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FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
1© Professor Dr.-Ing J. Becker-Schweitzer
Gehörgerechte Fahrgeräuschanalyse als Basis für Fahrsimulatoren
Prof. Dr.-Ing. Jörg Becker-Schweitzer
Fachhochschule Düsseldorf Institute for Sound and Vibration [email protected]
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
2© Professor Dr.-Ing J. Becker-Schweitzer0:10
Fahrsimulator als Versuchsplattform
Damals (1910)
[http://www.rug.nl/cit/hpcv/vr_visualisation/simulation/phileas]
[www.ligoeleos.com/Flight Simulator History of Technology.htm]
Heute
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
3© Professor Dr.-Ing J. Becker-Schweitzer0:10
FORD 2SV ( HEAD acoustics H3S)
original sound
rpmspeed surface throttle position
wind sound road sound powertrain sound
+ =
silenced sound
demo sound demo sound
vehi
cle
mod
ifica
tions
high
ly in
sula
ted
earp
hone
s
ANC-Headphone
Earplug/Headphone-Kombination
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
4© Professor Dr.-Ing J. Becker-Schweitzer0:10
Geräusch Parametrisierung
Fahrzeugparameter• Fahrzeuggeschwindigkeit• Motorgeschwindigkeit (Drehzahl)• Motorlast (Gaspedalstellung)• Gang• Bediengeräusche
Umweltparameter• Fahrbahnoberfläche• Windgeschwindigkeit• Verkehr (Überholvorgänge)• Umgebungsgeräusche• …
• Fahrzeuggeschwindigkeit• Motorgeschwindigkeit (Drehzahl)• Motorlast (Gaspedalstellung)• Gang
FahrgeräuschFahrgeräusch
Zeitbereichssynthese
Frequenzbereichssynthese
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
5© Professor Dr.-Ing J. Becker-Schweitzer0:10
Fahrgeräusche Parametrisierung
100 1000 100000
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90S
ound
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ssur
e Le
vel /
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(lin)
Frequency / Hz
ReifenReifen--FahrbahnFahrbahn
MotorMotor
WindWind
Konstantfahrt 120km/h
GesamtGesamt--gergerääuschusch
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
6© Professor Dr.-Ing J. Becker-Schweitzer0:10
Wolfgang von Kempelens sprechende Maschine (1791)
http://www.ling.su.se/staff/hartmut/kempln.htm
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
7© Professor Dr.-Ing J. Becker-Schweitzer0:10
Homer Dudleys Voder 1939
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
8© Professor Dr.-Ing J. Becker-Schweitzer0:10
Wie funktioniert eine FFT
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
9© Professor Dr.-Ing J. Becker-Schweitzer0:10
Äquivalenter Tiefpaßbereich
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-2.5
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Original 20+21 Hz cosine waves
Multiply by 20 Hz complex phasor
2 Hz lowpass filter & multiply by 2
Multiply by 20 Hz conjugate phasor
Compare real component to original
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
10© Professor Dr.-Ing J. Becker-Schweitzer0:10
Drehzahlsignal Ermittlung
0 2 4 6 8 10 12 14 16 182000
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PM
16 16.2 16.4 16.6 16.8 17 17.2 17.4 17.6 17.8 185000
5050
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Time s
Inst
anta
neou
s R
PM
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
11© Professor Dr.-Ing J. Becker-Schweitzer0:10
Drehzahlfehler
0 2 4 6 8 10 12 14 16 18-80
-60
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Time s
Inst
anta
neou
s R
PM
Err
or
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
12© Professor Dr.-Ing J. Becker-Schweitzer0:10
Spektralanalyse Gesamtgeräusch
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FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
13© Professor Dr.-Ing J. Becker-Schweitzer0:10
Spektralanalyse Motorordnungen (Stimmhaft Vocale)
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FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
14© Professor Dr.-Ing J. Becker-Schweitzer0:10
Spektralanalyse (Motorordnung, Amplitude , Phase bzgl. Referenz)
Avg (1)#2ld0 ( 3.92-168.92 s).Level vs rpm (Fast). L/dB(A)[SPL]
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n/rpm1000 2000 3000 4000 5000 6000
Avg (1)#2ld100 ( 8.45-172.22 s).Level vs rpm (Fast)Avg (1)#2ld80 (12.82-177.08 s).Level vs rpm (Fast)Avg (1)#2ld60 ( 8.41-172.08 s).Level vs rpm (Fast)Avg (1)#2ld40 ( 7.90-172.06 s).Level vs rpm (Fast)Avg (1)#2ld20 (12.59-176.67 s).Level vs rpm (Fast)Avg (1)#2ld0 ( 3.92-168.92 s).Level vs rpm (Fast)
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
15© Professor Dr.-Ing J. Becker-Schweitzer0:10
Rekonstruktion Splineinterpolation Mittelung (10 / 50 Rpm Schritte)
4.02 4.04 4.06 4.08 4.1 4.12 4.14 4.16 4.18
-0.2
-0.15
-0.1
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Zeit / s
0 1 2 3 4 5 6 7 8 9-1
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Zeit / s0 1 2 3 4 5 6 7
-0.8
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Zeit / s
3.94 3.96 3.98 4 4.02 4.04 4.06
-0.3
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-0.1
0
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Zeit / s
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
16© Professor Dr.-Ing J. Becker-Schweitzer0:10
Phasenbestimmung
0 1 2 3 4 5 6 7 8 9-1
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Zeit / s1.13 1.14 1.15 1.16 1.17 1.18 1.19 1.2 1.21 1.22 1.23
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Zeit / s
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Zeit / s
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
17© Professor Dr.-Ing J. Becker-Schweitzer0:10
Phasenbestimmung
1.05 1.1 1.15 1.2 1.25 1.3-1
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Zeit / s
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
18© Professor Dr.-Ing J. Becker-Schweitzer0:10
Spektralanalyse Gesamtgeräusch
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FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
19© Professor Dr.-Ing J. Becker-Schweitzer0:10
Spektralanalyse Restrauschen (Stimmlos, Konsonanten)
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FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
20© Professor Dr.-Ing J. Becker-Schweitzer0:10
101 10
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4 105
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Spektralanalyse (Restrauschen, Filtergenerierung)
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
21© Professor Dr.-Ing J. Becker-Schweitzer0:10
Filter
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Zeit / s
Noise
+
Fahrzeugge-schwindigkeit
RauschmatrixOrder Matrix
Drehzahl Motorlast
Amplitude/ Phase
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
22© Professor Dr.-Ing J. Becker-Schweitzer0:10
Fahrgeräusche 2. Gang Hochlauf
BMW 318 iAlfa Romeo Spider 2.0 lFord Mondes 1.8 lAudi A3 1.8 l Turbo
Time / s
Fre
quen
cy /
Hz
0 2 4 6 8 100
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1000
Time / s
Fre
quen
cy /
Hz
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Time / s
Fre
quen
cy /
Hz
0 1 2 3 4 5 6 7 80
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Time / s
Fre
quen
cy /
Hz
0 1 2 3 4 5 6 7 80
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1000
Time / s
Fre
quen
cy /
Hz
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Time / s
Fre
quen
cy /
Hz
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Time / s
Fre
quen
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Hz
0 1 2 3 4 5 6 70
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quen
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Original Synthese(bmw.wav) (bmwsyn.wav)
(alfa.wav) (alfasyn.wav)
(mondeo.wav) (mondeosyn.wav)
(audisyn.wav)(audi.wav)
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
23© Professor Dr.-Ing J. Becker-Schweitzer0:10
0 2 4 6 8 10 120
1000
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7000
Zeit / s
rpm
Synthesetest
Motorhochlauf schnell (rot)
Motorhochlauf langsam (blau)
Original(fast.wav)
Synthese(fastsyn.wav)
Original(slow.wav)
Synthese(slowsyn.wav)
Tausch(fast2slow.wav)
Tausch(slow2fast.wav)
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
24© Professor Dr.-Ing J. Becker-Schweitzer0:10
Modifizierte Hochlaufgeschwindigkeiten für ein Fahrzeug
Beispiel:BMW
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
25© Professor Dr.-Ing J. Becker-Schweitzer0:10
Ergebnisse Sportlichkeit
Avg.
Rat
ing
linear progressiv degressiv Diesel0
1
2
3
4
5
6
7
8
Petrol
AlfaAudiMondeoBMW
Petrol Linear progressiv degressiv Diesel Varianz
BMW 4.6 3.9 3.9 4 4 0.096
Alfa 4.4 4.3 3.9 3.9 3.7 0.198
Mondeo 4.8 4.4 3.8 4.4 4.4 0.124
Audi 4.8 4 3.5 4.2 4.1 0.074
Varianz 0.025 0.054 0.032 0.038 0.072
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
26© Professor Dr.-Ing J. Becker-Schweitzer0:10
Einsatzgebiet Sounddesign
1000 2000 3000 4000 5000 6000 700065
70
75
80
85
90
Engine Speed / rpm
SP
L /
dB(li
n)
2nd2.5th
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
27© Professor Dr.-Ing J. Becker-Schweitzer0:10
Grenzen der Simulationstechnik (Dieselsounds)
schwach nagelnd stark nagelnd
0 20 40 60 80 100 120 140 160 180 200-4
-3
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4
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0 20 40 60 80 100 120 140 160 180 200-4
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Zeitpunkt 2 (44103.Sample)
Zeitpunkt 3 (99356.Sample)
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
28© Professor Dr.-Ing J. Becker-Schweitzer0:10
Zusammenfassung
• Fahrsimulatoren sind ein sinnvolles Werkzeug in der Automobilindustrie
• Eine Fahrgeräuschanalyse und -synthese ist gehörgerecht möglich
• Es sind Algorithmen für Zeit- und Frequenzbereichssynthese vorhanden
• Fahrgeräuschdaten können Fahrzeugbezogen abgelegt werden
• Frequenzbereichsynthese problematisch für impulsive Geräusche
• Frequenzbereichsynthese erlaubt leichtere Geräuschmodifikationen für
Sounddesign
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
29© Professor Dr.-Ing J. Becker-Schweitzer0:10
Vielen Dank für Ihre Aufmerksamkeit
FH D ISAVEFachhochhschule Düsseldorf Institute for Sound and University of Applied Sciences Vibration Engineering
30© Professor Dr.-Ing J. Becker-Schweitzer0:10
LiteraturJ. Becker, M. Heppelter, The influence of different run up slopes on sound quality evaluation in vehicle interior sounds, DAGA 2003J. Becker, R. Schirmacher Bdeutung multimodaler Wahrnehmung auf die Beurteilung von Fahrzeuginnengräuschen Wokshop FAFA Dega Oldenburg 2003Almut Hochstädter, Peter Zahn, Karsen Breuer, Ein universelles Fahrermodell mit den Einsatzbeispielen Verkehrssimulationund Fahrsimulator, 2000J. M. Rolfe and K. J. Staples, Flight simulation, 1988Wierwille, W.W., Driving Simulator Design for Realistic Handling, 1975http://www.pm-drosdol.de/index.php?id=17, 2008http://www-nrd.nhtsa.dot.gov/departments/nrd-12 /NationalAdvancedDriverSimulator.html 2008, http://www.its.leeds.ac.uk/facilities/uolds/index.php, 2008M Lebram, H Engstrom, H Gustavsson,, A Driving Simulator Based on Video Game Technology, 2006Kemeny A, Panerai F, Evaluation perception in driving simulation experiments, 2003Ronald R. Mourant, David Refsland, Developing a 3D Sound Environmentfor a Driving Simulator, 2003F. Barbagli, D. Ferrazzin, C.A. Avizzano, M. Bergamasco, Proceedings of VR2001, Washout Filter Design for a Motorcycle Simulator, 2001J. Miguel Leitão, Ra Moreira, Jorge A. Santos, A. Augusto Sousa, F. Nunes Ferreira,GVE'99-Computer Graphics and Visualization Education '99, Evaluation
of Driving Education Methods in a Driving Simulator, 1999H. S. Kang, M. K. Abdul Jali, Musa Mailah,VRCAI '04: Proceedings of the 2004 ACM SIGGRAPH , A PC-based driving simulator using virtual reality
technology, 2004James Cremer, Joseph Kearney, Yiannis Papelis, Richard Romano ,in Proceedings of the 4th Computer Generated Forces and Behavioral Representation, The
software architecture for scenario control in the Iowa driving simulator, 1994James Cremer, Joseph Kearney, Peter Willemsen,IMAGE Conference, Directable Behavior Models for Virtual Driving Scenarios, 1998D. Ferrazzin and L. Arnone and M. Marcacci and L. Masut and A. Benedetti,, The Moris Motorcycle Simulator: An Overwiew, 2001M. Di Natale and G. M. Prisco and G. Di Pietro and M. Bergamasco and P. Ancilotti,, The Design and Analysis of the Moris Simulator, 1999Jon Kuhl, Douglas Evans, Yiannis Papelis, Richard Romano, Ginger Watson,, The Iowa Driving Simulator: An Immersive Research Environment, 1995J. Becker Driving sound decomposition and synthesis for driving simulators in automotive industries,.In Proceedings of HC 2006 R. Heinrichs, J. Becker, W. Krebber, Sound Design development with sound simulation vehicle On CD Proc. 3rd. European Congress on Acoustics, Forum
acousticum Sociadad Espanola de Acoustics 2002