged within a second Bluetooth transmission module and that said system comprises a Bluetooth receiving module, connected to said first Bluetooth transmission module and to said second Bluetooth transmission module and to said logic control unit (5).
5. System according to claims 3 and 4, characterized in that said Bluetooth receiving module is connected to said control logic unit (5) via said first programmable digital amplifier (4A) and said second programmable digital amplifier (4B).
6. System according to any one of the previous claims, characterized in that
said logic control unit (5) is configured to:
o send to said displaying means (6) a first signal containing the information concerning a first arrival direction of said emergency vehicle (EV) with respect to said vehicle (V), when said first energy is greater than said second energy of a predetermined first factor, or a second signal containing information concerning a second arrival direction of said emergency vehicle (EV) with respect to said vehicle (V), different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise send a third signal containing the information concerning a third arrival direction of said emergency vehicle (EV) with respect to said vehicle (V), different from said first arrival direction and said second arrival direction, in that
said displaying means (6) are configured to display a further information concerning said first arrival direction or said second arrival direction or said third arrival direction.
7. Method for recognizing an emergency vehicle (EV) provide with a siren (S), said method comprising the following steps:
1 ) providing a first microphone (1 A) on a first side of a vehicle (V) and a second microphone (1 B) on a second side of said vehicle (V), opposite said first side, in a symmetrical position with respect to a longitudinal axis (L) of said vehicle (V),
2) converting by said first microphone (1 A) and said second microphone (1 B) a sound signal emitted by said siren (S) of said emergency vehicle (EV) respectively in a first analog electrical signal and a second analog electrical signal,
3) amplifying said first analog electrical signal and said second analog electrical signal,
4) converting said first analog electrical signal into a first digital signal and said second analog electrical signal into a second digital signal,
5) recording temporarily a portion of said first digital signal in a first time window having a predetermined duration and a portion of said second digital signal in said first time window,
6) performing a first comparison between a first energy of a portion of said first digital signal and a second energy of a portion of said second digital signal,
7) performing a second comparison between the height of the highest peak of a first spectrum in the time domain referred to the portion of said first digital signal with the height of each peak of said first spectrum in the time domain, different from said highest peak, if the first energy is greater than or equal to said second energy, or between the height of the highest peak of a second spectrum in the time domain referred to the portion of said second digital signal with the height of each peak of said second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy, 8) performing a third comparison between the frequency fpi at the highest peak of the first spectrum in the time domain or the frequency fp at the highest peak of the second spectrum in the time domain with each predetermined first frequency (fn ,fi2 - - -fi N) of said predetermined first tone (T1 ) and each predetermined second frequency (f2i ,f22 -■ -Ϊ2Ν) of said predetermined second tone (T2),
9) identifying said predetermined first tone (T1 ) or said predetermined second tone (T2) by said third comparison,
10) recording temporarily a further portion of said first digital signal in a second time window, subsequent to said first time window, and a further portion of said second digital signal in said second time window, where said second time window is of the same duration as said first time window,
1 1 ) performing a further first comparison between a further first energy of a further portion of said first digital signal and a further second energy of a further portion of said second digital signal,
12) performing a further second comparison between the height of the highest peak of a further first spectrum in the time domain referred to the further portion of said first digital signal with the height of each peak of said further first spectrum in the time domain, different from said highest peak, if said further first energy is greater than or equal to said further second energy, or between the height of the highest peak of a further second spectrum in the time domain referred to the further portion of said second digital signal with the height of each peak of said further second spectrum in the time domain, different from said highest peak, if said second energy is greater than said first energy,
13) performing a further third comparison between the frequency fp2 at the highest peak of the further first spectrum in the time domain or the frequency fp2' at the highest peak of the further second spectrum in the time domain with each predetermined first frequency (fn ,f-i2...fi N) of said predetermined first tone (T1 ) and each predetermined second frequency (f2i ,f22 - - -f2N) of said predetermined second tone (T2),
14) identifying said predetermined first tone (T1 ), when said predetermined second tone has been identified in said first time window, or said predetermined second tone (T2), when said predetermined first tone has been identified in said first time window, from said further third comparison,
15) identifying the siren (S) of said emergency vehicle (EV) with the predetermined siren (SI ,S2.. .SN) associated to the predetermined first frequency (fn ,fi2- - -fi N) of said predetermined first tone (T1 ) and to the predetermined second frequency (f2i ,f22- - -Ϊ2Ν) of said predetermined second tone (T2),
16) displaying an information concerning the name of said predetermined emergency vehicle (EV ,EV2...EVN) associated with said predetermined siren (S-I ,S2.. .SN).
8. Method according to the previous claim, characterized in that, in order to perform said first comparison, the step 6) comprises the following substeps:
6A) performing the Fourier transform of said portion of said first digital signal to obtain a first spectrum in the frequency domain and the Fourier transform of said portion of said second digital signal to obtain a second spectrum in the frequency domain,
6B) calculating said first energy of said portion of said first digital signal from said first spectrum in the frequency domain, and said second energy of said portion of said second digital signal from said second spectrum in the frequency domain,
in that
in order to perform said second comparison, the step 7) comprises the following substeps:
7A) calculating the inverse Fourier transform of the logarithm of said first spectrum in the frequency domain referred to said portion of said first digital signal to obtain said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the inverse
Fourier transform of the logarithm of said second spectrum in the frequency domain referred to said portion of said second digital signal to obtain said second spectrum in the time domain, if said second energy is greater than said first energy,
7B) identifying the highest peak of said first spectrum in the time domain, if said first energy is greater than or equal to said second energy, or the highest peak of said second spectrum in the time domain, if said second energy is greater than said first energy,
in that
in order to perform said third comparison, the step 8) comprises the following substep:
8A) calculating the frequency fpi at said highest peak of said first spectrum in the time domain, if the height of said highest peak of said first spectrum in the time domain exceeds a predetermined factor the height of each peak of said first spectrum in the time domain, different from said highest peak, or the frequency fp at said highest peak of said second spectrum in the time domain, if the height of said highest peak of said second spectrum in the time domain exceeds a predetermined factor the height of each peak of said second spectrum in the time domain, different from said highest peak,
in that
in order to identify said predetermined first tone (T1 ) or said predetermined second tone (T2), the step 9) comprises the following substep:
9A) verifying if the calculated frequency fpi ,fp corresponds to a predetermined first frequency (fn ,fi2- - -fi N) of a predetermined first tone (T1 ) or to a predetermined second frequency (f2i ,f22-■ -Ϊ2Ν) of a predetermined second tone (T2), except for a predetermined error.
in that
in order to perform said further first comparison, the step 1 1 ) comprises the following substeps:
1 1 A) performing the Fourier transform of said further portion of said first digital signal to obtain a further first spectrum in the frequency domain, and the Fourier transform of said further portion of said second digital signal to obtain a further second spectrum in the frequency domain,
1 1 B) calculating said further first energy of said further portion of said first digital signal from said further first spectrum in the frequency domain, and said further second energy of said further portion of said second digital signal from said further second spectrum in the frequency domain, in that
in order to perform said further second comparison, the step 12) comprises the following substeps:
12A) calculating the inverse Fourier transform of the logarithm of said further first spectrum in the frequency domain referred to said further portion of said first digital signal to obtain said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the inverse Fourier transform of the logarithm of said further second spectrum in the frequency domain referred to said further portion of said second digital signal to obtain said further second spectrum in the time domain, if said further second energy is greater than said further first energy,
12B) identifying the highest peak of said further first spectrum in the time domain, if said further first energy is greater than or equal to said further second energy, or the highest peak of said further second spectrum in the time domain, if said further second energy is greater than said further first energy,
in that
in order to perform said further third comparison, the step 13) comprises the following substep:
13A) calculating the frequency fp2 at said highest peak of said further first spectrum in the time domain, if the height of said highest peak of said further first spectrum in the time domain exceeds a predetermined factor the height of each peak of said further first spectrum in the time domain, different from said highest peak, or the frequency fp2' at said highest peak of said further second spectrum in the time domain, if the height of said highest peak of said further second spectrum in the time domain exceeds a predetermined factor the height of each peak of said further second spectrum in the time domain, different from said highest peak,
in that in order to identify said predetermined first tone, when the predetermined second tone has been identified, or said predetermined second tone, when said predetermined first tone has been identified, the step 1 4) comprises the following substep:
1 4A) verifying if the calculated frequency fp2,fp2', except for a predetermined further error, corresponds to a predetermined first frequency (fn ,fi2 - - -fi N) of a predetermined first tone (T1 ) of said at least one predetermined siren (S-I ,S2. . .SN), when the predetermined second tone (T2) has been identified in said first time window, or to a predetermined second frequency (f2i ,f22 - f2N) of a predetermined second tone (T2), when the predetermined first tone (T1 ) has been identified in said first time window.
9. Method according to the previous claim, characterized in that, with reference to substep 9A), if the calculated frequency fpi ,fp does correspond to neither a predetermined first frequency (fn ,fi2 - - -fi N) of a predetermined first tone (T1 ) nor a predetermined second frequency (f2i ,f22 - - -f2N) of a predetermined second tone (T2), except for a predetermined error, said method performs the steps from 5) to 1 4) referred to said second time window.
1 0. Method according to claim 8 or 9, characterized in that, with reference to step 14), if the calculated frequency fp2,fp2' corresponds, except for a predetermined further error, to said predetermined first frequency (fn ,fi2 - - -fi N) of said predetermined first tone (T1 ), when said predetermined first tone (T1 ) of said at least one predetermined siren (S-I ,S2. . .SN) has been identified in said first time window, or to said predetermined second frequency (f2i ,f22 -■ -Ϊ2Ν) of said predetermined second tone (T2), when said predetermined second tone (T2) of said at least one predetermined siren (S-I ,S2. . .SN) has been identified in said first time window, said method performs the steps from 1 0) to 1 4) in a third time window, following said second time window.
1 1 . Method according to any one of claims 7-1 0, characterized in that said method comprises the following step:
- displaying a information concerning a first arrival direction of said emergency vehicle (EV) with respect to said vehicle (V), when said first energy is greater than said second energy of a predetermined first factor, or a further information concerning a second arrival direction of said emergency vehicle (EV) with respect to said vehicle (V), different from said first arrival direction, when said first energy is less than said second energy of a predetermined second factor, otherwise displaying a further information concerning a third arrival direction of said emergency vehicle (EV) with respect to said vehicle (V), different from said first arrival direction and said second arrival direction.
12. Method according to any one of the claims 7-1 1 , characterized in that, with reference to step 1 ), said first microphone (1 A) is connected to a first rear-view mirror (RDX) of said vehicle (V), and said second microphone (1 B) is connected to a second rear-view mirror (Rsx) of said vehicle (V).
PCT/IT2018/050072 2017-04-24 2018-04-24 System for recognizing an emergency vehicle from the sound emitted from a siren of said emergency vehicle and method thereof Ceased WO2018198150A1 (en)

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