A motor sound control method and related products

Abstract

The embodiment of the present invention provides a motor sound control method and related products, the method comprising: obtaining safety detection data of a vehicle in response to a motor sound request; and controlling the motor to make a sound when the safety detection data meets the motor sound condition. Through the embodiment of the present invention, it can be ensured that when the motor of the vehicle makes a sound, other functions of the vehicle are not affected, and the vehicle can make a motor sound safely, thereby preventing the high-voltage motor from endangering the safety of passengers in the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle sound generation, and in particular to a motor sound generation control method and related products. Background Art

[0002] Motor sound generation technology refers to the reuse of the vehicle's motor as a sound generation unit to generate sound. Since a motor is used to generate sound, the safety of the sound generation process needs to be ensured to ensure the safety of users in the vehicle. However, in the current motor sound generation technology, there is a lack of definition of the safe use of motor sound generation. Summary of the invention

[0003] In view of the above problems, a motor sound control method and related products are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] A motor sound control method, the method comprising:

[0005] In response to the motor sound request, obtaining safety detection data of the vehicle;

[0006] When the safety detection data meets the motor sounding condition, the motor is controlled to make a sound.

[0007] Optionally, the safety detection data includes first detection data obtained from an insulation detection circuit of the vehicle; when the safety detection data satisfies a motor sounding condition, controlling the motor to sound includes: when the first detection data is within a first preset target range, controlling the motor to sound;

[0008] And / or, the safety detection data includes obtaining second detection data for the motor of the vehicle; when the safety detection data satisfies the motor sounding condition, controlling the motor to make a sound includes: when the second detection data is within a second preset target range, controlling the motor to make a sound;

[0009] And / or, the safety detection data includes obtaining third detection data for the power battery of the vehicle; when the safety detection data satisfies the motor sounding condition, controlling the motor to sound includes: when the third detection data is within a third preset target range, controlling the motor to sound;

[0010] And / or, the safety detection data includes obtaining fourth detection data for the motor controller of the vehicle; when the safety detection data satisfies the motor sounding condition, controlling the motor to sound includes: when the fourth detection data is within a fourth preset target range, controlling the motor to sound;

[0011] And / or, the safety detection data includes obtaining fifth detection data for the battery management system of the vehicle; when the safety detection data meets the motor sound condition, controlling the motor to make sound includes: when the fifth detection data is within the fifth preset target range, controlling the motor to make sound.

[0012] Optionally, controlling the motor to make a sound includes:

[0013] Determining target audio data corresponding to the motor sound request;

[0014] According to the target audio data, the motor is controlled to produce sound.

[0015] Optionally, controlling the motor to make sound according to the target audio data includes:

[0016] Get the target torque;

[0017] The motor is controlled to generate sound according to the target audio data and the target torque.

[0018] Optionally, determining the target audio data corresponding to the motor sound request includes:

[0019] Determining a target sounding scene corresponding to the motor sounding request;

[0020] According to the target sound scene, the target audio data is acquired.

[0021] Optionally, controlling the motor to make sound according to the target audio data includes:

[0022] According to the target audio data, driving parameters for the motor are determined, and the motor is controlled to produce sound according to the driving parameters.

[0023] Optionally, the target audio data includes at least one of the following: audio frequency, audio amplitude information.

[0024] Optionally, the method further comprises:

[0025] When the safety detection data does not satisfy the motor sound-generating condition, the motor is controlled to stop generating sound.

[0026] Optionally, before obtaining the safety detection data of the vehicle, the method further includes:

[0027] When the vehicle is in an unpowered state, the vehicle is controlled to be powered on.

[0028] Optionally, when the vehicle is in an unpowered state, after controlling the vehicle to be powered on, the method further includes:

[0029] After the motor stops making sound, the vehicle is controlled to power off.

[0030] Optionally, after receiving the motor sounding request, the method further includes:

[0031] When the vehicle is not in a parking state, a parking reminder is given.

[0032] Optionally, when the safety detection data meets the motor sounding condition, before controlling the motor to make a sound, the method further includes:

[0033] Obtaining speed information of the vehicle;

[0034] Confirm that the vehicle speed information is less than a preset vehicle speed value.

[0035] The embodiment of the present invention further provides a motor sound control device, the device comprising:

[0036] An acquisition module, used for acquiring safety detection data of the vehicle in response to a motor sound request;

[0037] The first control module is used to control the motor to make a sound when the safety detection data meets the motor sound making condition.

[0038] The embodiment of the present invention further provides a vehicle controller, wherein the vehicle controller is connected to a motor controller of the vehicle;

[0039] The vehicle controller is used to obtain the safety detection data of the vehicle in response to the motor sound request; when the safety detection data meets the motor sound condition, a motor enable command is sent to the motor controller to control the motor controller to control the motor sound.

[0040] The embodiment of the present invention further provides a motor controller, which is connected to a vehicle controller of the vehicle;

[0041] The motor controller is used to receive the motor enable command sent by the motor controller and control the motor to make sounds; the motor enable command is the vehicle controller, which is used to respond to the motor sound request and obtain the vehicle's safety detection data; when the safety detection data meets the motor sound conditions, the command is sent to the motor controller.

[0042] An embodiment of the present invention further provides a vehicle, comprising: the vehicle controller as described above, and the motor controller as described above.

[0043] Optionally, the vehicle controller is used to determine a target sound scene corresponding to the motor sound request; and send a motor enable command and the target sound scene to the motor controller;

[0044] The motor controller is used to obtain target audio data according to the target sound emission scene after receiving the motor enable command, and control the motor sound according to the target audio data.

[0045] Optionally, the vehicle controller is further configured to send a motor enable shutdown command to the motor controller after the motor stops emitting sound;

[0046] The motor controller is further configured to stop controlling the motor to make sound in response to the motor enable shutdown command.

[0047] Optionally, the vehicle controller is used to send a target torque to the motor controller;

[0048] The motor controller is used to determine driving parameters for the motor according to the target audio data and the target torque, control the motor to make sounds according to the driving parameters, and output the target torque.

[0049] Optionally, the vehicle further comprises a non-volatile memory and a multimedia system;

[0050] The motor controller is further used to obtain the target audio data from the non-volatile memory when the target sound emission scene is the first sound emission scene; and to obtain the target audio data from the multimedia system when the target sound emission scene is the second sound emission scene.

[0051] Optionally, the vehicle further comprises:

[0052] The data processing module is used to process the audio information to be played to obtain audio frequency and / or audio amplitude information; and store the audio frequency and / or audio amplitude information into the non-volatile memory or the multimedia system.

[0053] An embodiment of the invention further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the motor sound control method as described above when executed by the processor.

[0054] An embodiment of the invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the motor sound control method as described above is implemented.

[0055] The embodiments of the present invention have the following advantages:

[0056] In the embodiment of the present invention, in response to the motor sounding request, the safety detection data of the vehicle is obtained; when the safety detection data meets the motor sounding condition, the motor is controlled to sound. Through the embodiment of the present invention, it can be ensured that when the motor of the vehicle is sounding, other functions of the vehicle are not affected, and the vehicle can safely sound the motor, thereby preventing the high-voltage motor from endangering the safety of passengers in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0058] Figure 1 is a flowchart of a method for controlling the sound generation of a motor provided by some embodiments of the present invention;

[0059] Figure 2 is a flowchart of another motor sound control method provided by some embodiments of the present invention;

[0060] Figure 3 It is a flowchart of steps for realizing motor sound generation in a parking scenario provided by some embodiments of the present invention;

[0061] Figure 4 It is a flowchart of steps for realizing motor sound generation in a driving scenario provided by some embodiments of the present invention;

[0062] Figure 5 is a structural schematic diagram of a motor sound control device according to an embodiment of the present invention;

[0063] Figure 6 is a structural schematic diagram of a vehicle according to an embodiment of the present invention;

[0064] Figure 7 is a schematic structural diagram of another vehicle according to an embodiment of the present invention;

[0065] Description of the accompanying drawings:

[0066] Vehicle 300 , multimedia system 310 , high-voltage system 320 , music control module 311 , memory 312 , network interface 313 , data processing module 314 , data acquisition module 321 , motor controller 322 , motor 323 , vehicle controller 324 , battery management system 325 , power battery 326 . DETAILED DESCRIPTION

[0067] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] Reference Figure 1 , shows a flowchart of a motor sound control method provided by some embodiments of the present invention, which may specifically include the following steps:

[0069] Step 101, in response to a motor sound request, obtaining vehicle safety detection data.

[0070] In an embodiment of the present invention, when a user needs to call on a motor to make a sound, a user operation can be performed on a vehicle or a user terminal connected to the vehicle to input a motor sound request to the vehicle; the motor sound request may include an identifier corresponding to the target audio data that needs to be played by the motor.

[0071] After receiving the motor sound request, the vehicle controller in the vehicle can respond to the motor sound request and control the vehicle's motor to make sound; since the motor is in a high-voltage state in the working mode, in order to avoid the motor sound affecting the normal operation of the electrical equipment in the vehicle, and to avoid the motor sound endangering the safety of the passengers in the vehicle, the embodiment of the present invention can first detect the vehicle condition when receiving the motor sound request.

[0072] Specifically, the vehicle controller may obtain safety detection data for the vehicle; the safety detection data may include detection data obtained after detecting the hardware and / or software of the vehicle.

[0073] Step 102, when the safety detection data meets the motor sounding condition, control the motor to make a sound.

[0074] After obtaining the safety detection data, the vehicle controller can evaluate the vehicle's status from the perspective of hardware and / or software to determine whether the vehicle can safely generate motor sound and whether the generation of motor sound will affect the normal operation of other equipment in the vehicle.

[0075] Specifically, after obtaining the safety detection data, the vehicle controller can determine whether the state of the vehicle meets the preset motor sound conditions based on the safety detection data; wherein, the motor sound conditions can be set according to the state of the hardware related to the motor sound in the vehicle, the state of the software related to the motor sound in the vehicle, and the insulation state of the vehicle, and the embodiment of the present invention is not limited to this.

[0076] Exemplarily, the motor sound conditions may include: the vehicle's battery is normal, the motor is normal, the software deployed in the vehicle's BMS (Battery Management System) and MCU (Microcontroller Unit) (i.e., the motor controller in the vehicle) is normal, and the vehicle's insulation is in good condition.

[0077] When it is determined that the vehicle does not meet the preset motor sound conditions, it can be determined that the vehicle is currently not capable of motor sound generation; at this time, the motor sound generation may not be controlled in response to the motor sound generation request, and a prompt may be given to the user.

[0078] On the contrary, if it is determined that the vehicle meets the preset motor sound conditions, it can be determined that the vehicle can currently safely make motor sounds; at this time, the vehicle controller can control the motor to control the motor to emit a sound corresponding to the target audio data.

[0079] In the embodiment of the present invention, in response to the motor sounding request, the safety detection data of the vehicle is obtained; when the safety detection data meets the motor sounding condition, the motor is controlled to sound. Through the embodiment of the present invention, it can be ensured that when the motor of the vehicle is sounding, other functions of the vehicle are not affected, and the vehicle can safely sound the motor, thereby preventing the high-voltage motor from endangering the safety of passengers in the vehicle.

[0080] Reference Figure 2 , shows a flowchart of another motor sound control method provided by some embodiments of the present invention, which may specifically include the following steps:

[0081] Step 201, in response to a motor sound request, obtaining vehicle safety detection data.

[0082] When the user needs to call the motor to make a sound, the user operation can be performed on the vehicle or a user terminal connected to the vehicle to input a motor sound request to the vehicle.

[0083] After receiving the motor sound request, the vehicle controller in the vehicle can first respond to the motor sound request and obtain safety detection data obtained from hardware and software detection related to the motor sound in the vehicle.

[0084] In some feasible embodiments, the safety detection data may include third detection data obtained for the vehicle's power battery; the third detection data may be detection data obtained by the vehicle controller from the battery management system for detecting the vehicle's power battery; the third detection data may include the battery's temperature, voltage, current, etc.

[0085] In some feasible embodiments, the safety detection data may include first detection data obtained from an insulation detection circuit of the vehicle; in actual applications, an insulation detection circuit may be provided in the vehicle; before controlling the motor to make a sound, the vehicle controller may also obtain first detection data from the insulation detection circuit of the vehicle; the first detection data may represent the insulation status of the vehicle.

[0086] In some feasible embodiments, the safety detection data may include second detection data obtained for the vehicle's motor; in actual applications, the vehicle controller may also obtain second detection data obtained from the vehicle's motor detection from the motor controller; the second detection data may include the motor's winding temperature, inverter, resolver, Hall, etc., and the embodiments of the present invention are not limited to this.

[0087] In some feasible embodiments, the safety detection data may include obtaining fourth detection data for the motor controller of the vehicle. In practical applications, the vehicle controller may also obtain fourth detection data obtained by detecting the software deployed in the motor controller from the motor controller, and the fourth detection data may be used to characterize whether the software deployed in the motor controller has a fault.

[0088] In some feasible embodiments, the safety detection data includes obtaining fifth detection data for the battery management system of the vehicle. In practical applications, the vehicle controller can also obtain fifth detection data obtained by detecting the software deployed in the battery management system from the battery management system, and the fifth detection data can be used to characterize whether the software deployed in the battery management system has a fault.

[0089] In one embodiment of the present invention, before obtaining the safety detection data of the vehicle, the above method may further include the following steps:

[0090] When the vehicle is in an unpowered state, control the vehicle to be powered on.

[0091] In an embodiment of the present invention, when a motor sound request is received, it can be determined whether the vehicle is in a powered-on state; illustratively, the powered-on state can mean that the vehicle has been powered on and is in a normal working state.

[0092] If the vehicle is powered on, the step of obtaining safety detection data can be directly executed.

[0093] On the contrary, if the vehicle is not in the power-on state, the vehicle controller can first control the vehicle to power on; after the control of the vehicle to power on is completed, the step of obtaining the safety detection data is executed.

[0094] Exemplarily, the pre-charge contactor K0 and the negative contactor K2 can be first closed to charge the pre-charge capacitor; within time T0, it is determined whether the voltage U of the pre-charge capacitor reaches the target voltage U0. If U>U0, the pre-charge is successful; at this time, the pre-charge contactor K0 can be disconnected, and the main contactor K1 can be closed to complete the power-on. Through the embodiment of the present invention, it is ensured that the system can safely and smoothly reach the operating voltage when starting, avoiding the high current shock that may be caused by the sudden connection of the capacitor to the circuit.

[0095] In one embodiment of the present invention, when the vehicle is in an unpowered state, after the vehicle is powered on, the method may further include the following steps:

[0096] After the motor stops making sound, the vehicle is controlled to power off.

[0097] In some feasible embodiments, if the vehicle is not in a powered-on state when a request for the motor to generate sound is received, the vehicle may be controlled to be powered-off after detecting that the motor has stopped generating sound.

[0098] On the contrary, if the vehicle is in a powered-on state when a request for the motor to generate sound is received, the vehicle is not controlled to be powered-off after it is detected that the motor stops generating sound.

[0099] In one embodiment of the present invention, after receiving the motor sounding request, the method may further include the following steps:

[0100] When the vehicle is not in parking state, parking reminder is given.

[0101] In some feasible embodiments, the motor sound function can be used only in parking scenarios, or in both parking and driving scenarios; for the situation where it can only be used in parking scenarios, after receiving the motor sound request, the vehicle controller can first obtain the vehicle's driving status information, and the driving status information may include the vehicle's speed, gear position, whether the electronic braking system is enabled, etc.

[0102] Based on the driving status information, it can be determined whether the vehicle is in a parking state; the parking state can refer to a state where the vehicle speed is 0, or a state where the electronic brake system is enabled, or a state where the gear is in P gear or N gear, and the embodiment of the present invention does not limit this.

[0103] If the vehicle is in the parking state, the step of obtaining the safety detection data can be continued. Conversely, if the vehicle is not in the parking state, the user can be prompted to park; for example, the user can be prompted in the central control panel that "the motor sound function requires your vehicle to be in the parking state, please park the vehicle and turn on the P gear".

[0104] Step 202: When the first detection data is within a first preset target range, the motor is controlled to make a sound.

[0105] In some feasible embodiments, if the safety detection data includes first detection data, it can be determined whether the first detection data is within a preset first preset target range; if the first detection data is not within the preset first preset target range, the motor may not be controlled to make a sound.

[0106] On the contrary, if the first detection data is within the preset first preset target range, the step of controlling the motor to make sound can be executed.

[0107] Exemplarily, the first detection data can represent the insulation state of the vehicle; the first preset target range can mean that the insulation state of the vehicle is within a safe range. Exemplarily, the first preset target range can be a threshold set for voltage or current, or it can mean that the vehicle has no leakage problem. It can be set according to actual conditions, and the embodiments of the present invention are not limited to this.

[0108] Step 203: When the second detection data is within a second preset target range, the motor is controlled to make a sound.

[0109] In some feasible embodiments, if the safety detection data includes second detection data, it can be determined whether the second detection data is within a preset second preset target range; if the second detection data is not within the preset second preset target range, the motor may not be controlled to make a sound.

[0110] On the contrary, if the second detection data is within the preset second preset target range, the step of controlling the motor to make sound can be executed.

[0111] Exemplarily, the second detection data may include the winding temperature, inverter, resolver, Hall, etc. of the motor; the second preset target range may be a range of numerical values ​​set for the winding temperature, inverter, resolver, Hall, and other information of the motor. Within this range, the motor making sounds will not cause safety problems and will not affect other functions of the vehicle. The value of the second preset target range can be set according to actual conditions.

[0112] Step 204 : When the third detection data is within a third preset target range, the motor is controlled to make a sound.

[0113] In some feasible embodiments, if the safety detection data includes third detection data, it can be determined whether the third detection data is within a preset third preset target range; if the third detection data is not within the preset third preset target range, the motor may not be controlled to make a sound.

[0114] On the contrary, if the third detection data is within the preset third preset target range, the step of controlling the motor to make sound can be executed.

[0115] Exemplarily, the third detection data may include the battery's temperature, voltage, current, etc.; the third preset target range may be a range of values ​​set for the battery's temperature, voltage, current, etc., within which the motor can make sounds without causing safety issues and without affecting other functions of the vehicle. The value of the third preset target range can be set according to actual conditions.

[0116] Step 205 , when the fourth detection data is within a fourth preset target range, control the motor to make a sound.

[0117] In some feasible embodiments, if the safety detection data includes fourth detection data, it can be determined whether the fourth detection data is within a preset fourth preset target range; if the fourth detection data is not within the preset fourth preset target range, the motor may not be controlled to make a sound.

[0118] On the contrary, if the fourth detection data is within the preset fourth preset target range, the step of controlling the motor to make sound can be executed.

[0119] Exemplarily, the fourth detection data can be used to characterize whether the software deployed in the motor controller has a fault, and the fourth detection data can be represented by a fault flag bit, 1 indicates that the software has a fault, and 0 indicates that the software does not have a fault. The fourth preset target range can refer to the fault flag bit of the software deployed in the motor controller being 0; when the fault flag bit is 0, it indicates that the software has no fault.

[0120] Step 206 , when the fifth detection data is within the fifth preset target range, control the motor to make a sound.

[0121] In some feasible embodiments, if the safety detection data includes the fifth detection data, it can be determined whether the fifth detection data is within the preset fifth preset target range; if the fifth detection data is not within the preset fifth preset target range, the motor may not be controlled to make a sound.

[0122] On the contrary, if the fifth detection data is within the preset fifth preset target range, the step of controlling the motor to make sound can be executed.

[0123] Exemplarily, the fifth detection data can be used to characterize whether the software deployed in the battery management system has a fault, and the fifth detection data can be represented by a fault flag, 1 indicates that the software has a fault, and 0 indicates that the software does not have a fault. The fourth preset target range can refer to the fault flag of the software deployed in the battery management system being 0; when the fault flag is 0, it indicates that the software has no fault.

[0124] In practical applications, the motor can be controlled to make a sound only when at least one of steps 202 to 206 is established, or the motor can be controlled to make a sound only when all of steps 202 to 206 are established; specifically, steps 202 to 206 can be arbitrarily combined to suit different scenarios, and the embodiments of the present invention are not limited to this.

[0125] In an embodiment of the present invention, after obtaining the safety detection data, the vehicle controller can determine the current target insulation state of the vehicle and the fault flag of the hardware related to the motor sound in the vehicle based on the relationship between the first detection data, the second detection data and the third detection data and the corresponding preset target range; the fault flag can be used to characterize whether there is a fault in the hardware related to the motor sound in the vehicle; illustratively, when the fault flag is 0, it indicates that the hardware has no fault, and when the fault flag is 1, it indicates that the hardware has a fault, and the embodiment of the present invention does not limit this.

[0126] After obtaining the safety detection data, the vehicle controller can also determine whether there is a fault in the software related to the motor sound deployed in the vehicle based on the relationship between the fourth detection data, the fifth detection data and the corresponding preset target range.

[0127] When controlling the motor to make sound, it can be achieved through the following sub-steps:

[0128] Sub-step 21: determining target audio data corresponding to the motor sound request.

[0129] When the safety detection data meets the motor sound generation condition, the target audio data corresponding to the motor sound generation request may be determined.

[0130] Sub-step 22: Control the motor to produce sound according to the target audio data.

[0131] Then, the motor can be controlled to produce sound according to the target audio data. Exemplarily, sub-step 22 can be implemented in the following manner:

[0132] Determine the target sound scene corresponding to the motor sound request; and obtain target audio data according to the target sound scene.

[0133] After obtaining the motor sound request, the target sound scene corresponding to the motor sound request can be determined, and the target audio data corresponding to the motor sound request can be obtained based on the target sound scene. Exemplarily, the target sound scene can include a prompt sound scene or a music scene, and the target sound scene corresponds to the type of the target audio data; when the target audio data is a prompt sound, the target sound scene is a prompt sound scene, and when the target audio data is music, the target sound scene is a music scene, which is not limited in the embodiment of the present invention.

[0134] In one embodiment of the present invention, when controlling the motor to make sound according to the target audio data, it can be achieved in the following manner:

[0135] According to the target audio data, driving parameters for the motor are determined, and the motor is controlled to produce sound according to the driving parameters.

[0136] In the embodiment of the present invention, since the sound is produced by controlling the motor, the motor controller can determine the driving parameters for the motor according to the audio frequency and / or audio amplitude information in the target audio data, such as current, voltage, etc. Then, the motor is controlled based on the driving parameters, so as to control the motor to produce the sound corresponding to the target audio data.

[0137] Exemplarily, the motor controller can calculate the current value that needs to be passed into the three-phase winding of the motor stator through information such as audio frequency and / or audio amplitude information, and further calculate the on and off time of the six power units on the control inverter, output a PWM (Pulse Width Modulation) wave with a corresponding duty cycle, and convert it into a corresponding three-phase current passed through the stator winding of the three-phase motor, driving the motor to produce sound corresponding to the target audio data.

[0138] In an embodiment of the present invention, the target audio data includes at least one of the following: audio frequency and audio amplitude information.

[0139] In one embodiment of the present invention, during the driving of the vehicle, the motor also needs to output a target torque; therefore, when controlling the motor to emit sound according to the target audio data, it can be achieved in the following manner:

[0140] Obtain the target torque; control the motor to make sounds according to the target audio data and target torque.

[0141] The motor sound generation function can also be used in driving scenarios; in driving scenarios, in addition to generating sound, the motor also needs to output torque; for this situation, in an embodiment of the present invention, the vehicle controller can send a target torque to the motor controller, that is, the torque expected to be output by the motor for controlling the movement of the vehicle.

[0142] After obtaining the target torque and target audio data, the motor controller can determine the driving parameters for the motor based on the target audio data and the target torque; illustratively, the motor controller obtains the target currents corresponding to the direct and quadrature axes by looking up the table of the target torque required for driving, and calculates the current that needs to be passed into the three-phase windings of the motor stator through information such as the audio frequency and / or audio amplitude information in the target audio data. The two currents are superimposed to further calculate the on and off time of the six power units on the control inverter, and a PWM wave with a corresponding duty cycle is output, which is converted into the corresponding three-phase current passed through the stator windings of the three-phase motor, thereby driving the motor to produce the target torque while producing the target audio sound.

[0143] In one embodiment of the present invention, when controlling the motor to make a sound, the above method may further include the following steps:

[0144] When the safety detection data does not meet the motor sounding conditions, the motor is controlled to stop making sound.

[0145] In some feasible embodiments, when the motor controller is controlling the motor to make sound, the vehicle controller can obtain new safety detection data for the vehicle to determine whether there is any abnormality in the process of the vehicle making sound through the motor.

[0146] Specifically, after obtaining new safety detection data, the vehicle controller can determine whether the vehicle still meets the preset motor sound conditions when making sounds through the motor based on the new safety detection data.

[0147] If it is determined at this time that the vehicle no longer meets the preset motor sound conditions, the motor sound can be stopped; specifically, the vehicle controller can send a motor enable shutdown command to the vehicle's motor controller to control the motor controller to stop controlling the motor sound.

[0148] In one embodiment of the present invention, when the safety detection data meets the motor sounding condition, before controlling the motor to sound, the method further includes the following steps:

[0149] Obtain the vehicle speed information; confirm that the vehicle speed information is less than the preset speed value.

[0150] For driving scenarios, in order to ensure the vehicle's driving performance, the vehicle's speed information can be obtained first; when the vehicle's speed information is less than the preset speed value, the step of controlling the motor to make sounds is executed according to the target audio data; otherwise, the driver is prompted to reduce the speed to the preset speed value, and then the step of controlling the motor to make sounds is executed.

[0151] Step 207, when the target audio data is played, a motor enable shut-down command is sent to the motor controller; the motor controller is used to stop controlling the motor to make sound in response to the motor enable shut-down command.

[0152] In actual applications, when the vehicle controller detects that the target audio data has been played, it can send a motor enable shutdown command to the motor controller; after receiving the motor enable shutdown command, the motor controller can respond to the motor enable shutdown command and stop controlling the motor to make sound.

[0153] like Figure 3 , showing a flowchart of the steps for achieving motor sound in a parking scenario:

[0154] S10: The music control module issues a request for the motor sound function.

[0155] S11: Determine whether the vehicle is currently powered on; if it is powered on, detect the insulation resistance of the positive and negative poles of each high-voltage component relative to the vehicle ground through the insulation detection circuit, and determine whether the insulation state of the vehicle is good; if an insulation failure occurs, disconnect the main and negative contactors between the power battery and the inverter, and enable the active discharge function, so that the voltage on the bus capacitor forms a loop through the three-phase winding of the motor and quickly releases electrical energy.

[0156] If it is not in the power-on state, the vehicle controller sends a power-on command to release the dormant state of the motor controller, and the motor controller performs initialization and self-test, and detects the winding temperature, inverter, resolver, Hall and other states. If the motor controller has no hardware fault, the hardware fault flag bit returned to the vehicle controller is 0. If a hardware fault occurs, the hardware fault flag bit is returned to 1, and power cannot be continued at this time. If the motor controller has no software fault, the software fault flag bit is returned to the vehicle controller as 0. If a software fault occurs, the software fault flag bit is returned to 1, and power cannot be continued at this time.

[0157] At the same time, the battery management system performs a self-check on the battery pack status. If there is no software / hardware failure, it returns a discharge permission flag of 1 to the vehicle controller. Otherwise, it returns a discharge permission flag of 0 and does not allow the battery pack to discharge.

[0158] S12: First, the pre-charge contactor K0 and the negative contactor K2 are attracted to charge the pre-charge capacitor; within the time T0, it is determined whether the voltage U of the pre-charge capacitor reaches the target voltage U0. If U>U0, the pre-charge is successful, the pre-charge contactor K0 is disconnected, and the main contactor K1 is attracted.

[0159] S13: The vehicle controller sends an insulation test command. If the insulation test passes, and the fault flag of the motor controller is not 1, the motor controller allows enabling, and the battery management system allows discharging, then the power-on is successful and the OK light is displayed on the main driving panel.

[0160] S14: Determine whether the vehicle speed is 0, whether the gear is in P gear or N gear, and whether the electronic brake system is enabled; if the vehicle speed exists, the user is prompted on the central control panel: "This function requires your vehicle to be in the parking state, please park the vehicle and turn on the P gear."

[0161] S15: The vehicle controller sends a motor enable command and a motor sound scene to the motor controller. If the motor sound scene is a prompt sound, the motor controller directly reads the corresponding audio information in the FLASH;

[0162] If the motor sound scene is to play music, the motor controller obtains the audio information in the buffer area of ​​the multimedia system through CAN communication.

[0163] Among them, the music control module can obtain audio through the mobile phone Bluetooth or through the Internet, and the data processing module can parse the frequency and amplitude information of the audio in real time and store it in the cache. If the amount of audio data in the cache is greater than the amount of data required to meet the audio playback function, a music enable signal is sent to the motor controller. The motor controller obtains the audio information in the cache through CAN communication and further calculates the target current of the drive motor.

[0164] S16: After receiving the motor enable signal and music enable signal from the vehicle controller, the motor controller calculates the current value that needs to be passed into the three-phase winding of the motor stator through the amplitude, frequency and other information of the audio, and further calculates the on and off time of the six power units on the control inverter, outputs a PWM wave with a corresponding duty cycle, and converts it into a corresponding three-phase current passed into the stator winding of the three-phase motor, driving the motor to produce the target audio sound.

[0165] S17: During the motor sounding process, the motor controller monitors the winding temperature, bus voltage, three-phase current and other information in real time.

[0166] If the winding temperature is greater than the set temperature threshold, an over-temperature fault occurs;

[0167] If the bus voltage is greater than the set voltage threshold, an overvoltage fault occurs;

[0168] If the current of one phase among the three-phase currents is greater than the set current threshold, an overcurrent fault occurs.

[0169] As long as one of the above faults occurs, the software fault flag is sent to the vehicle controller as 1, and the motor is turned off at the same time, and the upper and lower bridges of the inverter three-phase bridge arm are all in the closed state. At this time, the motor sound function is turned off.

[0170] S18: The battery management system detects the battery pack temperature, current and other conditions in real time, and the insulation circuit detects the insulation status of the vehicle's high-voltage system. If a battery pack fault or insulation fault occurs, the fault flag bit is returned to the vehicle controller as 1. At this time, the main and negative contactors K1 and K2 can be disconnected, and the vehicle controller sends an active discharge enable to the motor controller and turns on active discharge. After the voltage discharge is completed, turn off the motor enable and music enable, and the OK light goes out, and the corresponding fault prompt is displayed on the main driving panel.

[0171] S19: If there is no fault, after the audio is played, the vehicle controller sends a command to shut down the motor enable to the motor controller. After receiving the command, the motor controller shuts down the enable and determines whether to power off the vehicle according to the initial power-on state in step S11.

[0172] like Figure 4 , showing a flowchart of the steps for realizing motor sound in a driving scenario:

[0173] S20: The music control module issues a request for the motor sound function.

[0174] S21: The vehicle controller sends an insulation detection command, and the insulation resistance value of the positive and negative poles of each high-voltage component relative to the vehicle ground is detected through the insulation detection circuit, and it is determined whether the insulation status of the vehicle is good.

[0175] If an insulation failure occurs, the central control panel will prompt the user that the function cannot be turned on. At the same time, a fault prompt corresponding to the insulation failure will be issued on the main driver's panel, prompting the user to stop the car as soon as possible.

[0176] The motor controller detects the winding temperature, inverter, resolver, Hall and other states in real time and determines whether there is a hardware fault. If a hardware fault occurs, the hardware fault flag bit 1 is returned. At the same time, the motor controller monitors the winding temperature, bus voltage, three-phase current and other information in real time; if the winding temperature is greater than the set temperature threshold, an overtemperature fault occurs; if the bus voltage is greater than the set voltage threshold, an overvoltage fault occurs; if the current of one of the three-phase currents is greater than the set current threshold, an overcurrent fault occurs. If the motor controller has no software fault, the software fault flag bit 0 is returned to the vehicle controller. If a software fault occurs, the software fault flag bit 1 is returned, and power cannot be continued at this time.

[0177] The battery management system detects the battery pack status in real time. If there is no software or hardware failure, it returns the discharge enable flag as 1 to the vehicle controller.

[0178] As long as one of the above faults occurs, the fault flag bit will be sent to the vehicle controller as 1, and the corresponding fault prompt will be displayed on the main driver's panel.

[0179] S22: If the insulation test passes and there is no software / hardware fault in the motor controller and battery management system, it is determined whether the vehicle speed is greater than 30km / h; if the vehicle speed is not greater than 30km / h, the vehicle controller issues a command to start the motor.

[0180] S23: The vehicle controller sends the motor sound scene to the motor controller. If the motor sound scene is a driving prompt sound or other prompt sound, the motor controller directly reads the corresponding audio information in the FLASH;

[0181] If the motor sound scene is to play music, the motor controller obtains the audio information in the multimedia system buffer through CAN communication.

[0182] Among them, the music control module can obtain audio through the mobile phone Bluetooth or through the Internet, and the data processing module parses the frequency and amplitude information of the audio in real time and stores it in the cache area; if the amount of audio data in the cache area is greater than the amount of data required to meet the audio playback function, a music enable signal is sent to the motor controller, and the motor controller obtains the audio information in the cache area through CAN communication, and further calculates the target current of the drive motor.

[0183] S24: After receiving the enable signal from the vehicle controller, the motor controller obtains the target currents of the direct axis and quadrature axis corresponding to the target torque required for driving by looking up the table; the current required to be input into the three-phase winding of the motor stator is calculated by using the amplitude, frequency and other information of the audio; the two currents are superimposed to further calculate the on and off time of the six power units on the control inverter, and a PWM wave with a corresponding duty cycle is output, which is converted into the corresponding three-phase current input into the stator winding of the three-phase motor, driving the motor to produce the target torque while generating the target audio sound.

[0184] S25: During the motor sounding process, the battery management system detects the battery pack temperature, current and other conditions in real time, while the insulation circuit detects the insulation status of the vehicle's high-voltage system; the motor controller monitors the winding temperature, bus voltage, three-phase current and other information in real time to determine whether a software fault occurs. As long as one of the above faults occurs, the fault flag bit is sent to the vehicle controller as 1, and the corresponding fault prompt is displayed on the main driving panel, the motor enable and music enable are turned off, and the OK light goes out.

[0185] S26: If there is no fault, after the audio playback is completed, the vehicle controller sends a motor enable shutdown command to the motor controller.

[0186] In an embodiment of the present invention, in response to a motor sounding request, first detection data obtained by hardware detection of the vehicle is obtained, and second detection data obtained by software detection of the vehicle is obtained; based on the first detection data, a target insulation state of the vehicle and a first fault flag of the hardware of the vehicle are determined; based on the second detection data, a second fault flag of the software deployed in the vehicle is determined; based on the target insulation state, the first fault flag and the second fault flag, it is determined whether the vehicle meets the preset motor sounding condition; when it is determined that the vehicle meets the motor sounding condition, a target sounding scene corresponding to the motor sounding request is determined; a motor enable command and a target sounding scene corresponding to the target audio data are sent to a motor controller of the vehicle to control the motor sounding; the motor controller is used to obtain the target audio data according to the target sounding scene after receiving the motor enable command, and control the motor sounding according to the target audio data; when the target audio data is played, a motor enable command is sent to the motor controller; the motor controller is used to stop controlling the motor sounding in response to the motor enable command. Through the embodiments of the present invention, it can be ensured that when the motor of the vehicle generates sound, other functions of the vehicle are not affected, and the vehicle can generate sound safely, thereby preventing the high-voltage motor from endangering the safety of passengers in the vehicle.

[0187] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0188] Reference Figure 5 , shows a schematic diagram of the structure of a motor sound control device according to an embodiment of the present invention, which may include the following modules:

[0189] An acquisition module 501 is used to acquire safety detection data of the vehicle in response to a motor sound request;

[0190] The first control module 502 is used to control the motor to make a sound when the safety detection data meets the motor sound making condition.

[0191] In some embodiments of the present invention, the safety detection data includes first detection data obtained from an insulation detection circuit of the vehicle; a first control module 502 is used to control the motor to sound when the first detection data is within a first preset target range;

[0192] And / or, the safety detection data includes obtaining second detection data for the motor of the vehicle; the first control module 502 is used to control the motor to make a sound when the second detection data is within a second preset target range;

[0193] And / or, the safety detection data includes obtaining third detection data for the power battery of the vehicle; the first control module 502 is used to control the motor to make a sound when the third detection data is within a third preset target range;

[0194] And / or, the safety detection data includes obtaining fourth detection data for the motor controller of the vehicle; the first control module 502 is used to control the motor to make a sound when the fourth detection data is within a fourth preset target range;

[0195] And / or, the safety detection data includes fifth detection data obtained for the battery management system of the vehicle; the first control module 502 is used to control the motor to make a sound when the fifth detection data is within a fifth preset target range.

[0196] Optionally, the first control module 502 is used to determine target audio data corresponding to the motor sound request; and control the motor to make sound according to the target audio data.

[0197] In some embodiments of the present invention, the first control module 502 is used to obtain the target torque; and control the motor to make sounds according to the target audio data and the target torque.

[0198] In some embodiments of the present invention, the first control module 502 is used to determine a target sound scene corresponding to the motor sound request; and obtain target audio data according to the target sound scene.

[0199] In some embodiments of the present invention, the first control module 502 is used to determine driving parameters for the motor according to the target audio data, and control the motor to make sounds according to the driving parameters.

[0200] In some embodiments of the present invention, the target audio data includes at least one of the following: audio frequency, audio amplitude information.

[0201] In some embodiments of the present invention, the apparatus further comprises:

[0202] The stop module is used to control the motor to stop making sound when the safety detection data does not meet the motor sound conditions.

[0203] In some embodiments of the present invention, the apparatus further comprises:

[0204] The vehicle power-on detection module is used to control the vehicle to power on when the vehicle is in an unpowered state before obtaining the vehicle's safety detection data.

[0205] In some embodiments of the present invention, the apparatus further comprises:

[0206] The power-off module is used to control the vehicle to power on when the vehicle is in an unpowered state, and then power off after the motor stops making sounds.

[0207] In some embodiments of the present invention, the apparatus further comprises:

[0208] The prompt module is used to provide a parking prompt after receiving a motor sound request when the vehicle is not in a parking state.

[0209] In some embodiments of the present invention, the apparatus further comprises:

[0210] The vehicle speed acquisition module obtains the vehicle speed information before controlling the motor to make a sound when the safety detection data meets the motor sound conditions; and confirms that the vehicle speed information is less than the preset speed value.

[0211] In the embodiment of the present invention, in response to the motor sounding request, the safety detection data of the vehicle is obtained; when the safety detection data meets the motor sounding condition, the motor is controlled to sound. Through the embodiment of the present invention, it can be ensured that when the motor of the vehicle is sounding, other functions of the vehicle are not affected, and the vehicle can safely sound the motor, thereby preventing the high-voltage motor from endangering the safety of passengers in the vehicle.

[0212] In one embodiment of the present invention, a vehicle controller is also provided, which is connected to the motor controller of the vehicle; the vehicle controller is used to obtain safety detection data of the vehicle in response to a motor sound request; when the safety detection data meets the motor sound conditions, a motor enable command is sent to the motor controller to control the motor controller to control the motor sound.

[0213] In one embodiment of the present invention, a motor controller is also provided, which is connected to the vehicle controller of the vehicle; the motor controller is used to receive a motor enable command sent by the motor controller and control the motor to make sounds; the motor enable command is the vehicle controller, which is used to respond to the motor sound request and obtain the vehicle's safety detection data; when the safety detection data meets the motor sound conditions, the motor enable command is sent to the motor controller.

[0214] Reference Figure 6 Based on the above vehicle controller and motor controller, an embodiment of the present invention further provides a vehicle; Figure 6 , showing a schematic structural diagram of a vehicle according to an embodiment of the present invention, which may include:

[0215] The vehicle controller 324 is connected to the motor controller 322 of the vehicle 300; the vehicle controller 324 is used to respond to the sound request of the motor 323 to obtain the safety detection data of the vehicle 300; when the safety detection data meets the sound condition of the motor 323, the motor enable command is sent to the motor controller 322 to control the motor controller 322 to control the motor 323 to make a sound;

[0216] The motor controller 322 is connected to the vehicle controller 324 of the vehicle 300; the motor controller 322 is used to receive the motor enable command sent by the motor controller 322 and control the motor 323 to make a sound; the motor enable command is the vehicle controller 324, which is used to respond to the sound request of the motor 323 and obtain the safety detection data of the vehicle 300; when the safety detection data meets the sound condition of the motor 323, the motor enable command is sent to the motor controller 322.

[0217] In an embodiment of the present invention, the vehicle 300 may be composed of a vehicle controller 324, a motor controller 322 and a motor 323; wherein, after receiving a sound request from the motor 323, the vehicle controller 324 may first respond to the sound request from the motor 323 and obtain safety detection data obtained from hardware and software detection related to the sound of the motor 323 in the vehicle 300.

[0218] After obtaining the safety detection data, the vehicle controller 324 can evaluate the status of the vehicle 300 from the perspective of hardware and / or software to determine whether the vehicle 300 can safely make the motor 323 produce sound, and whether the sound of the motor 323 will affect the normal operation of other equipment in the vehicle 300.

[0219] Specifically, after obtaining the safety detection data, the vehicle controller 324 can determine whether the state of the vehicle 300 meets the preset sound generation condition of the motor 323 according to the safety detection data.

[0220] When it is determined that the vehicle 300 does not meet the preset motor 323 sounding conditions, it can be determined that the vehicle 300 is currently not capable of motor 323 sounding; at this time, the motor 323 may be controlled to sound without responding to the motor 323 sounding request, and a prompt may be given to the user.

[0221] On the contrary, if it is determined that the vehicle 300 meets the preset motor 323 sounding condition, it can be determined that the vehicle 300 can currently safely make the motor 323 sound; at this time, the vehicle controller 324 can send a motor enable command to the motor controller 322.

[0222] After receiving the motor enable command, the motor controller 322 may control the motor 323 to make a sound in response to the motor enable command.

[0223] In one embodiment of the present invention, the vehicle controller 324 is used to determine the target sound scene corresponding to the sound request of the motor 323; send a motor enable command and the target sound scene to the motor controller 322;

[0224] The motor controller 322 is used to obtain target audio data according to a target sound emission scene after receiving a motor enable command, and control the motor 323 to emit sound according to the target audio data.

[0225] In some feasible embodiments, the vehicle controller 324 can first determine the target audio data corresponding to the sound request of the motor 323, and determine the target sound scene corresponding to the target audio data; then, the vehicle controller 324 can send a motor enable command and the target sound scene corresponding to the target audio data to the motor controller 322.

[0226] After receiving the motor enable command and the target sound scene, the motor controller 322 can respond to the motor enable command and first obtain the target audio data according to the target sound scene; then, the motor 323 can be controlled according to the target audio data to control the motor 323 to play the audio corresponding to the target audio data.

[0227] In one embodiment of the present invention, the vehicle controller 324 is further used to send a motor enable command to the motor controller 322 after the motor 323 stops making sounds;

[0228] The motor controller 322 is further configured to stop controlling the motor 323 to make sound in response to a motor enable shutdown command.

[0229] In actual application, when the vehicle controller 324 detects that the target audio data has been played, it can send a motor shutdown enable command to the motor controller 322; after receiving the motor shutdown enable command, the motor controller 322 can respond to the motor shutdown enable command and stop controlling the motor 323 to make sound.

[0230] In one embodiment of the present invention, the motor controller 322 is used to determine driving parameters for the motor 323 and control the motor 323 to generate sound according to the driving parameters.

[0231] In the embodiment of the present invention, since the sound is produced by controlling the motor 323, the motor controller 322 can determine the driving parameters for the motor 323 according to the audio frequency and / or audio amplitude information in the target audio data, such as current, voltage, etc. Then, the motor 323 is controlled based on the driving parameters, so as to control the motor 323 to produce the sound corresponding to the target audio data.

[0232] In one embodiment of the present invention, the vehicle controller 324 is used to send a target torque to the motor controller 322;

[0233] The motor controller 322 is used to determine the driving parameters for the motor 323 according to the target audio data and the target torque, control the motor 323 to make sounds according to the driving parameters, and output the target torque.

[0234] The sound-generating function of motor 323 can also be used in driving scenarios; in driving scenarios, in addition to making sounds, motor 323 also needs to output torque; for this situation, in an embodiment of the present invention, the vehicle controller 324 can send a target torque to the motor controller 322, that is, the torque expected to be output by motor 323 for controlling the movement of vehicle 300.

[0235] After obtaining the target torque and target audio data, the motor controller 322 can determine the driving parameters for the motor 323 according to the target audio data and the target torque; illustratively, the motor controller 322 obtains the target currents corresponding to the direct axis and quadrature axis by looking up the table of the target torque required for driving, and calculates the current required to be passed into the three-phase stator winding of the motor 323 through information such as the audio frequency and / or audio amplitude information in the target audio data. The two currents are superimposed to further calculate the on and off time of the six power units on the control inverter, and a PWM wave with a corresponding duty cycle is output, which is converted into the corresponding three-phase current passed into the stator winding of the three-phase motor 323, thereby driving the motor 323 to produce the target torque while producing the target audio sound.

[0236] In one embodiment of the present invention, the vehicle 300 further includes a non-volatile memory and a multimedia system 310;

[0237] The motor controller 322 is further used to obtain target audio data from the non-volatile memory when the target sound emission scene is the first sound emission scene; and to obtain target audio data from the multimedia system 310 when the target sound emission scene is the second sound emission scene.

[0238] In some feasible embodiments, the audio data of the first sound scene may be stored in a non-volatile memory of the vehicle 300, and the audio data of the second sound scene may be stored in a multimedia system 310 of the vehicle 300. The first sound scene may be a prompt sound scene, and the second sound scene may be a music scene.

[0239] When the motor controller 322 determines that the target sound scene is the first sound scene, it can obtain the target audio data from the non-volatile memory of the vehicle 300; and when the motor controller 322 determines that the target sound scene is the second sound scene, it can obtain the target audio data from the multimedia system 310 of the vehicle 300.

[0240] In one embodiment of the present invention, the vehicle 300 further includes:

[0241] The data processing module 314 is used to process the audio information to be played to obtain audio frequency and / or audio amplitude information; and store the audio frequency and / or audio amplitude information into the non-volatile memory or the multimedia system 310.

[0242] In an embodiment of the present invention, the target audio data may include audio frequency and / or audio amplitude information; the vehicle 300 may also include a data processing module 314, which can be used to process the audio information to be played (for example, audio information of a prompt tone, audio information of music, etc.) to obtain the audio frequency and / or audio amplitude information of the audio information to be played.

[0243] Then, the data processing module 314 may store the obtained audio frequency and / or audio amplitude information into the non-volatile memory or the multimedia system 310 .

[0244] For example, Figure 7 As shown, the vehicle 300 can be composed of a multimedia system 310 and a high-voltage system 320; wherein, the multimedia system 310 can be composed of a music control module 311, a memory 312, a network interface 313 and a data processing module 314; the high-voltage system 320 can be composed of a data acquisition module 321, a motor controller 322, a motor 323, a vehicle controller 324, a battery management system 325 and a power battery 326.

[0245] The multimedia system 310 may also include a car computer for the driver, the co-driver and the rear seat, a car touch screen, etc. ( Figure 3 (not shown in the figure), this embodiment of the present invention is not limited to this.

[0246] Among them, the user can control the opening, closing, audio selection, etc. of the motor sound function through the music control module 311; the music control module 311 can respond to user operations and send operation instructions to the vehicle controller 324.

[0247] The network interface 313 includes WLAN, Bluetooth, 4 / 5G, etc. The network interface 313 can be used to interconnect with the user's mobile phone 330, transmit and download music online, etc. The network interface 313 can receive control signals or transmitted audio from the user's mobile phone 330, and can also download cached audio information from the cloud server 340 through the interface.

[0248] The data processing module 314 can parse and process the original audio, and convert it into audio frequency and audio amplitude information that enables the motor 323 to play music, and transmit it to the cache to wait for the motor controller 322 to read it. The cache can be set between the data acquisition module 321 and the data processing module 314. The memory 312 can be used to store operating systems and applications, store media content, store navigation data, store user data, and store temporary data.

[0249] The vehicle controller 324 is used to control the contactors of the power battery 326 and the motor 323 to realize powering on and off of the vehicle. The vehicle controller 324 also controls the start and stop of the motor sound function, provides an enable signal, distributes torque to the front and rear motors 323, etc., and receives the status of the motor controller 322 and the battery management system 325 returned by the motor controller 322 and the battery pack status, such as temperature, voltage, current, speed, torque, fault status, etc., and monitors the insulation status of the vehicle in real time to ensure the safety of the vehicle 300.

[0250] The motor controller 322 can obtain the control signal transmitted by the vehicle controller 324 through the CAN (Controller Area Network) protocol, and based on the target torque of the vehicle controller 324, look up the table and obtain the corresponding target current on the direct axis and the quadrature axis, drive the inverter switch to generate the corresponding three-phase current, and output the corresponding torque.

[0251] The motor controller 322 can also obtain the audio information in the cache area through CAN communication, or directly read the pre-stored audio information from the FLASH. After receiving the enable signal from the vehicle controller 324, the motor controller 322 calculates the current value that needs to be passed into the three-phase winding of the motor stator through the amplitude, frequency and other information of the audio, and further calculates the on and off time of the six power units on the control inverter, outputs a PWM wave with a corresponding duty cycle, and converts it into a corresponding three-phase current passed into the stator winding of the three-phase motor, driving the motor 323 to produce the target audio sound.

[0252] Some embodiments of the present invention further provide an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above motor sound control method is implemented.

[0253] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the motor sound control method as described above is implemented.

[0254] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0255] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0256] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0257] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0258] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0259] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0260] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0261] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0262] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0263] The above is a detailed introduction to a motor sound control method and related products. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A motor sound control method, characterized in that: The method comprises: In response to a motor sounding request, obtain safety detection data of the vehicle to evaluate the state of the vehicle from the perspective of hardware and / or software, determine whether the vehicle can safely make motor sounds, and whether the motor sounding will affect the normal operation of other devices of the vehicle; the safety detection data includes first detection data obtained for the insulation detection circuit of the vehicle, second detection data obtained for the motor of the vehicle, third detection data obtained for the power battery of the vehicle, fourth detection data obtained for the motor controller of the vehicle, and fifth detection data obtained for the battery management system of the vehicle; the first detection data characterizes the insulation state of the vehicle; the second detection data includes the winding temperature, inverter, resolver, and Hall of the motor; the third detection data includes the temperature, voltage, and current of the battery; the fourth detection data is used to characterize whether the software deployed in the motor controller has a fault, and the fourth detection data is represented by a fault flag bit; the fifth detection data is used to characterize whether the software deployed in the battery management system has a fault, and the fifth detection data is represented by a fault flag bit; When the first detection data is within the first preset target range, and the second detection data is within the second preset target range, and the third detection data is within the third preset target range, and the fourth detection data is within the fourth preset target range, and when the fifth detection data is within a fifth preset target range, controlling the motor to emit a sound; Among them, the first preset target range means that the insulation status of the vehicle is within a safe range; the second preset target range is the range set for the motor's winding temperature, inverter, resolver, and Hall; the third preset target range is the range set for the battery's temperature, voltage, and current. Within this range, there will be no safety issues when the motor makes sound, and it will not affect other functions of the vehicle.

2. The method according to claim 1, wherein controlling the motor to make a sound comprises: Determining target audio data corresponding to the motor sound request; According to the target audio data, the motor is controlled to produce sound.

3. The method according to claim 2, characterized in that The step of controlling the motor to make sound according to the target audio data comprises: Get the target torque; The motor is controlled to generate sound according to the target audio data and the target torque.

4. The method according to claim 2, characterized in that: The determining of the target audio data corresponding to the motor sound request includes: Determining a target sounding scene corresponding to the motor sounding request; According to the target sound scene, the target audio data is acquired.

5. The method according to claim 2, characterized in that: The step of controlling the motor to make sound according to the target audio data comprises: According to the target audio data, driving parameters for the motor are determined, and the motor is controlled to produce sound according to the driving parameters.

6. The method according to claim 2, characterized in that The target audio data includes at least one of the following: audio frequency and audio amplitude information.

7. The method according to claim 1, characterized in that The method further comprises: When the safety detection data does not satisfy the motor sound-generating condition, the motor is controlled to stop generating sound.

8. The method according to claim 1, characterized in that Before obtaining the safety detection data of the vehicle, the method further includes: When the vehicle is in an unpowered state, the vehicle is controlled to be powered on.

9. The method according to claim 8, characterized in that When the vehicle is in an unpowered state, after controlling the vehicle to be powered on, the method further includes: After the motor stops making sound, the vehicle is controlled to power off.

10. The method according to claim 1, characterized in that After receiving the motor sound request, the method further includes: When the vehicle is not in a parking state, a parking reminder is given.

11. The method according to claim 1, characterized in that: When the safety detection data meets the motor sounding condition, before controlling the motor to make a sound, the method further includes: Obtaining speed information of the vehicle; Confirm that the vehicle speed information is less than a preset vehicle speed value.

12. A motor sound control device, characterized in that: The device comprises: An acquisition module is used to obtain safety detection data of the vehicle in response to a motor sounding request, so as to evaluate the state of the vehicle from the perspective of hardware and / or software, determine whether the vehicle can safely make motor sounds, and whether the motor sounding will affect the normal operation of other devices of the vehicle; the safety detection data includes first detection data obtained for the insulation detection circuit of the vehicle, second detection data obtained for the motor of the vehicle, third detection data obtained for the power battery of the vehicle, fourth detection data obtained for the motor controller of the vehicle, and fifth detection data obtained for the battery management system of the vehicle; the first detection data represents the insulation state of the vehicle; the second detection data includes the winding temperature, inverter, resolver, and Hall of the motor; the third detection data includes the temperature, voltage, and current of the battery; the fourth detection data is used to represent whether the software deployed in the motor controller has a fault, and the fourth detection data is represented by a fault flag bit; the fifth detection data is used to represent whether the software deployed in the battery management system has a fault, and the fifth detection data is represented by a fault flag bit; a first control module, configured to control the motor to generate sound when the first detection data is within a first preset target range, the second detection data is within a second preset target range, the third detection data is within a third preset target range, the fourth detection data is within a fourth preset target range, and the fifth detection data is within a fifth preset target range; Among them, the first preset target range means that the insulation status of the vehicle is within a safe range; the second preset target range is the range set for the motor's winding temperature, inverter, resolver, and Hall; the third preset target range is the range set for the battery's temperature, voltage, and current. Within this range, there will be no safety issues when the motor makes sound, and it will not affect other functions of the vehicle.

13. A vehicle controller (324), characterized in that: The vehicle controller (324) is connected to the motor controller (322) of the vehicle (300); The vehicle controller (324) is used to obtain safety detection data of the vehicle (300) in response to the motor sound generation request, so as to evaluate the status of the vehicle (300) from the perspective of hardware and / or software, determine whether the vehicle (300) can safely generate a motor (323) sound, and whether the motor sound generation will affect the normal operation of other devices of the vehicle (300); When the safety detection data meets the motor sounding condition, a motor enable command is sent to the motor controller (322) to control the motor controller (322) to control the motor (323) to make a sound; the safety detection data includes first detection data obtained from an insulation detection circuit of the vehicle (300), second detection data obtained from a motor (323) of the vehicle (300), third detection data obtained from a power battery of the vehicle (300), fourth detection data obtained from a motor controller (322) of the vehicle (300), and fifth detection data obtained from a battery management system of the vehicle (300); the first detection data represents the insulation state of the vehicle (300); the second detection data includes the winding temperature, inverter, resolver, and Hall of the motor (323); the third detection data includes the temperature, voltage, and current of the battery; the fourth detection data is used to represent whether there is a fault in the software deployed in the motor controller (322), and the fourth detection data is represented by a fault flag; The fifth detection data is used to characterize whether the software deployed in the battery management system has a fault, and the fifth detection data is represented by a fault flag; wherein, when the first detection data is within a first preset target range, and the second detection data is within a second preset target range, and the third detection data is within a third preset target range, and the fourth detection data is within a fourth preset target range, and the fifth detection data is within a fifth preset target range, the motor (323) is controlled to emit a sound; The first preset target range refers to the insulation state of the vehicle being within a safe range; the second preset target range is a range set for the winding temperature, inverter, resolver, and Hall of the motor (323); and the third preset target range is a range set for the temperature, voltage, and current of the battery. Within this range, the motor (323) will not cause safety problems when making sounds, and will not affect other functions of the vehicle (300).

14. A motor controller (322), characterized in that: The motor controller (322) is connected to a vehicle controller (324) of the vehicle (300); The motor controller (322) is used to receive a motor enable command sent by the motor controller (322) and control the motor (323) to make a sound; the motor enable command is used by the vehicle controller (324) to respond to the motor sound request, obtain safety detection data of the vehicle (300), evaluate the state of the vehicle from the perspective of hardware and / or software, determine whether the vehicle can safely make a motor sound, and whether the motor sound will affect the normal operation of other devices of the vehicle; A command sent to the motor controller (322) when the safety detection data meets the motor sounding condition; the safety detection data includes first detection data obtained from the insulation detection circuit of the vehicle (300), second detection data obtained from the motor (323) of the vehicle (300), third detection data obtained from the power battery of the vehicle (300), fourth detection data obtained from the motor controller (322) of the vehicle (300), and fifth detection data obtained from the battery management system of the vehicle (300); the first detection data represents the insulation state of the vehicle (300); the second detection data includes the winding temperature, inverter, resolver, and Hall of the motor (323); the third detection data includes the temperature, voltage, and current of the battery; the fourth detection data is used to represent whether there is a fault in the software deployed in the motor controller (322), and the fourth detection data is represented by a fault flag; The fifth detection data is used to characterize whether there is a fault in the software deployed in the battery management system, and the fifth detection data is represented by a fault flag; wherein, when the first detection data is within a first preset target range, and the second detection data is within a second preset target range, and the third detection data is within a third preset target range, and the fourth detection data is within a fourth preset target range, and the fifth detection data is within a fifth preset target range, the motor controller (322) controls the motor (323) to emit a sound; The first preset target range refers to the insulation state of the vehicle being within a safe range; the second preset target range is a range set for the winding temperature, inverter, resolver, and Hall of the motor (323); and the third preset target range is a range set for the temperature, voltage, and current of the battery. Within this range, the motor (323) will not cause safety problems when making sounds, and will not affect other functions of the vehicle (300).

15. A vehicle (300), characterized in that: include: The vehicle controller (324) as claimed in claim 13, and the motor controller (322) as claimed in claim 14.

16. The vehicle (300) according to claim 15, characterized in that The vehicle controller (324) is used to determine a target sound scene corresponding to the motor sound request; and send a motor enable command and the target sound scene to the motor controller (322); The motor controller (322) is used to obtain target audio data according to the target sound emission scene after receiving the motor enable command, and control the motor (323) to emit sound according to the target audio data.

17. The vehicle (300) according to claim 15, characterized in that The vehicle controller (324) is further used to send a motor-off enabling command to the motor controller (322) after the motor (323) stops emitting sound; The motor controller (322) is further configured to stop controlling the motor (323) to make sound in response to the motor enable shutdown command.

18. The vehicle (300) according to claim 16, characterized in that The vehicle controller (324) is used to send a target torque to the motor controller (322); The motor controller (322) is used to determine driving parameters for the motor (323) according to the target audio data and the target torque, control the motor (323) to produce sound according to the driving parameters, and output the target torque.

19. The vehicle (300) according to claim 16, characterized in that The vehicle (300) also includes a non-volatile memory and a multimedia system (310); The motor controller (322) is further configured to obtain the target audio data from the non-volatile memory when the target sound emission scene is a first sound emission scene; and to obtain the target audio data from the multimedia system (310) when the target sound emission scene is a second sound emission scene.

20. The vehicle (300) according to claim 19, characterized in that The vehicle (300) further comprises: The data processing module (314) is used to process the audio information to be played to obtain audio frequency and / or audio amplitude information; and store the audio frequency and / or audio amplitude information in the non-volatile memory or the multimedia system (310).

21. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the motor sound control method according to any one of claims 1 to 11 is implemented.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the motor sound control method according to any one of claims 1 to 11 is implemented.

Images